CN213473334U - Emergency rescue unmanned vehicle - Google Patents
Emergency rescue unmanned vehicle Download PDFInfo
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- CN213473334U CN213473334U CN202022464263.1U CN202022464263U CN213473334U CN 213473334 U CN213473334 U CN 213473334U CN 202022464263 U CN202022464263 U CN 202022464263U CN 213473334 U CN213473334 U CN 213473334U
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Abstract
The utility model relates to the technical field of unmanned vehicles, in particular to an emergency rescue unmanned vehicle, which comprises a vehicle body and an obstacle crossing mechanism, wherein first driving wheels are respectively arranged at two ends of two sides of the vehicle body; the obstacle crossing mechanisms are positioned at one end, far away from the walking motor, of the vehicle body, two obstacle crossing mechanisms are arranged, each obstacle crossing mechanism comprises a front pendulum, an adjusting shaft and an adjusting motor, and the front pendulums are driven by the first driving wheel far away from one end, far away from the walking motor; one end of the adjusting shaft is fixedly connected with the front pendulum, and the other end of the adjusting shaft penetrates through the vehicle body and is in transmission connection with the adjusting motor; the vehicle body is provided with a radar and an antenna. The utility model discloses can stride across complicated topography environment and barrier and accomplish the rescue task.
Description
Technical Field
The utility model belongs to the technical field of unmanned car technique and specifically relates to an emergency rescue unmanned car.
Background
With the progress of the times, research on robotics has been expanded from the conventional industrial fields to new fields such as medical services, educational entertainment, exploration and survey, bioengineering, and rescue, and has been rapidly developed. Therefore, the research on the robot technology has deeper theoretical significance and more urgent value requirements.
Unmanned vehicles are one of the achievements in the development of intelligent robots, and research work in the aspect is carried out in many countries in the world at present. The robot generally adopts control modes such as remote control, local autonomy, autonomy and the like, can have various purposes according to different subsystem module configurations, has wide application prospects in various fields such as military, nuclear industry and the like, and particularly shows the function of the robot in the aspect of executing reconnaissance and rescue tasks in a nuclear chemical pollution area. In the rescue task, the unmanned vehicle needs to face complex terrain and obstacles, most of the prior vehicles are four-wheel or six-wheel vehicles, and the unmanned vehicle cannot be effectively ensured to smoothly execute the task in the rescue site with rugged road and complex terrain.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides an unmanned car of emergency rescue can stride across complicated topography environment and barrier and accomplish the rescue task.
In order to realize the purpose, the utility model discloses a technical scheme be:
an emergency rescue unmanned vehicle comprises a vehicle body and an obstacle crossing mechanism, wherein first driving wheels are respectively arranged at two ends of two sides of the vehicle body, the first driving wheels on two sides of one end of the vehicle body are respectively driven by a walking motor, and the two first driving wheels of the vehicle body on each side are in transmission connection through walking tracks, so that the two walking tracks can drive the vehicle body to walk;
the obstacle crossing mechanisms are positioned at one end, far away from the walking motor, of the vehicle body, two obstacle crossing mechanisms are arranged, each obstacle crossing mechanism comprises a front pendulum, an adjusting shaft and an adjusting motor, the front pendulums are positioned at one side, far away from the first driving wheel at one end of the walking motor, of the vehicle body, and the front pendulums are driven by the first driving wheel at one end, far away from the walking motor; one end of the adjusting shaft is fixedly connected with the front pendulum, the other end of the adjusting shaft penetrates through the vehicle body and is in transmission connection with the adjusting motor, and the angle between the front pendulum and the walking track is adjusted under the driving of the adjusting motor;
the vehicle body is provided with a radar and an antenna, the radar is used for detecting the environment of a road surface, and the antenna is used for signal transmission of the radar.
Furthermore, the front pendulum comprises a second driving wheel, a third driving wheel and an obstacle crossing crawler belt, the second driving wheel is positioned on one side of the vehicle body, which is far away from the first driving wheel at one end of the walking motor, one side of the second driving wheel is provided with a plurality of connecting shafts in a surrounding manner, one end of each connecting shaft is fixedly connected with the corresponding second driving wheel, and the other end of each connecting shaft is fixedly connected with the corresponding first driving wheel;
the third drive wheel pass through the link with the regulating spindle is kept away from regulating motor's one end is connected, just link one end with the third drive wheel rotates to be connected, the other end with regulating spindle fixed connection, so that regulating motor passes through the regulating spindle adjustment the angle of link, hinder the track cover more and establish the second drive wheel reaches the third drive wheel, just hinder the track more with the second drive wheel reaches the third drive wheel transmission is connected.
