CN207137205U - A kind of firefighting fire extinguishing robot that can climb obstacle detouring - Google Patents
A kind of firefighting fire extinguishing robot that can climb obstacle detouring Download PDFInfo
- Publication number
- CN207137205U CN207137205U CN201720886004.3U CN201720886004U CN207137205U CN 207137205 U CN207137205 U CN 207137205U CN 201720886004 U CN201720886004 U CN 201720886004U CN 207137205 U CN207137205 U CN 207137205U
- Authority
- CN
- China
- Prior art keywords
- wheel
- fire extinguishing
- fixed
- extinguishing robot
- thrust wheel
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of firefighting fire extinguishing robot that can climb obstacle detouring,Including firefighting fire extinguishing robot body and two symmetrically arranged creepers undercarriage,The creeper undercarriage includes the track beam for being fixed on firefighting fire extinguishing robot body bottom portion,Driving wheel positioned at track beam front end,Tensioning wheel positioned at track beam rear end,Fixed thrust wheel and floating type thrust wheel between driving wheel and tensioning wheel,And fixed thrust wheel is on same ground plane with floating type thrust wheel and tensioning wheel,The distance between the center of gravity of fixed thrust wheel and the center of gravity of the floating type thrust wheel of rearmost account for the 40%~70% of ground connection track length,Crawler belt surrounds driving wheel,Tensioning wheel,Floating type thrust wheel and fixed thrust wheel form the obtuse triangle structure of obtuse angle upward,The summit at the obtuse angle is fixed thrust wheel,And between floating type thrust wheel rear portion,Track beam between tensioning wheel front portion is suspended on ground connection crawler belt.
Description
Technical field
The utility model is to be related to a kind of firefighting fire extinguishing robot, is to be related to a kind of fire-fighting that can climb obstacle detouring specifically
Firefighting robot, belong to fire-fighting equipment technical field.
Background technology
With the fast development of social economy, the particularity of building and enterprise's production, cause Hazardous Chemical Substances and radioactivity
Content leaks and burning, the accident potential exploded, caved in increase, the probability that accident occurs also accordingly improve.Once generation calamity
Evil accident, fireman in face of high temperature, dark, poisonous and dense smoke etc. endanger environment when, if being rushed in rashly without corresponding equipment existing
, task can not be not only completed, can also increase casualties on foot.Firefighting fire extinguishing robot can replace fire-fighting as special type fire control equipment
Team member implements the operations such as effective fire fighting and rescue, chemical analysis and fire reconnaissance close to the scene of a fire.Its application will improve fire-fighting portion
The warfighting capabilities of especially big malignant fire are put out by team, the injures and deaths for reducing national wealth loss and fire fighting and rescue personnel will be produced important
Effect.
But disaster accident field condition is complicated, firefighting fire extinguishing robot may encounter roadblock in walking or ground is convex
The place risen, if firefighting fire extinguishing robot selection is detoured, not only lose time, and influence the progress of fire rescue,
Therefore firefighting fire extinguishing robot needs have stronger climbing obstacle climbing ability, otherwise will be unable to go freely after it enters the scene of a fire
Walk, operation, the application requirement for meeting the complicated scene of a fire is also impossible to, so that firefighting fire extinguishing robot is wide in fire rescue
General application is limited to.In order to which suitable for the walking of complex road condition requirement, existing firefighting fire extinguishing robot is standing to be equipped with shoe
Band walking mechanism, such as：The Chinese utility model patent of Patent No. 201420426639.1 provides a kind of crawler type fire-fighting
Firefighting robot, but because this kind of firefighting fire extinguishing robot uses the creeper undercarriage in quadrilateral structure, it is grounded crawler belt energy
The degree enough deformed is restricted, so that obstacle detouring is limited in one's ability, and can not realize stable safety climbing.Gone out to improve fire-fighting
The obstacle climbing ability of fiery robot, the Chinese utility model patent of Patent No. 201620829138.7 disclose a kind of fire-fighting fire extinguishing
The crawler unit of robot, it includes two track frames being symmetrically set in below firefighting fire extinguishing robot body, each to carry out
Driving wheel, driven pulley, support wheel, flexible chain link and track link are provided with tape holder, driving wheel is parallel with driven pulley located at support
The lower section of wheel, support wheel are set close to driven pulley, the overall structure triangular in shape of flexible chain link and track link, flexible chain link and master
Driving wheel, driven pulley and support wheel are meshed, and track link is made up of some creeper treads and track pin.Although the shoe that the patent provides
Band running gear uses triangle crawler type design structure, and the degree that flexible chain link and track link can deform is larger, and chassis is high,
General barrier can be easily crossed, but support wheel is arranged on the top of driving wheel and driven pulley in this kind of caterpillar belt structure, and support
Wheel is set close to driven pulley, so that the lifting capacity of firefighting fire extinguishing robot is limited to, and obstacle detouring stability is poor, climbs ability
It is limited, therefore still can not meet the free obstacle detouring of firefighting fire extinguishing robot and the walking requirement of climbing.
