CN114474087B - Inspection and investigation fire-fighting robot for electric power emergency rescue - Google Patents
Inspection and investigation fire-fighting robot for electric power emergency rescue Download PDFInfo
- Publication number
- CN114474087B CN114474087B CN202210057485.2A CN202210057485A CN114474087B CN 114474087 B CN114474087 B CN 114474087B CN 202210057485 A CN202210057485 A CN 202210057485A CN 114474087 B CN114474087 B CN 114474087B
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- telescopic rod
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- shell
- wire
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- 238000007689 inspection Methods 0.000 title claims description 9
- 238000011835 investigation Methods 0.000 title abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 239000012530 fluid Substances 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000009413 insulation Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Testing Relating To Insulation (AREA)
- Manipulator (AREA)
Abstract
The invention provides a patrol and investigation fire-fighting robot for electric power emergency rescue, which relates to the technical field of intelligent robots and comprises a base, wherein the periphery of the base is rotationally connected with a driving wheel, a crawler belt is arranged on the driving wheel, a moving device is also connected onto the base in a sliding way, a first mechanical arm is fixedly connected onto the moving device, the upper end of the first mechanical arm is rotationally connected with a second mechanical arm, the upper end of the second mechanical arm is rotationally connected with a third mechanical arm, the left end of the third mechanical arm is rotationally connected with a processing mechanism through a rotating shaft, and the processing mechanism comprises a shell.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a patrol and investigation fire-fighting robot for electric power emergency rescue.
Background
Intelligent robots are used in many fields, such as disaster relief and post-disaster reconstruction work, in disaster relief, wires arranged inside are exposed due to deformation of buildings, whether the exposed wires are electrified cannot be determined, safety of rescue workers is likely to be threatened when rescue workers perform rescue actions, and because environments in collapsed buildings are very severe, if the exposed wires are inspected manually, the intelligent robots are a great choice.
The invention discloses an electric power inspection intelligent robot for emergency rescue, which comprises a base, wherein a track is fixedly arranged on the base, a moving device is arranged in the track, a machine body is arranged on the moving device, a detecting head is fixedly arranged at the tail end of the machine body, a detecting cavity is penetrated and arranged in the left side face of the detecting head.
Aiming at the related technology proposed in the above, the exposed wire is exposed only at the wire head in the earthquake disaster, the middle part of the wire is also possibly exposed, the personal safety of rescue personnel is easily threatened, and the technical scheme can only carry out closed insulation treatment on one exposed wire at a time, has low efficiency, and does not have the processing capability for one bundle of wires, so that aiming at the current situation, the inspection and investigation fire-fighting robot for electric power emergency rescue is urgently required to be provided, so as to overcome the defects in the current practical application.
Disclosure of Invention
The invention aims to solve the problems that the existing intelligent robot cannot insulate the wires with exposed middle parts, only can process one wire at a time, has low efficiency and does not have processing capability for one wire bundle.
The invention discloses a purpose and an effect of a patrol inspection fire-fighting robot for electric power emergency rescue, which are achieved by the following specific technical means: the utility model provides a patrol and examine fire control robot for electric power emergency rescue, the on-line screen storage device comprises a base, the base rotates around being connected with the drive wheel, be equipped with the track on the drive wheel, still sliding connection has mobile device on the base, the rigid coupling has first arm on the mobile device, first arm upper end rotates and is connected with the second arm, second arm upper end rotates and is connected with the third arm, the third arm left end rotates through the pivot and is connected with processing mechanism, processing mechanism includes the casing, the casing top rigid coupling has the camera, the casing left side is equipped with the notch, the notch both sides all are equipped with the grip block that is used for holding the electric wire, be equipped with cavity one in the casing, sliding connection has the blade in cavity one, the blade top is equipped with the contact, the contact opposite side is connected with the electricity that surveys, still be equipped with cavity two in the casing of cavity two, sliding connection has the insulating mechanism of giving the electric wire head insulation in cavity two.
Further, a first telescopic rod is arranged in the shell on two sides of the notch, the first telescopic rod is driven by the hydraulic pump, the left end of the first telescopic rod is hinged with the clamping blocks through the torsion springs, limiting parts are arranged at the end parts of the shell on two sides of the notch, the clamping blocks are outwards rotated to be opened when moving to the limiting parts, the telescopic rod drives the clamping blocks to inwards rotate to be connected when moving rightwards, and the two clamping blocks, the notch 26 and the shell form a rectangular clamping frame for clamping wires.
Further, a second telescopic rod is arranged in the first cavity and driven by a hydraulic pump, a blade is fixedly connected to the left end of the second telescopic rod, a pressure sensor is arranged on the blade, and a plurality of evenly distributed contacts are connected in the pressure sensor.