Furthermore, each adjusting shaft is provided with a locking mechanism, the locking mechanism is located in the vehicle body and comprises a locking gear, a base, a locking piece, an electromagnet and a controller, the locking gear is fixedly sleeved on the adjusting shaft, the base and the locking piece are respectively located on two sides of the locking gear, one end of the base is fixedly connected with the vehicle body, and the other end of the base is connected with the locking piece through an elastic telescopic rod;
one side of the locking piece, which faces the locking gear, is provided with a locking groove, and the locking groove is provided with a rack which is meshed with the locking gear; the two electromagnets are respectively positioned on two sides of the locking gear, the electromagnets are fixedly connected with one side of the base, which faces the locking piece, the locking piece is provided with an iron block which is mutually attracted with the electromagnets, and when the electromagnets are powered on, the electromagnets attract the iron block, so that the locking piece moves towards the base, and the rack is clamped with the locking gear; when the electromagnet is powered off, the locking piece moves back to the base under the action of the elastic force of the elastic telescopic rod, so that the rack is separated from the locking gear;
the controller is respectively electrically connected with the electromagnet and the adjusting shaft.
Further, the adjusting motor is in transmission connection with the adjusting shaft through a speed reducer.
Furthermore, a plurality of supporting mechanisms are arranged between the walking tracks, each supporting mechanism comprises a supporting frame and a supporting wheel, one end of each supporting frame is fixedly connected with the corresponding vehicle body, the other end of each supporting frame is rotatably connected with the corresponding supporting wheel, the supporting wheels are located on one side, close to the ground, in the walking tracks, and the supporting wheels are in transmission connection with the walking tracks.
Further, the support frame includes first bracing piece, second bracing piece and supporting spring, first bracing piece with automobile body fixed connection, first bracing piece the second bracing piece reaches supporting spring rotates end to end and connects and constitute the triangle-shaped structure, the second bracing piece is kept away from the one end of first bracing piece with supporting wheel rotates and connects.
The utility model has the advantages that:
1. because two first drive wheels of every side automobile body are connected through the walking track transmission, under the drive of walking motor, first wheel body drives the walking track and rotates for the automobile body can move on complicated topography. Under the effect of adjusting motor, can adjust the angle between preceding pendulum and the walking track, from the angle that can adjust preceding pendulum according to the height adjustment of barrier, simultaneously under the drive of first drive wheel for the preceding pendulum can stride across the barrier, and the preceding pendulum through walking track and adjustable angle realizes that the automobile body stridees across the barrier and walks on complicated topography, in order to accomplish the rescue task smoothly. Under the action of the radar, the condition of the rescue environment can be detected, and information obtained by the radar is transmitted to the outside through the antenna, so that the rescue plan is customized.
2. Because connecting axle one end and second drive wheel fixed connection, the other end and the first drive wheel fixed connection who corresponds for first drive wheel can drive the second drive wheel, and simultaneously under the drive of second drive wheel, the track that hinders more rotates, thereby has realized the preceding pendulum drive. Under the effect of adjusting motor, the regulating spindle can drive the link deflection to realized the adjustment of preceding pendulum angle, through adjusting the preceding pendulum to suitable angle, makeed obstacle crossing track and barrier butt, so that the barrier can be strideed across to the automobile body. Each front pendulum is correspondingly provided with an adjusting motor, so that the two front pendulums can adjust different angles, and the two front pendulums can better adapt to complex obstacles.
3. Under the effect of support frame, can make supporting wheel and walking track transmission be connected to improve the support nature of walking track, reduced the condition that the walking track skidded. Under supporting spring's effect, when walking track meets the barrier, supporting spring provides the buffering for the automobile body, prevents that the condition of turning on one's side from appearing in the automobile body.
Drawings
Fig. 1 is a schematic structural view of an emergency rescue unmanned vehicle according to a preferred embodiment of the present invention.