Utility model content
In view of the above-mentioned problems existing in the prior art, the purpose of this utility model is to provide a kind of simple in construction, and climbing is got over
Barrier ability is strong and stability and security are good, has the firefighting fire extinguishing robot that can climb obstacle detouring of certain bearing capacity.
To achieve the above object, the technical solution adopted in the utility model is as follows：
A kind of firefighting fire extinguishing robot that can climb obstacle detouring, including firefighting fire extinguishing robot body and two are symmetricly set on
Creeper undercarriage below firefighting fire extinguishing robot body, the creeper undercarriage include crawler belt, track beam, driving wheel,
Fixed thrust wheel, floating type thrust wheel and tensioning wheel, the driving wheel are located at the front end of track beam, and the tensioning wheel is positioned at shoe
Rear end with beam, the track beam include two curb girders, and the bottom of firefighting fire extinguishing robot body is fixed on by connector；Its
It is characterised by：The fixed thrust wheel and floating type thrust wheel are between driving wheel and tensioning wheel, and fixed thrust wheel
Positioned at the front of floating type thrust wheel, fixed thrust wheel is on same ground plane with floating type thrust wheel and tensioning wheel,
The distance between the center of gravity of fixed thrust wheel and the center of gravity of the floating type thrust wheel of rearmost account for ground connection track length 40%~
70%, crawler belt forms the obtuse triangle of obtuse angle upward around driving wheel, tensioning wheel, floating type thrust wheel and fixed thrust wheel
Structure, the summit at the obtuse angle are fixed thrust wheel, and the shoe between floating type thrust wheel rear portion, tensioning wheel front portion
Band beam is suspended on ground connection crawler belt.
A kind of embodiment, the floating type thrust wheel are 8, and every 2 floating type thrust wheels are one group, pass through floating
Support is symmetricly set on the underface of two curb girders positioned at fixed thrust wheel rear two-by-two.
A kind of embodiment, the floating bracket are made up of four one-level floating brackets and a two level floating bracket, institute
It is in isosceles triangle to state one-level floating bracket and two level floating bracket, the one-level floating bracket at each in isosceles triangle
Base angle on be rotatably connected to a floating type thrust wheel, each two one-level floating bracket is symmetrical to be arranged on two curb girders just
Lower section, it is connected by a rotating shaft between corresponding two one-level floating brackets, the both ends difference of the rotating shaft is corresponding
One-level floating bracket drift angle pin joint, and be respectively sleeved at connection in two base angles of two level floating bracket of isosceles triangle
It is described between the drift angle of the two level floating bracket is arranged on two curb girders by bearing pin in the front and rear rotating shaft of one-level floating bracket
The both ends of bearing pin are fixedly connected with two curb girders respectively, so as to form a little fixed, four-point supporting two-stage floating support structure.
Preferably, in the obtuse triangle, the interior angle using driving wheel as summit is 25~35 °, with tensioning wheel
Interior angle for summit is 5~15 °.