Further, the pressure sensor is vertically slidably repositionable connected within the blade.
Further, insulating mechanism includes telescopic link three, is equipped with telescopic link three in the cavity two, and telescopic link three left side rigid coupling has the chamber of holding, holds the intracavity portion and loads insulating fluid, holds the intracavity and articulates through the torsional spring and have the movable block, and the movable block is with holding through the connecting pipe intercommunication between the chamber, and the movable block left side is equipped with a plurality of spouts, and the spout on it is in the plane that the blade is located when the movable block is in vertical state, and the spout below is equipped with a plurality of corresponding ooff valves, holds the chamber right side and still is connected with the conveyer pipe that is used for carrying insulating fluid.
Further, the insulating fluid is PLA material.
Advantageous effects
1. The invention provides a patrol inspection fire-fighting robot for electric power emergency rescue, which clamps the root of an electric wire through the cooperation of a clamping block and a notch, drives a second moving blade of a telescopic rod to cut off the root of the electric wire, cuts off a section of the exposed part of the middle part of the electric wire, only needs to treat the wire head at the cut-off part, and solves the problem that the conventional device cannot treat the damage condition of the middle part of the electric wire.
2. The invention provides a patrol inspection fire-fighting robot for electric power emergency rescue, which is characterized in that a plurality of contacts are arranged to be in contact with wire heads, each wire head can be subjected to voltage measurement, the contacts are not interfered with each other, rubber is arranged between two wire heads and is not connected with the same contact, and the two wire heads are prevented from being communicated and shorted through the contacts, so that a bundle of wires can be detected, and the processing efficiency of electrified dangerous wires is accelerated.
Drawings
Fig. 1 is an overall schematic cross-sectional front view of the present invention.
FIG. 2 is a schematic top cross-sectional view of the treatment mechanism of the present invention.
FIG. 3 is a schematic top cross-sectional view of two clamping blocks in the treatment mechanism of the present invention when they are connected.
FIG. 4 is a schematic view showing a sectional structure of a treatment mechanism according to the present invention.
FIG. 5 is a schematic front cross-sectional view of a treatment mechanism of the present invention.
Fig. 6 is a schematic front cross-sectional view of the movable block in the treatment mechanism of the present invention in an upright state.
Fig. 7 is a schematic structural view of an insulation mechanism of the present invention.
In fig. 1-7: the device comprises a 1-base, a 2-driving wheel, a 3-caterpillar, a 4-moving device, a 5-first mechanical arm, a 6-second mechanical arm, a 7-third mechanical arm, an 8-rotating shaft, a 9-processing mechanism, a 10-shell, a 11-telescopic rod I, a 12-telescopic rod II, a 13-clamping block, a 14-blade, a 15-contact, a 16-limiting part, a 17-pressure sensor, a 18-cavity I, a 19-telescopic rod III, a 20-accommodating cavity, a 21-movable block, a 22-nozzle, a 23-switching valve, a 24-connecting pipe, a 25-conveying pipe, a 26-notch, a 27-cavity II and a 28-camera.
Description of the embodiments
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As shown in the attached drawings 1-7, the inspection and investigation fire-fighting robot for electric emergency rescue comprises a base 1, wherein driving wheels 2 are rotationally connected around the base 1, a motor is arranged in the base 1, the driving wheels 2 are driven to rotate by the motor, tracks 3 are arranged on the driving wheels 2, four driving wheels can be arranged, the two driving wheels 2 on two sides of the base 1 are sleeved with the tracks 3, the invention can better adapt to complex terrain environments through the tracks 3, a moving device 4 is also slidingly connected on the base 1, the moving device 4 can be slidingly connected on the base 1 through a sliding rail arranged on the base 1, a first mechanical arm 5 is fixedly connected on the moving device 4, a second mechanical arm 6 is rotationally connected at the upper end of the first mechanical arm 5, a third mechanical arm 7 is rotationally connected at the upper end of the second mechanical arm 6, the left end of the third mechanical arm 7 is rotationally connected with a processing mechanism 9 through a rotating shaft 8, the processing mechanism 9 can process electric wires at various angles and positions by the joint cooperation of the moving device 4, the first mechanical arm 5, the second mechanical arm 6, the third mechanical arm 7 and the rotating shaft 8, the processing mechanism 9 comprises a shell 10, a camera 28 is fixedly connected above the shell 10, the exposed electric wire position is observed through the camera 28, a notch 26 is arranged on the left side of the shell 10, clamping blocks 13 for clamping the electric wires are arranged on two sides of the notch 26, a first cavity 18 is arranged in the shell 10, a blade 14 is slidably connected in the first cavity 18, a contact 15 is arranged above the blade 14, the other side of the contact 15 is electrically connected with an ammeter, the ammeter can measure the voltage of the electric wire head communicated with the contact 15, when the electric wire has voltage, the electric wire is dangerous electric wire, insulation treatment needs to be carried out, a second cavity 27 is also arranged in the shell 10 below the first cavity 18, the second cavity 27 is slidably connected with an insulating mechanism for insulating the wire ends, the environment is identified through the camera 28 on the shell 10, when a bare wire is identified, if a plurality of parts are damaged on the wire, the first mechanical arm 5, the second mechanical arm 6, the third mechanical arm 7 and the rotating shaft 8 move to the wire root through the moving device 4, the processing mechanism 9 clamps the wire root through the moving clamping block 13, the moving blade 14 cuts off the wire root, the contact 15 on the blade 14 is connected with the wire ends at the same time of cutting off the wire, so that the voltage is measured on the wire ends, and then whether the wire is a dangerous wire is identified, and when the wire has voltage, the wire is the dangerous wire, the wire ends are insulated through the insulating mechanism.