Fig. 2 is a schematic structural view of a supporting mechanism of an emergency rescue unmanned vehicle according to a preferred embodiment of the present invention.
Fig. 3 is a schematic structural view of the adjusting motor of the emergency rescue unmanned vehicle according to a preferred embodiment of the present invention.
Fig. 4 is a schematic structural view of a locking mechanism of an emergency rescue unmanned vehicle according to a preferred embodiment of the present invention.
In the figure, 1-vehicle body, 11-radar, 12-antenna, 2-first driving wheel, 21-walking crawler, 3-forward swing, 31-adjusting shaft, 32-adjusting motor, 321-reducer, 4-second driving wheel, 401-connecting shaft, 41-third driving wheel, 42-obstacle crossing crawler, 43-connecting frame, 5-locking gear, 51-base, 511-elastic telescopic rod, 52-locking piece, 53-electromagnet, 531-iron block, 6-supporting frame, 601-first supporting rod, 602-second supporting rod, 603-supporting spring and 61-supporting wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 4, an emergency rescue unmanned vehicle according to a preferred embodiment of the present invention includes a vehicle body 1 and an obstacle crossing mechanism.
The two ends of the two sides of the vehicle body 1 are respectively provided with a first driving wheel 2, the first driving wheels 2 on the two sides of one end of the vehicle body 1 are respectively driven by a walking motor, and the two first driving wheels 2 of the vehicle body 1 on each side are in transmission connection through a walking crawler belt 21, so that the two walking crawler belts 21 can drive the vehicle body 1 to walk.
Because two first drive wheels 2 of each side automobile body 1 are connected through walking track 21 transmission, under the drive of walking motor, first wheel body 2 drives walking track 21 and rotates for automobile body 1 can remove on complicated topography.
The obstacle crossing mechanisms are located at one end, far away from the walking motor, of the vehicle body 1, the obstacle crossing mechanisms are two, each obstacle crossing mechanism comprises a front pendulum 3, an adjusting shaft 31 and an adjusting motor 32, the front pendulums 3 are located on one side, far away from the first driving wheel 2 at one end of the walking motor, of the vehicle body 1, and the front pendulums 3 are driven through the first driving wheel 2 far away from one end of the walking motor. One end of the adjusting shaft 31 is fixedly connected with the front swing 3, and the other end penetrates into the vehicle body 1 and is in transmission connection with the adjusting motor 32, so that the angle between the front swing 3 and the walking crawler 21 is adjusted under the driving of the adjusting motor 32.
The angle between the front swing 3 and the traveling crawler 21 can be adjusted by the adjustment motor 32, and the front swing 3 can be driven by the first drive wheel 2 to ride over an obstacle while the angle of the front swing 3 can be adjusted according to the height of the obstacle.
The vehicle body 1 can walk on complex terrain and span obstacles by the walking crawler 21 and the angle-adjustable front swing 3, so that the rescue task can be smoothly completed.
The vehicle body 1 is provided with a radar 11 and an antenna 12, wherein the radar 11 is used for detecting the environment of the road surface, and the antenna 12 is used for signal transmission of the radar 11. Under the action of the radar 11, the condition of the rescue environment can be detected, and the information obtained by the radar is transmitted to the outside through the antenna, so that the rescue plan can be customized.
The front pendulum 3 comprises a second driving wheel 4, a third driving wheel 41 and an obstacle crossing crawler 42, the second driving wheel 4 is positioned on one side of the vehicle body 1 far away from the first driving wheel 2 at one end of the walking motor, one side of the second driving wheel 4 is provided with a plurality of connecting shafts 401 in a surrounding mode, one end of each connecting shaft 401 is fixedly connected with the second driving wheel 4, and the other end of each connecting shaft is fixedly connected with the corresponding first driving wheel 2.
The third driving wheel 41 is connected with one end of the adjusting shaft 31 far away from the adjusting motor 32 through a connecting frame 43, one end of the connecting frame 43 is rotatably connected with the third driving wheel 41, and the other end of the connecting frame 43 is fixedly connected with the adjusting shaft 31, so that the adjusting motor 32 adjusts the angle of the connecting frame 43 through the adjusting shaft 31, the obstacle crossing crawler 42 is sleeved on the second driving wheel 4 and the third driving wheel 41, and the obstacle crossing crawler 42 is in transmission connection with the second driving wheel 4 and the third driving wheel 41. The end of the connecting frame 43 remote from the third driving wheel 41 of the present embodiment is rotatably connected to the second driving wheel 4.