Preferably, the track beam between floating type thrust wheel rear portion and tensioning wheel front portion with ground connection crawler belt it
Between flying height be 10~30mm.
Preferably, the center of gravity of fixed thrust wheel and the center of gravity spacing of the floating type thrust wheel of rearmost account for ground connection and carried out
The 50%~60% of strip length.
A kind of embodiment, the driving wheel are 1, are arranged on by driving wheel rotating shaft in two curb girders of track beam front end
Between, pin joint between the driving wheel rotating shaft and two curb girders.
A kind of embodiment, the fixed thrust wheel is 2, after being arranged in driving wheel by fixed support respectively
The underface of two curb girders of side, is fixedly connected between the fixed support and two curb girders.
A kind of embodiment, the tensioning wheel are 2, are arranged on the rear end of two curb girders by tensioning wheel connecting plate respectively,
One end of the tensioning wheel connecting plate and tensioning wheel pin joint, the other end are fixedly connected with curb girder.
Preferably, in addition to tensioning wheel tightness adjustment structure, the tensioning wheel tightness adjustment structure include connecting rod
And bar-link drive, one end of the connecting rod are fixedly connected with being connected the connecting shaft of two tensioning wheels, the connecting rod it is another
End is fixedly connected with the output shaft of bar-link drive.
Compared to prior art, the utility model has following advantageous effects：
Firefighting fire extinguishing robot described in the utility model, by making driving wheel in creeper undercarriage, tensioning wheel, floating
The obtuse triangle structure of obtuse angle upward is formed between dynamic formula thrust wheel, fixed thrust wheel, makes the position of driving wheel somewhat high
Put with it is preposition, and fixed thrust wheel is preposition, and track beam lengthens, and makes track beam rear portion hanging, firefighting fire extinguishing robot it is whole
Individual center of gravity reach, so that described firefighting fire extinguishing robot not only has certain bearing capacity, and when climbing obstacle detouring,
The somewhat high driving wheel put can avoid being hit by extraneous barrier, and somewhat preposition driving wheel has stronger tractive force,
And preposition center of gravity can reduce resistance when climbing obstacle detouring；In addition, hanging track beam rear portion make it that being grounded crawler belt has shape
Become space, be supported on so that the track beam rear portion lengthened can stablize on domatic, increased crawler belt earth-grasping force, can be effective
Derailed crawler belt and rollover risk are avoided, and does not influence the flexible performance turned；Especially, when fixed simultaneously using a bit, four
Point-supported two-stage floating support structure, described firefighting fire extinguishing robot can be made when climbing obstacle detouring, can flexible adaptation ground connection
The deformation of crawler belt strengthens stability to reduce vibrations and impact；Therefore, firefighting fire extinguishing robot described in the utility model is not
Influence under bearing capacity, be remarkably improved climbing obstacle climbing ability, safety and stability is good, and the walking for being suitable for various landform will
Ask, the free obstacle detouring of firefighting fire extinguishing robot and the walking requirement of climbing can be met, there is conspicuousness progress and application value.
Brief description of the drawings
Fig. 1 is that a kind of stereochemical structure for firefighting fire extinguishing robot that can climb obstacle detouring that the utility model embodiment provides is shown
It is intended to；
Fig. 2 is the cross section structure schematic diagram of the creeper undercarriage described in the utility model embodiment；
Fig. 3 is structural representation of the creeper undercarriage in unassembled crawler belt described in the utility model embodiment；
Fig. 4 is the two-stage floating support structure schematic diagram in the creeper undercarriage described in the utility model embodiment；
Fig. 5 is the simple geometry schematic diagram of the two-stage floating support structure described in the utility model embodiment.