As shown in fig. 2-3, a first telescopic rod 11 is arranged in the casing 10 at two sides of the notch 26, the first telescopic rod 11 is driven by a hydraulic pump, the left end of the first telescopic rod 11 is hinged with a clamping block 13 through a torsion spring, the torsion spring provides an outward rotating force to the clamping block 13, the end parts of the casing 10 at two sides of the notch 26 are both provided with limiting parts 13, when the clamping block 13 moves to the limiting parts 13, the limiting parts 13 are outwards rotated to open under the action of the torsion spring, the first telescopic rod 11 drives the clamping block 13 to move rightwards, the two clamping blocks 13 are contacted with the limiting parts 13 to inwards rotate under the acting force of the limiting parts, the end parts of the two clamping blocks 13 are connected, the two clamping blocks 13, the notch 26 and the casing 10 form a rectangular clamping frame for clamping an electric wire, when the electric wire is required to be clamped, the clamping block 13 is moved to the limiting parts to open, then the processing mechanism 9 is moved to the notch 26, the first telescopic rod 11 is driven to retract, and then the two clamping blocks 13 are driven to be closed, and the clamping block 13 and the notch 26 are matched to clamp the electric wire.
As shown in FIG. 4, a second telescopic rod 12 is arranged in the first cavity 18, the second telescopic rod 12 is driven by a hydraulic pump, a blade 14 is fixedly connected to the left end of the second telescopic rod 12, a pressure sensor 17 is arranged on the blade 14, the surface of the pressure sensor 17 is connected with the surface of a cut wire harness, a plurality of evenly distributed contacts 15 are connected in the pressure sensor 17, each of the plurality of contacts 15 can perform voltage measurement on the wire harness, the plurality of contacts 15 do not interfere with each other, the radius of the contact 15 is smaller, rubber is arranged between the two wire harnesses and is not connected with the same contact 15, the two wire harnesses are prevented from being communicated and shorted through the contacts 15, a plurality of evenly distributed contacts 15 are arranged on the blade 14, so that a bundle of wires can be detected, and meanwhile, the specific shape of the section of the wire harness can be distinguished and recorded through the pressure sensor 17.
As shown in fig. 5, the pressure sensor 17 is vertically slidably connected in the blade 14, the pressure sensor 17 can be slidably connected in the blade 14 through a restoring spring, an initial position of the pressure sensor 17 is located above a plane of the blade 14, when the blade 14 cuts off a wire, the wire notch surface presses down the pressure sensor 17, so that the pressure sensor 17 and an upper contact 15 thereof are in closer contact with a wire head section, and further, the measuring effect of the contact 15 and the pressure sensor 17 is better.
6-7, the insulation mechanism comprises a telescopic rod III 19, a telescopic rod III 19 is arranged in a cavity II 27, the telescopic rod III 19 is driven by a hydraulic pump, a containing cavity 20 is fixedly connected to the left side of the telescopic rod III 19, insulation fluid is loaded in the containing cavity 20, the insulation fluid is in a hot melting state in the containing cavity 20, a movable block 21 is hinged to the containing cavity 20 through a torsion spring, the movable block 21 has a trend of rotating upwards through the acting force of the torsion spring, when the movable block 21 rotates to be perpendicular to the containing cavity 20, the movable block 21 is limited to rotate, the movable block 21 is communicated with the containing cavity 20 through a connecting pipe 24, the connecting pipe 24 is a hose, a plurality of nozzles 22 are arranged on the left side of the movable block 21, when the movable block 21 is in a vertical state, the nozzle 22 on the movable block is positioned on the plane of the blade 14, a plurality of corresponding switch valves 23 are arranged below the nozzle 22 and are controlled by electric power, the opening and closing of the nozzle 22 are controlled, the right side of the accommodating cavity 20 is also connected with a conveying pipe 25 for conveying insulating fluid, the other side of the conveying pipe 25 conveys the insulating fluid to the accommodating cavity 20 through a hydraulic pump, and then the insulating fluid in the conveying pipe is extruded to be sprayed from the nozzle 22 to spray the wire heads cut off by the blade 14, and the insulating fluid is immediately solidified in the air to expose the wire heads to the air for partial sealing insulation.