Because connecting axle 401 one end and second drive wheel 4 fixed connection, the other end and the first drive wheel 2 fixed connection that corresponds for first drive wheel 2 can drive second drive wheel 4, and simultaneously under the drive of second drive wheel 4, hinders track 42 more and rotate, thereby has realized preceding pendulum 3 drive. The adjusting motor 32 of the present embodiment is in transmission connection with the adjusting shaft 31 through a reducer 321.
Under the effect of adjusting motor 32, adjusting shaft 31 can drive link 43 and deflect to realized the adjustment of preceding pendulum 3 angle, through adjusting preceding pendulum 3 to suitable angle, make obstacle crossing track 42 and barrier butt, so that automobile body 1 can stride across the barrier. Each front pendulum 3 is correspondingly provided with an adjusting motor 32, so that the two front pendulums 3 can adjust different angles, and the device can better adapt to complex obstacles.
As shown in fig. 4, each adjusting shaft 31 of the present embodiment is provided with a locking mechanism, the locking mechanism is located in the vehicle body 1, and the locking mechanism includes a locking gear 5, a base 51, a locking member 52, an electromagnet 53 and a controller, the locking gear 5 is fixedly sleeved on the adjusting shaft 31, the base 51 and the locking member 52 are respectively located at two sides of the locking gear 5, one end of the base 51 is fixedly connected with the vehicle body 1, and the other end is connected with the locking member 52 through an elastic telescopic rod 511. The elastic expansion link 511 of this embodiment is a two-stage nested expansion structure, and the two rods are connected by a compression spring.
A locking groove 521 is formed in one side of the locking member 52 facing the locking gear 5, and the locking groove 521 is provided with a rack 522 engaged with the locking gear 5; two electromagnets 53 are arranged, the two electromagnets 53 are respectively positioned at two sides of the locking gear 5, the electromagnets 53 are fixedly connected with one side of the base 51 facing the locking piece 52, the locking piece 52 is provided with an iron block 531 mutually attracted with the electromagnets 53, when the electromagnets 53 are powered on, the electromagnets 53 attract the iron block 531, so that the locking piece 52 moves towards the base 51, and the rack 522 is clamped with the locking gear 5; when the electromagnet 53 is de-energized, the locking member 52 moves away from the base 51 under the elastic force of the elastic expansion link 511, so that the rack 522 is separated from the locking gear 5.
The controller is electrically connected to the electromagnet 53 and the adjustment shaft 31, respectively.
When the angle of the front pendulum 3 does not need to be adjusted, the controller controls the electromagnet 53 to be electrified, the electromagnet 53 attracts the iron block 531, so that the locking piece 52 moves towards the base 51, and the rack 522 is clamped with the locking gear 5, so that the front pendulum 3 can be fixed at the current angle; when the angle of the front swing 3 needs to be adjusted, the controller controls the electromagnet 53 to be powered off, and the locking piece 52 moves back to the base 51 under the action of the elastic force of the elastic telescopic rod 511, so that the rack 522 is separated from the locking gear 5, and the adjusting shaft 31 can be driven by the adjusting motor 32.
Two supporting mechanisms are arranged between the walking crawler belts 21, each supporting mechanism comprises a supporting frame 6 and a supporting wheel 61, one end of each supporting frame 6 is fixedly connected with the vehicle body 1, the other end of each supporting frame is rotatably connected with the supporting wheel 61, the supporting wheel 61 is positioned on one side, close to the ground, in the walking crawler belts 21, and the supporting wheels 61 are in transmission connection with the walking crawler belts 21.
Under the action of the support frame 6, the support wheels 61 can be in transmission connection with the walking crawler 21, so that the support performance of the walking crawler 21 is improved, and the slipping of the walking crawler 21 is reduced.