Label is schematically as follows in figure：1st, firefighting fire extinguishing robot body；2nd, creeper undercarriage；21st, crawler belt；211st, it is grounded
Crawler belt；22nd, track beam；221st, hanging track beam；222nd, curb girder；23rd, driving wheel；231st, driving wheel rotating shaft；24th, fixed Zhi Chong
Wheel；241st, fixed support；25th, floating type thrust wheel；26th, tensioning wheel；261st, tensioning wheel connecting plate；27th, the elastic regulation of tensioning wheel
Structure；271st, connecting rod；272nd, the output shaft of bar-link drive；28th, one-level floating bracket；280th, the top of one-level floating bracket
Angle；281st, the base angle of one-level floating bracket；282nd, rotating shaft；29th, two level floating bracket；290th, the drift angle of two level floating bracket；
291st, the base angle of two level floating bracket；292nd, bearing pin.
Embodiment
The technical solution of the utility model is described in further detail below in conjunction with drawings and examples.
Embodiment
As shown in figure 1, a kind of firefighting fire extinguishing robot that can climb obstacle detouring provided by the utility model, including fire-fighting fire extinguishing
Robot body 1 and two creepers undercarriage 2 for being symmetricly set on the lower section of firefighting fire extinguishing robot body 1, described fire-fighting
The concrete structure of fire extinguishing machine human body 1 can use prior art, for example, filed in 23 days November in 2015 of the applicant it is special
Profit number for ZL 201520943168.6 utility model patent provided in a kind of fire-fighting robot, including chassis, power dress
Put, fire monitor, atomization jetting device, elevation mount, hold tank, supercharging device and telescopic jib, the output end of the power set
It is connected respectively with the chassis, supercharging device, atomization jetting device, telescopic jib and elevation mount；The appearance tank passes through pipe
Road is connected with the supercharging device；The fire monitor is arranged on the telescopic jib, and the elevation mount sprays with the atomization
Injection device connects；Because the main improvement of present patent application is creeper undercarriage 2 therein, to fire-fighting fire extinguishing robot body
1 does not do any improvement, therefore will not be repeated here and unnecessary restriction.
With reference to shown in Fig. 2, creeper undercarriage 2 described in the present embodiment include crawler belt 21, track beam 22, driving wheel 23,
Fixed thrust wheel 24, floating type thrust wheel 25 and tensioning wheel 26, the driving wheel 23 are located at the front end of track beam 22, described
Bearing up pulley 26 is located at the rear end of track beam 22, and the fixed thrust wheel 24 and floating type thrust wheel 25 are located at driving wheel 23 and tensioning
Between wheel 26, and fixed thrust wheel 24 is located at the front of floating type thrust wheel 25, fixed thrust wheel 24 and floating type Zhi Chong
Wheel 25 and tensioning wheel 26 are on same ground plane, center of gravity and the floating type thrust wheel 25 of rearmost of fixed thrust wheel 24
What the distance between center of gravity d accounted for ground connection crawler belt 211 length L 40%~70% (is preferably 50%~60%, makes entirety during climbing
Center of gravity can be advanced on fixed thrust wheel 24), crawler belt 21 is around driving wheel 23, tensioning wheel 26, floating type thrust wheel 25 and consolidates
Fixed pattern thrust wheel 24 forms the obtuse triangle structure of obtuse angle upward.The summit of the obtuse angle alpha is fixed thrust wheel 24, and
Track beam 221 between the floating type rear portion of thrust wheel 25, the front portion of tensioning wheel 26 is suspended on ground connection crawler belt 211, flying height h
For 10~30mm.In the obtuse triangle, using driving wheel 23 for summit internal angle beta as 25~35 °, with tensioning wheel 26 for top
The interior angle θ of point is 5~15 °.