The insulating fluid is PLA material, and PLA is degradable environment-friendly material.
The environment is identified by the camera 28 on the housing 10, and when a bare wire is identified, if there are several breaks in the wire, the processing mechanism 9 is moved to the root of the electric wire by the moving device 4, the first mechanical arm 5, the second mechanical arm 6, the third mechanical arm 7 and the rotating shaft 8, further, the clamping block 13 is moved to the position of the limiting part 13 to be opened, then the processing mechanism 9 is moved, so that the electric wire is moved into the notch 26, the telescopic rod I11 is driven to retract, so as to drive the two clamping blocks 13 to close, further the clamping blocks 13 and the notch 26 cooperate to clamp the root of the electric wire, the root of the electric wire is cut off by moving the blade 14 through the telescopic rod II 12, the section of the exposed part in the middle of the electric wire is cut off, only the wire head at the cut off part is needed to be treated, the problem that the existing device can not treat the damage condition of the middle part of the electric wire is avoided, the blade 14 cuts the wire while the contact 15 thereon is in contact with the wire end, so that the voltage is measured on the wire end, while the specific shape of the wire bundle cross section is resolved and recorded by the pressure sensor 17, by measuring the voltage to the wire head, and further identify whether the electric wire is a dangerous electric wire, when the electric wire has voltage, the electric wire is a dangerous electric wire, the expansion link III 19 is driven to extend, and then drives the movable block 21 to move out of the cavity II 27, the movable block 21 becomes vertical under the action of the torsion spring, the nozzles 22 on the pressure sensor 17 are opposite to the cut-off plane of the electric wire, the cut-off position of the electric wire collected by the pressure sensor 17 is distributed, and then the switch valve 23 below the nozzle 22 is controlled to switch, so that the section of the dangerous electric wire is sprayed with insulating fluid, the insulating fluid is solidified in the air to insulate and seal the section of the electric wire head, and then the dangerous electric wire is processed.
Claims (2)
1. The utility model provides a patrol and examine fire control robot for electric power emergency rescue, includes base (1), base (1) rotate all around and are connected with drive wheel (2), be equipped with track (3) on drive wheel (2), still sliding connection has mobile device (4) on base (1), the rigid coupling has first arm (5) on mobile device (4), first arm (5) upper end rotates and is connected with second arm (6), second arm (6) upper end rotates and is connected with third arm (7), third arm (7) left end is connected with processing mechanism (9) through pivot (8) rotation, its characterized in that: the processing mechanism (9) comprises a shell (10), camera (28) is fixedly connected to the upper portion of the shell (10), notch (26) are arranged on the left side of the shell (10), clamping blocks (13) used for clamping wires are arranged on two sides of the notch (26), first cavity (18) is arranged in the shell (10), a blade (14) is connected in a sliding mode in the first cavity (18), a contact (15) is arranged above the blade (14), the other side of the contact (15) is electrically connected with a meter, second cavity (27) is further arranged in the shell (10) below the first cavity (18), insulating mechanisms used for insulating the wire ends are connected in a sliding mode in the second cavity (27), first telescopic rod (11) is driven by a hydraulic pump, first telescopic rod (11) is hinged with the clamping blocks (13) at the left end of the first telescopic rod (11) through torsion springs, limiting portions (16) are arranged at the ends of the shell (10) on two sides of the notch (26), second telescopic rod (27) is further provided with second cavity (27), insulating mechanisms (27) are further arranged in the shell (10) below the second cavity (10), and the first telescopic rod (27) is connected with the first telescopic rod (11) in a sliding mode, and the second telescopic rod (13) is driven by the first telescopic rod (11) to rotate towards the right direction when the first telescopic rod (13) and the second telescopic rod (13) is driven by the second telescopic rod (13) to rotate towards the first telescopic rod, and the second telescopic rod (13) to rotate towards the first telescopic rod The notch (26) and the shell (10) form a rectangular clamping frame for clamping an electric wire, a telescopic rod II (12) is arranged in a first cavity (18), the telescopic rod II (12) is driven by a hydraulic pump, a blade (14) is fixedly connected to the left end of the telescopic rod II (12), a pressure sensor (17) is arranged on the blade (14), a plurality of evenly distributed contacts (15) are connected in the pressure sensor (17), the pressure sensor (17) is vertically and slidably reset and connected in the blade (14), the insulating mechanism comprises a telescopic rod III (19), a telescopic rod III (19) is arranged in a second cavity (27), an insulating fluid is loaded in the accommodating cavity (20) at the left side of the telescopic rod III (19), a movable block (21) is hinged to the accommodating cavity (20) through a torsion spring, a plurality of nozzles (22) are arranged on the left side of the movable block (21) and are communicated with the accommodating cavity (20) through a plurality of torsion springs, when the movable block (21) is in a vertical state, the nozzles (22) are arranged on the movable block (21) and are positioned on the right side of the blade (14) and are connected with a plurality of nozzles (23) through a connecting pipe (25), the initial position of the pressure sensor (17) is located above the plane of the blade (14).