The supporting frame 6 comprises a first supporting rod 601, a second supporting rod 602 and a supporting spring 603, the first supporting rod 601 is fixedly connected with the vehicle body 1, the first supporting rod 601, the second supporting rod 602 and the supporting spring 603 are connected end to end in a rotating manner and form a triangular structure, and one end, far away from the first supporting rod 601, of the second supporting rod 602 is rotatably connected with the supporting wheel 61.
Under the effect of supporting spring 603, when walking track 21 meets the barrier, supporting spring 603 provides the buffering for the automobile body, prevents that the condition of turning on one's side from appearing in automobile body 1.
The controller of the present embodiment can receive a control command from the remote controller via the antenna 13, so that the remote controller controls the traveling motor, the adjustment motor 32, and the electromagnet 53. The vehicle body 1 is also internally provided with a battery, and the walking motor, the adjusting motor 32, the electromagnet 53, the radar 11, the antenna 12 and the controller provide electric energy through the battery. The vehicle body 1 can be provided with a camera and a lighting lamp so as to be convenient for remote monitoring of the rescue environment.
When the emergency rescue unmanned vehicle is rescued, the walking motor drives the walking crawler 21 to rotate according to the control instruction of the remote controller, so that the vehicle body 1 moves. When the vehicle body 1 encounters an obstacle, the controller receives a front swing adjusting instruction of the remote controller, the controller controls the electromagnet 53 to lose power, the locking piece 52 moves back to the base 51 under the action of the elastic force of the elastic telescopic rod 511, so that the rack 522 is separated from the locking gear 5, the adjusting shaft 31 can be driven by the adjusting motor 32, and the front swing 3 can be adjusted to a proper position. After the front swing 3 is adjusted, the controller controls the electromagnet 53 to be powered on, the electromagnet 53 attracts the iron block 531, the locking piece 52 moves towards the base 51, and the rack 522 is clamped with the locking gear 5, so that the front swing 3 can be fixed at the current angle.
Claims (6)
1. The emergency rescue unmanned vehicle is characterized by comprising a vehicle body (1) and an obstacle crossing mechanism, wherein first driving wheels (2) are respectively arranged at two ends of two sides of the vehicle body (1), the first driving wheels (2) on two sides of one end of the vehicle body (1) are respectively driven by a walking motor, and the two first driving wheels (2) of the vehicle body (1) on each side are in transmission connection through walking tracks (21) so that the two walking tracks (21) can drive the vehicle body (1) to walk;
the obstacle crossing mechanisms are positioned at one end, far away from the walking motor, of the vehicle body (1), two obstacle crossing mechanisms are arranged, each obstacle crossing mechanism comprises a front pendulum (3), an adjusting shaft (31) and an adjusting motor (32), the front pendulums (3) are positioned at one sides, far away from the first driving wheel (2) at one end of the walking motor, of the vehicle body (1), and the front pendulums (3) are driven by the first driving wheel (2) far away from one end of the walking motor; one end of the adjusting shaft (31) is fixedly connected with the front pendulum (3), the other end of the adjusting shaft penetrates through the vehicle body (1) and is in transmission connection with the adjusting motor (32), and the angle between the front pendulum (3) and the walking crawler (21) is adjusted under the driving of the adjusting motor (32);
be equipped with radar (11) and antenna (12) on automobile body (1), just radar (11) are in order to be used for surveying the environment on road surface, antenna (12) are used for radar (11)'s signal transmission.
2. An emergency rescue unmanned vehicle as defined in claim 1, wherein: the front pendulum (3) comprises a second driving wheel (4), a third driving wheel (41) and an obstacle crossing crawler belt (42), the second driving wheel (4) is located on one side, away from the first driving wheel (2) at one end of the walking motor, of the vehicle body (1), a plurality of connecting shafts (401) are arranged on one side of the second driving wheel (4) in a surrounding mode, one end of each connecting shaft (401) is fixedly connected with the corresponding second driving wheel (4), and the other end of each connecting shaft is fixedly connected with the corresponding first driving wheel (2);
third drive wheel (41) through link (43) with regulating shaft (31) is kept away from the one end of regulating motor (32) is connected, just link (43) one end with third drive wheel (41) rotate to be connected, the other end with regulating shaft (31) fixed connection, so that regulating motor (32) passes through regulating shaft (31) adjustment the angle of link (43), hinder track (42) cover is established second drive wheel (4) and third drive wheel (41) hinder more, just hinder more track (42) with second drive wheel (4) and third drive wheel (41) transmission is connected.