It is shown in Figure 3：The track beam 22 includes two curb girders 222；The driving wheel 23 is 1, is rotated by driving
Axle 231 is arranged among two curb girders 222 of track beam front end, pin joint between the curb girder 222 of driving wheel rotating shaft 231 and two；Institute
Fixed thrust wheel 24 is stated as 2, be arranged in respectively by fixed support 241 rear of driving wheel 23 two curb girders just under
Side, is fixedly connected between the fixed support 241 and two curb girders 222；The tensioning wheel 26 is 2, is connected respectively by tensioning wheel
Fishplate bar 261 is arranged on the rear end of two curb girders 222, one end and the pin joint of tensioning wheel 26 of the tensioning wheel connecting plate 261, the other end with
Curb girder 222 is fixedly connected；Also include tensioning wheel tightness adjustment structure 27, the tensioning wheel tightness adjustment structure 27 includes connecting rod
271 and bar-link drive (not shown), one end of the connecting rod 271 and the connecting shaft 262 for being connected two tensioning wheels 26
It is fixedly connected, the other end of the connecting rod 271 is fixedly connected with the output shaft 272 of bar-link drive.The floating type Zhi Chong
Wheel 25 is 8, and every 2 floating type thrust wheels 25 are one group, right two-by-two by one-level floating bracket 28 and two level floating bracket 29
Claim the underface for being arranged in two curb girders 222 at the fixed rear of thrust wheel 24.
With reference to shown in Fig. 4：The one-level floating bracket 28 shares four, and two level floating bracket 29 has one, the one-level
Floating bracket 28 and two level floating bracket 29 are in isosceles triangle, the one-level floating bracket 28 at each in isosceles triangle
Base angle 281 on be rotatably connected to a floating type thrust wheel 25, each two one-level floating bracket 28 is symmetrical to be arranged on two
The underface of curb girder 222, it is connected by a rotating shaft 282 between corresponding two one-level floating brackets 28, the rotating shaft 282
Both ends distinguish the pin joint of drift angle 280 of corresponding one-level floating bracket 28, and in the two level floating bracket of isosceles triangle
29 two base angles 291 are respectively sleeved in the front and rear rotating shaft 282 of connection one-level floating bracket 28, the two level floating bracket 29
Drift angle 290 two curb girders 222 are arranged on by bearing pin 292 between, the both ends of the bearing pin 292 are fixed with two curb girders 222 respectively
Connection, so as to form a little fixed, four-point supporting two-stage floating support structure (shown in Figure 5).
It is visible in summary：Firefighting fire extinguishing robot described in the utility model, by making the drive in creeper undercarriage
The obtuse triangle structure of obtuse angle upward is formed between driving wheel, tensioning wheel, floating type thrust wheel, fixed thrust wheel, makes driving
The position of wheel somewhat it is high put with it is preposition, and fixed thrust wheel is preposition, and track beam lengthens, and makes track beam rear portion hanging, fire-fighting
The whole center of gravity reach of firefighting robot, so that described firefighting fire extinguishing robot not only has certain bearing capacity, and
And when climbing obstacle detouring, the somewhat high driving wheel put can avoid being hit by extraneous barrier, somewhat preposition driving wheel tool
There is stronger tractive force, and preposition center of gravity can reduce resistance when climbing obstacle detouring；In addition, hanging track beam rear portion causes
Ground connection crawler belt has deformation space, is supported on so that the track beam rear portion lengthened can stablize on domatic, makes crawler belt earth-grasping force
Increased, can effectively avoid derailed crawler belt and rollover risk, and do not influence the flexible performance turned；Especially, when simultaneously
Fixed using a bit, the two-stage floating support structure of four-point supporting, described firefighting fire extinguishing robot can be made when climbing obstacle detouring,
The deformation of energy flexible adaptation ground connection crawler belt is to reduce vibrations and impact, enhancing stability；Therefore, fire-fighting described in the utility model
Firefighting robot is remarkably improved climbing obstacle climbing ability in the case where not influenceing bearing capacity, and safety and stability is good, is suitable for various
The walking requirement of landform, can meet the free obstacle detouring of firefighting fire extinguishing robot and the walking requirement of climbing, referring now to prior art
With conspicuousness progress.
It is last it is necessarily pointed out that：It the foregoing is only the preferable embodiment of the utility model, but this
The protection domain of utility model is not limited thereto, and any one skilled in the art discloses in the utility model
In technical scope, the change or replacement that can readily occur in should all be covered within the scope of protection of the utility model.