2. A patrol inspection fire robot for electric emergency rescue according to claim 1, characterized in that: the insulating fluid is a PLA material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210057485.2A CN114474087B (en) | 2022-01-19 | 2022-01-19 | Inspection and investigation fire-fighting robot for electric power emergency rescue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210057485.2A CN114474087B (en) | 2022-01-19 | 2022-01-19 | Inspection and investigation fire-fighting robot for electric power emergency rescue |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114474087A CN114474087A (en) | 2022-05-13 |
| CN114474087B true CN114474087B (en) | 2024-03-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210057485.2A Active CN114474087B (en) | 2022-01-19 | 2022-01-19 | Inspection and investigation fire-fighting robot for electric power emergency rescue |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114474087B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118700100B (en) * | 2024-07-19 | 2025-01-28 | 大唐贵州发耳发电有限公司 | An intelligent inspection robot for coal conveyor belt tracks |
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| US3839776A (en) * | 1973-08-20 | 1974-10-08 | Itt | Wire stripping and crimping apparatus and method |
| US5465478A (en) * | 1993-09-27 | 1995-11-14 | At&T Ipm Corp. | Apparatus for manipulating wound cables |
| US6763583B1 (en) * | 2000-09-22 | 2004-07-20 | Clyde Wesley Bryan | Tool for working on live electrical wires |
| CN102946068A (en) * | 2012-11-12 | 2013-02-27 | 陕西省电力公司检修公司 | Kite remover of high-tension transmission line |
| CN109702707A (en) * | 2019-01-04 | 2019-05-03 | 中科开创（广州）智能科技发展有限公司 | A kind of distribution network live line work robot |
| CN110422242A (en) * | 2019-08-01 | 2019-11-08 | 辽宁科技大学 | A kind of intelligent fire roving vehicle and application method |
| CN210466137U (en) * | 2019-08-02 | 2020-05-05 | 宣城市安工大工业技术研究院有限公司 | Safe explosion-proof inspection robot |
| CN212265842U (en) * | 2020-05-30 | 2021-01-01 | 宁波吉兆电气科技有限公司 | Multifunctional cleaning and drying manipulator |
-
2022
- 2022-01-19 CN CN202210057485.2A patent/CN114474087B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3839776A (en) * | 1973-08-20 | 1974-10-08 | Itt | Wire stripping and crimping apparatus and method |
| US5465478A (en) * | 1993-09-27 | 1995-11-14 | At&T Ipm Corp. | Apparatus for manipulating wound cables |
| US6763583B1 (en) * | 2000-09-22 | 2004-07-20 | Clyde Wesley Bryan | Tool for working on live electrical wires |
| CN102946068A (en) * | 2012-11-12 | 2013-02-27 | 陕西省电力公司检修公司 | Kite remover of high-tension transmission line |
| CN109702707A (en) * | 2019-01-04 | 2019-05-03 | 中科开创（广州）智能科技发展有限公司 | A kind of distribution network live line work robot |
| CN110422242A (en) * | 2019-08-01 | 2019-11-08 | 辽宁科技大学 | A kind of intelligent fire roving vehicle and application method |
| CN210466137U (en) * | 2019-08-02 | 2020-05-05 | 宣城市安工大工业技术研究院有限公司 | Safe explosion-proof inspection robot |
| CN212265842U (en) * | 2020-05-30 | 2021-01-01 | 宁波吉兆电气科技有限公司 | Multifunctional cleaning and drying manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114474087A (en) | 2022-05-13 |
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