3. An emergency rescue unmanned vehicle as defined in claim 2, wherein: each adjusting shaft (31) is provided with a locking mechanism, the locking mechanism is located in the vehicle body (1), the locking mechanism comprises a locking gear (5), a base (51), a locking piece (52), an electromagnet (53) and a controller, the locking gear (5) is fixedly sleeved on the adjusting shaft (31), the base (51) and the locking piece (52) are located on two sides of the locking gear (5) respectively, one end of the base (51) is fixedly connected with the vehicle body (1), and the other end of the base (51) is connected with the locking piece (52) through an elastic telescopic rod (511);
one side of the locking piece (52) facing the locking gear (5) is provided with a locking groove (521), and the locking groove (521) is provided with a rack (522) meshed with the locking gear (5); the two electromagnets (53) are respectively positioned at two sides of the locking gear (5), the electromagnets (53) are fixedly connected with one side, facing the locking piece (52), of the base (51), the locking piece (52) is provided with an iron block (531) mutually attracted with the electromagnets (53), and when the electromagnets (53) are powered on, the electromagnets (53) attract the iron block (531), so that the locking piece (52) moves towards the base (51), and the rack (522) is clamped with the locking gear (5); when the electromagnet (53) is powered off, under the action of the elastic force of the elastic telescopic rod (511), the locking piece (52) moves back to the base (51) so as to separate the rack (522) from the locking gear (5);
the controller is respectively and electrically connected with the electromagnet (53) and the adjusting shaft (31).
4. An emergency rescue unmanned vehicle as defined in claim 1, wherein: the adjusting motor (32) is in transmission connection with the adjusting shaft (31) through a speed reducer (321).
5. An emergency rescue unmanned vehicle as defined in claim 1, wherein: be equipped with a plurality of supporting mechanism between walking track (21), each supporting mechanism includes support frame (6) and supporting wheel (61), support frame (6) one end with automobile body (1) fixed connection, the other end with supporting wheel (61) rotate and connect, supporting wheel (61) are located one side that is close to ground in walking track (21), just supporting wheel (61) with walking track (21) transmission is connected.
6. An emergency rescue unmanned vehicle of claim 5, characterized in that: support frame (6) include first bracing piece (601), second bracing piece (602) and supporting spring (603), first bracing piece (601) with automobile body (1) fixed connection, first bracing piece (601) second bracing piece (602) reach supporting spring (603) end to end rotates to be connected and constitutes the triangle-shaped structure, second bracing piece (602) are kept away from the one end of first bracing piece (601) with supporting wheel (61) rotate to be connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022464263.1U CN213473334U (en) | 2020-10-30 | 2020-10-30 | Emergency rescue unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022464263.1U CN213473334U (en) | 2020-10-30 | 2020-10-30 | Emergency rescue unmanned vehicle |
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| CN213473334U true CN213473334U (en) | 2021-06-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114016362A (en) * | 2021-11-18 | 2022-02-08 | 孙建军 | Road and bridge construction distance marking and dotting equipment and method thereof |
| CN114734467A (en) * | 2022-05-24 | 2022-07-12 | 重庆大学 | Reconfigurable group robot finger control platform and obstacle crossing control method |
| CN115970205A (en) * | 2022-11-30 | 2023-04-18 | 河南云展创新智能装备有限公司 | Crawler-type unmanned fire truck for spraying water cannons |
-
2020
- 2020-10-30 CN CN202022464263.1U patent/CN213473334U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114016362A (en) * | 2021-11-18 | 2022-02-08 | 孙建军 | Road and bridge construction distance marking and dotting equipment and method thereof |
| CN114734467A (en) * | 2022-05-24 | 2022-07-12 | 重庆大学 | Reconfigurable group robot finger control platform and obstacle crossing control method |
| CN115970205A (en) * | 2022-11-30 | 2023-04-18 | 河南云展创新智能装备有限公司 | Crawler-type unmanned fire truck for spraying water cannons |
| CN115970205B (en) * | 2022-11-30 | 2024-05-24 | 河南云展创新智能装备有限公司 | Crawler-type unmanned fire truck for spraying water cannon |
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