Claims (10)
1. a kind of firefighting fire extinguishing robot that can climb obstacle detouring, including firefighting fire extinguishing robot body and two are symmetricly set on and disappeared
Creeper undercarriage below fire extinguishing robot body, the creeper undercarriage include crawler belt, track beam, driving wheel, solid
Fixed pattern thrust wheel, floating type thrust wheel and tensioning wheel, the driving wheel are located at the front end of track beam, and the tensioning wheel is located at crawler belt
The rear end of beam, the track beam include two curb girders, and the bottom of firefighting fire extinguishing robot body is fixed on by connector；It is special
Sign is：The fixed thrust wheel and floating type thrust wheel are between driving wheel and tensioning wheel, and fixed thrust wheel position
In the front of floating type thrust wheel, fixed thrust wheel is on same ground plane with floating type thrust wheel and tensioning wheel, Gu
The distance between the center of gravity of fixed pattern thrust wheel and the center of gravity of the floating type thrust wheel of rearmost account for ground connection track length 40%~
70%, crawler belt forms the obtuse triangle of obtuse angle upward around driving wheel, tensioning wheel, floating type thrust wheel and fixed thrust wheel
Structure, the summit at the obtuse angle are fixed thrust wheel, and the shoe between floating type thrust wheel rear portion, tensioning wheel front portion
Band beam is suspended on ground connection crawler belt.
2. the firefighting fire extinguishing robot according to claim 1 that obstacle detouring can be climbed, it is characterised in that：The floating type Zhi Chong
Take turns as 8, every 2 floating type thrust wheels are one group, are symmetricly set on two-by-two positioned at fixed thrust wheel by floating bracket
The underface of two curb girders at rear.
3. the firefighting fire extinguishing robot according to claim 2 that obstacle detouring can be climbed, it is characterised in that：The floating bracket by
Four one-level floating brackets and a two level floating bracket composition, the one-level floating bracket and two level floating bracket are in isosceles
Triangle, a floating type Zhi Chong is rotatably connected on each base angle in the one-level floating bracket of isosceles triangle
Take turns, the symmetrical underface for being arranged on two curb girders of each two one-level floating bracket, between corresponding two one-level floating brackets
It is connected by a rotating shaft, the drift angle pin joint of corresponding one-level floating bracket is distinguished at the both ends of the rotating shaft, and is in isosceles
Two base angles of the two level floating bracket of triangle are respectively sleeved in the front and rear rotating shaft of connection one-level floating bracket, the two level
Between the drift angle of floating bracket is arranged on two curb girders by bearing pin, the both ends of the bearing pin are fixedly connected with two curb girders respectively, from
And form a little fixed, two-stage floating support structure of four-point supporting.
4. the firefighting fire extinguishing robot according to claim 1 that obstacle detouring can be climbed, it is characterised in that：The obtuse triangle
In, the interior angle using driving wheel as summit is 25~35 °, and the interior angle using tensioning wheel as summit is 5~15 °.
5. the firefighting fire extinguishing robot according to claim 1 that obstacle detouring can be climbed, it is characterised in that：Between floating type Zhi Chong
The flying height taken turns between the track beam between rear portion and tensioning wheel front portion and ground connection crawler belt is 10~30mm.
6. the firefighting fire extinguishing robot according to claim 1 that obstacle detouring can be climbed, it is characterised in that：Fixed thrust wheel
Center of gravity and the center of gravity spacing of the floating type thrust wheel of rearmost account for the 50%~60% of ground connection track length.
7. the firefighting fire extinguishing robot according to claim 1 that obstacle detouring can be climbed, it is characterised in that：The driving wheel is 1
It is individual, it is arranged on by driving wheel rotating shaft among two curb girders of track beam front end, pin joint between the driving wheel rotating shaft and two curb girders.
8. the firefighting fire extinguishing robot according to claim 1 that obstacle detouring can be climbed, it is characterised in that：The fixed Zhi Chong
Take turns the underface for two curb girders for being arranged in driving wheel rear by fixed support respectively for 2, the fixed support and two
It is fixedly connected between curb girder.
9. the firefighting fire extinguishing robot according to claim 1 that obstacle detouring can be climbed, it is characterised in that：The tensioning wheel is 2
It is individual, the rear end of two curb girders, one end of the tensioning wheel connecting plate and tensioning wheel pin joint are arranged on by tensioning wheel connecting plate respectively,
The other end is fixedly connected with curb girder.
10. the firefighting fire extinguishing robot according to claim 9 that obstacle detouring can be climbed, it is characterised in that：Also include tensioning wheel
Tightness adjustment structure, the tensioning wheel tightness adjustment structure include connecting rod and bar-link drive, one end of the connecting rod and company
The connecting shaft for connecing two tensioning wheels is fixedly connected, and the other end of the connecting rod is fixedly connected with the output shaft of bar-link drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720886004.3U CN207137205U (en) | 2017-07-20 | 2017-07-20 | A kind of firefighting fire extinguishing robot that can climb obstacle detouring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720886004.3U CN207137205U (en) | 2017-07-20 | 2017-07-20 | A kind of firefighting fire extinguishing robot that can climb obstacle detouring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207137205U true CN207137205U (en) | 2018-03-27 |
Family
ID=61676077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720886004.3U Active CN207137205U (en) | 2017-07-20 | 2017-07-20 | A kind of firefighting fire extinguishing robot that can climb obstacle detouring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207137205U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107198848A (en) * | 2017-07-20 | 2017-09-26 | 上海格拉曼国际消防装备有限公司 | It is a kind of to climb the firefighting fire extinguishing robot of obstacle detouring |
-
2017
- 2017-07-20 CN CN201720886004.3U patent/CN207137205U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107198848A (en) * | 2017-07-20 | 2017-09-26 | 上海格拉曼国际消防装备有限公司 | It is a kind of to climb the firefighting fire extinguishing robot of obstacle detouring |
| CN107198848B (en) * | 2017-07-20 | 2023-05-26 | 上海格拉曼国际消防装备有限公司 | Fire-fighting robot capable of climbing obstacle surmounting |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107875549B (en) | Explosion-proof fire-fighting reconnaissance fire-extinguishing robot and working method | |
| US9814915B2 (en) | Quint configuration fire apparatus | |
| US9580962B2 (en) | Outrigger assembly for a fire apparatus | |
| CN207607560U (en) | A kind of wheel-track combined sniffing robot of leg | |
| CN209108490U (en) | A kind of firefighting fire extinguishing robot | |
| CN207575604U (en) | The humanoid fire-fighting robot of body-sensing remote control | |
| CN207137205U (en) | A kind of firefighting fire extinguishing robot that can climb obstacle detouring | |
| CN214138738U (en) | Rescue robot suitable for walking on different road surface terrains | |
| CN208678226U (en) | A kind of multi-functional full landform fire-fighting robot | |
| CN112498503A (en) | Rescue robot suitable for walking on different road surface terrains | |
| CN107198848A (en) | It is a kind of to climb the firefighting fire extinguishing robot of obstacle detouring | |
| CN206664744U (en) | A kind of post-disaster search and rescue intelligent vehicle | |
| CN105457207A (en) | Ultra-large combined fire-fighting equipment special for super high-rise building | |
| CN109129510A (en) | Fire-fighting robot mobile base | |
| CN209454461U (en) | A kind of full landform forest fire prevention and control Detecting Robot | |
| CN109107068A (en) | A kind of automatic obstacle-avoiding fire-fighting robot based on Mecanum wheel | |
| CN201840800U (en) | Automatic stair climbing firefighting robot | |
| CN209771168U (en) | Intelligent dust and haze removing equipment for fire fighting | |
| CN106627820A (en) | Crawler robot swing arm driving device | |
| CN211962901U (en) | Spliced support for building fire fighting | |
| CN210698584U (en) | Walking device of fire-fighting robot | |
| CN210302162U (en) | Sand pool structure of job site fire control is built in room | |
| CN202761944U (en) | Blowpipe of crawler-type self-propelled pneumatic extinguisher | |
| CN210644927U (en) | Lifting fire truck | |
| CN109774815A (en) | A kind of conversion traveling method of fire-fighting robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |