CN214323419U - Water supply device for robot - Google Patents
Water supply device for robot Download PDFInfo
- Publication number
- CN214323419U CN214323419U CN202023124719.6U CN202023124719U CN214323419U CN 214323419 U CN214323419 U CN 214323419U CN 202023124719 U CN202023124719 U CN 202023124719U CN 214323419 U CN214323419 U CN 214323419U
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- Prior art keywords
- telescopic
- water
- output
- coupling
- water supply
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 146
- 230000008878 coupling Effects 0.000 claims abstract description 63
- 238000010168 coupling process Methods 0.000 claims abstract description 63
- 238000005859 coupling reaction Methods 0.000 claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 230000009467 reduction Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 239000008213 purified water Substances 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 2
- 239000008400 supply water Substances 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Abstract
The utility model relates to ruin rescue equipment, in particular to a water supply device for a robot, which comprises a pose adjusting mechanism and a water supply mechanism, wherein the water supply mechanism is arranged on the pose adjusting mechanism and is used for forming the water supply device; the pose adjusting mechanism comprises a telescopic joint and a coupling joint, one end of the telescopic joint is fixed on the robot through a fixed base, the other end of the telescopic joint is provided with the coupling joint, and the length of the telescopic joint is changed through the driving of a motor to reach a preset target position; the coupling joint drives the multi-gear meshing transmission through the double motors, and the output of the coupling joint can realize the adjustment in any direction and angle, so that the connected water supply mechanism is flexible and quick; the water supply mechanism comprises a water storage module and a tail end control module, the water storage module stores purified water for demand, and the tail end control module controls the position and the angle of a tail end water delivery pipe so as to achieve the purpose of water delivery. The utility model has the characteristics of structure lightweight, modularization, water supply accuracy are high, easily install, change, control accurate.
Description
Technical Field
The utility model relates to ruin rescue equipment, in particular to a water supply device for a robot, which can be arranged on a ruin rescue robot.
Background
Accidents such as earthquakes and tsunamis often cause buildings to collapse to produce ruins, and rescue survivors buried in the ruins is a very urgent task. In order to improve the rescue efficiency, rescue technologies are vigorously developed; because the environment in the ruins is disordered and the vital signs of trapped people are extremely weak, water and oxygen supply or drug treatment is urgently needed, even more, bleeding is not stopped, and the people need to be bound, the rescue work is greatly difficult.
SUMMERY OF THE UTILITY MODEL
In order to solve various urgent needs of the trapped people in the ruins, even simple treatment and ensure normal vital signs of the trapped people, the utility model aims to provide a water supply device of a robot, which is used for emergency rescue tasks.
The purpose of the utility model is realized through the following technical scheme:
the utility model discloses a position appearance guiding mechanism and water supply mechanism, wherein position appearance guiding mechanism includes telescopic joint and coupling joint, water supply mechanism includes water storage module and end control and perception module, telescopic joint's one end is installed on the robot, and the other end is the flexible end, coupling joint's one end links to each other with telescopic joint's flexible end, by telescopic joint drive flexible, coupling joint's the other end has every single move degree of freedom or the degree of freedom that deflects; the water storage module and the tail end control and sensing module are installed at the other end of the coupling joint and driven by the telescopic joint and the coupling joint to reach a set position and angle.
Wherein: the telescopic joint comprises a telescopic driving motor, a telescopic lead screw, a telescopic screw nut, a telescopic sliding block, a sliding block connecting rod, a telescopic assembly, a fixed base, a telescopic outer frame, a telescopic lead screw fixing seat and a multi-layer supporting sleeve, one end of the fixed base is installed on the robot, the other end of the fixed base is connected with the telescopic outer frame, the telescopic lead screw fixing seat is fixed on the telescopic outer frame, the telescopic lead screw fixing seat is rotatably installed with the telescopic lead screw, the telescopic lead screw is connected with an output shaft of the telescopic driving motor fixed on the fixed base, the telescopic lead screw is in threaded connection with the telescopic screw nut, the telescopic sliding block is fixedly connected with the telescopic screw nut, one end of the sliding block connecting rod is hinged with the telescopic sliding block, the other end of the sliding block connecting rod is connected with the innermost layer of the multi-layer supporting sleeve through the telescopic assembly, and the outermost layer of the multi-layer supporting sleeve is fixedly connected with the outside of the telescopic outer frame.
The telescopic assembly comprises supporting rods and supporting connection, the supporting rods are in a cross shape, the supporting connection is installed on the innermost layer of the multilayer supporting sleeve, and the two sides of the supporting rods in the cross shape are hinged to the sliding block connecting rod and the supporting connection respectively.
The coupling joint comprises two coupling driving motors, two transmission gear sets, an output bevel gear, a cross shaft, a coupling base and an output connecting piece, the coupling base is arranged at the output end of the telescopic joint, the two coupling driving motors are symmetrically arranged on the coupling base, and two groups of transmission gear sets are respectively arranged at two sides of the coupling base; two output bevel gears are mounted on the cross shaft, two ends of the cross shaft are respectively rotatably connected with the output connecting piece, the input end of each transmission gear set on each side is driven by a coupling driving motor, the output end of each transmission gear set is respectively meshed with one toothed end of each output bevel gear, and the other end of each output bevel gear is mounted on the output connecting piece.
The transmission gear set comprises an output gear, an inert gear, transmission gears and an input bevel gear, the output gear is connected with the output end of the coupling driving motor, two transmission gears on two sides are arranged on a bevel gear shaft and are linked with the bevel gear shaft, the bevel gear shaft is rotationally arranged on the coupling base, the gear shaft of the inert gear is rotationally arranged on the coupling base, and the inert gear is positioned between the output gear and the transmission gears and is respectively meshed with the output gear and the transmission gears; and the bevel gear shaft is provided with two input bevel gears which are linked with the bevel gear shaft, and each input bevel gear is respectively meshed with the two output bevel gears on the cross shaft.
Two ends of one of the cross shafts are respectively rotatably connected with the output connecting piece, the other cross shaft is in a hollow tubular shape, and the bevel gear shaft penetrates through the hollow tube.
The water storage device comprises a water storage module, a water output connecting piece, a cross shaft, a water storage module, a tail end control and sensing module and a water storage module, wherein the water storage module and the tail end control and sensing module are arranged on the bottom of the U shape.
The water storage module comprises a water storage tank, a water delivery pipe, a water delivery valve, a water valve reducer, a water valve motor, a tail end hose and a water supply base, wherein the water storage tank is fixed on the robot and is connected with one end of the water delivery valve through the water delivery pipe, and the other end of the water delivery valve is connected with the tail end hose; the water delivery valve is provided with a water valve reducer and a water valve motor, the water delivery valve and the water valve motor are both arranged on the water supply base, and the water supply base is fixedly connected to the other end of the coupling joint.
Terminal control and perception module include the water supply base, turn to the motor, turn to the reduction gear, turn to connector, miniature camera and miniature distancer, should turn to the motor connection and turn to the reduction gear, and fix on the water supply base, the output that turns to the reduction gear is equipped with turns to the connector, should turn to and be fixed with terminal hose on the connector, miniature camera and miniature distancer are installed on the top of water supply base.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses a rescue device of installing on ruins rescue robot, the last water supply mechanism that fixes of position appearance guiding mechanism for water supply mechanism's feedwater angle scope is wider, can reach the target of multi-angle smooth feedwater.
2. The utility model discloses telescopic joint and coupling joint among the position appearance guiding mechanism, under the condition that adopts few motor drive, joint mechanism retrencies, can reach preset position and angle, satisfies the operation requirement of terminal load.
3. The water supply mechanism of the utility model comprises a water storage module and a terminal control and sensing module, wherein the water storage module not only stores purified water but also controls the delivery quantity of the purified water so as to control the amount of water supply; the tail end control and sensing module controls the feeding angle of the tail end hose, and the miniature camera and the miniature range finder on the tail end control and sensing module provide rescue workers with specific information of trapped persons in the ruins and detailed data of surrounding environments, and provide basis for further rescue.
4. The utility model discloses water supply installation lightweight, modularization, the narrow and small space strong adaptability in ruins, easily installation, control the precision height.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic structural view of a middle expansion joint of the present invention;
fig. 3 is a schematic structural view of the middle coupling joint of the present invention;
FIG. 4 is a schematic structural view of the water supply mechanism of the present invention;
wherein: 1 is a pose adjusting mechanism, 2 is a water supply mechanism, 3 is a telescopic joint, 4 is a coupling joint, 5 is a water storage module, 6 is a tail end control and sensing module, 7 is a telescopic driving motor, 8 is a coupler, 9 is a telescopic lead screw, 10 is a telescopic slide block, 11 is a slide block connecting rod, 12 is a supporting rod, 13 is a supporting connection, 14 is a fixed base, 15 is a telescopic outer frame, 16 is a telescopic lead screw fixing seat, 17 is a supporting sleeve, 18 is a coupling driving motor, 19 is an output gear, 20 is an inert gear, 21 is a transmission gear, 22 is an input bevel gear, 23 is an output bevel gear, 24 is a bevel gear shaft, 25 is a cross shaft, 26 is a coupling base, 27 is an output connecting piece, 28 is a water storage tank, 29 is a water delivery pipe, 30 is a water delivery valve, 31 is a water valve reducer, 32 is a water valve motor, 33 is a tail end hose, 34 is a water supply base, 35 is a steering motor, 36 is a steering reducer, 37 is a steering connector, 38 is a micro camera, and 39 is a micro range finder.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1-4, the utility model comprises a pose adjusting mechanism 1 and a water supply mechanism 2, wherein the pose adjusting mechanism 1 comprises a telescopic joint 3 and a coupling joint 4, the water supply mechanism 2 comprises a water storage module 5 and a terminal control and sensing module 6, one end of the telescopic joint 3 is installed on the robot, the other end is a telescopic end, one end of the coupling joint 4 is connected with the telescopic end of the telescopic joint 3 and driven to extend and retract by the telescopic joint 3, and the other end of the coupling joint 4 has pitching freedom degree or deflection freedom degree; the water storage module 5 and the tail end control and sensing module 6 are installed at the other end of the coupling joint 4 and reach a set position and angle through the driving of the telescopic joint 3 and the coupling joint 4, so that the aim that the water supply mechanism 2 can supply water smoothly is fulfilled.
The telescopic joint 3 of the embodiment comprises a telescopic driving motor 7, a coupler 8, a telescopic lead screw 9, a telescopic screw nut, a telescopic slider 10, a slider connecting rod 11, a telescopic assembly, a fixed base 14, a telescopic outer frame 15, a telescopic lead screw fixing seat 16 and a multi-layer supporting sleeve 17, wherein one end of the fixed base 14 is installed on the robot, the other end of the fixed base is connected with the telescopic outer frame 15, the telescopic lead screw fixing seat 16 is fixed on the telescopic outer frame 15, the telescopic lead screw fixing seat 16 is rotatably provided with the telescopic lead screw 9, the telescopic lead screw 9 is connected with an output shaft of the telescopic driving motor 7 fixed on the fixed base 14 through the coupler 8, the telescopic screw nut is in threaded connection with the telescopic lead screw 9, the telescopic slider 10 is fixedly connected with the telescopic screw nut, one end of the slider connecting rod 11 is hinged with the telescopic slider 10, and the other end of the slider is connected with the innermost layer of the multi-layer supporting sleeve 17 through the telescopic assembly, the outermost layer of the multi-layer support sleeve 17 is fixed to the outside of the telescopic outer frame 15. The flexible subassembly of this embodiment includes bracing piece 12 and support connection 13, and this bracing piece 12 is many and is the cross form, supports connection 13 and installs in multilayer support sleeve 17's inlayer, and many both sides that are cross form bracing piece 12 are articulated with slider connecting rod 11 and support connection 13 respectively.
The coupling joint 4 of the present embodiment includes a coupling driving motor 18, a transmission gear set, an output bevel gear 23, a cross axle 25, a coupling base 26 and an output connecting member 27, the coupling base 26 is installed at the output end (i.e. the innermost supporting sleeve 17) of the telescopic joint 3, the two coupling driving motors 18 are symmetrically installed on the coupling base 26, and two sides of the coupling base 26 are respectively provided with a set of transmission gear set; two output bevel gears 23 are mounted on the cross shaft 25, two ends of the cross shaft 25 are respectively rotatably connected with the output connecting piece 27, the input end of each side transmission gear set is driven by a coupling driving motor 18, the output end of each side transmission gear set is respectively meshed with one end with teeth of the two output bevel gears 23, and the other end of each output bevel gear 23 is mounted on the output connecting piece 27. The transmission gear set of the embodiment comprises an output gear 19, an idler gear 20, a transmission gear 21 and an input bevel gear 22, wherein the output gear 19 is connected to the output end of a coupling driving motor 18, two transmission gears 21 at two sides are installed on a bevel gear shaft 24 and are linked with the bevel gear shaft 24, the bevel gear shaft 24 is rotatably installed on a coupling base 26, a gear shaft of the idler gear 20 is rotatably installed on the coupling base 26, and the idler gear 20 is positioned between the output gear 19 and the transmission gears 21 and is respectively meshed with the output gear 19 and the transmission gears 21; two input bevel gears 22 are mounted on the bevel gear shaft 24, the input bevel gears 22 are linked with the bevel gear shaft 24, and each input bevel gear 22 is meshed with two output bevel gears 23 on the cross shaft 25 respectively. The two output bevel gears 23 of the present embodiment are disposed up and down, and the two input bevel gears 22 are located between the two output bevel gears 23. The output connecting piece 27 of the embodiment is U-shaped, two ends of one shaft in the cross shafts 25 are respectively and rotatably connected with two sides of the U-shaped opening end of the output connecting piece 27, the other shaft is hollow and tubular, and the bevel gear shaft 24 penetrates through the hollow pipe; the water storage module 5 and the tail end control and sensing module 6 are arranged at the bottom of the U shape.
The water storage module 5 of this embodiment includes a water storage tank 28, a water pipe 29, a water delivery valve 30, a water valve reducer 31, a water valve motor 32, a terminal hose 33, and a water supply base 34, the water storage tank 28 is fixed on the robot, and is connected with one end of the water delivery valve 30 through the water pipe 29, and the other end of the water delivery valve 30 is connected with the terminal hose 33; the water delivery valve 30 is provided with a water valve reducer 31 and a water valve motor 32, the water delivery valve 30 and the water valve motor 32 are both arranged on a water supply base 34, and the water supply base 34 is fixedly connected to the other end (namely, the output connecting piece 27) of the coupling joint 4.
The end control and sensing module 6 of this embodiment includes a water supply base 34, a steering motor 35, a steering reducer 36, a steering connector 37, a micro camera 38 and a micro distance meter 39, wherein the steering motor 35 is connected to the steering reducer 36 and fixed on the water supply base 34, the steering connector 37 is installed at the output end of the steering reducer 36, an end hose 33 is fixed on the steering connector 37, and the micro camera 38 and the micro distance meter 39 are installed at the top end of the water supply base 34. The micro camera 38 and the micro range finder 39 of the present embodiment are both prior art, and will not be described herein.
The water supply mechanism 2 reaches any position and angle in a set area under the action of the position and posture adjusting mechanism 1, and the aim that the water supply mechanism 2 can supply water smoothly is ensured.
The utility model discloses a theory of operation does:
a telescopic joint 3 in the pose adjusting mechanism 1 provides power for a telescopic lead screw 9 through a telescopic driving motor 7, and a screw pair formed between the telescopic lead screw 9 and a telescopic nut drives a telescopic slide block 10 to do linear motion along the axial direction of the telescopic lead screw 9, and a slide block connecting rod 11 connected to the telescopic slide block 10 moves along with the telescopic lead screw, so that a supporting rod 12 is pushed to be expanded or retracted; the support connection 13 at the tail end drives each layer of support sleeve 17 to do linear motion, thereby changing the length of the telescopic joint 3 and achieving the purpose of long-distance telescopic.
The coupling joint 4 in the pose adjusting mechanism 1 extends and retracts along with the support sleeve 17, two output gears 19 are respectively driven to rotate through two coupling driving motors 18, two inertia gears 20 meshed with the coupling driving motors transmit torque to a transmission gear 21, so that an input bevel gear 22 is driven to rotate, and an output bevel gear 23 vertically meshed with the input bevel gear 22 rotates under the action of the input bevel gear 22; when the two input bevel gears 22 rotate in the same direction, the output bevel gears 23 are driven to rotate along the axes of the bevel gear shafts 24; when the two input bevel gears 22 rotate reversely, the output bevel gear 23 is driven to rotate along the axis of the shaft rotatably connected with the output connecting piece 27 in the cross shaft 25, so that the output connecting piece 27 connected with the output bevel gear can reach any position and angle in a set space.
The water storage module 5 in the water supply mechanism 2 supplies pure water through the water storage tank 28, is connected with the water delivery valve 30 through the water delivery pipe 29, and controls the opening or closing of the water delivery valve 30 or controls the water delivery flow of the water delivery valve 30 through controlling the water valve motor 32 and the water valve reducer 31 so as to achieve the aim of accurately delivering water at the tail end of the tail end hose 33.
The tail end control and sensing module 6 in the water supply mechanism 2 provides power for the steering speed reducer 36 through the steering motor 35, so that the steering connector 37 is driven to rotate, the tail end hose 33 arranged on the steering connector changes the feeding direction, and the purpose of controlling the tail end hose 33 is achieved; the miniature camera 38 and the miniature range finder 39 mounted on the top of the water supply base 34 provide the rescuers with specific information of the trapped people inside the ruins and detailed data of the surrounding environment (including the video image collected by the miniature camera 38 and the distance of the trapped people collected by the miniature range finder 39) and provide a basis for further rescue.
Claims (9)
1. A kind of robot water supply installation, characterized by: the water supply device comprises a pose adjusting mechanism (1) and a water supply mechanism (2), wherein the pose adjusting mechanism (1) comprises a telescopic joint (3) and a coupling joint (4), the water supply mechanism (2) comprises a water storage module (5) and a tail end control and sensing module (6), one end of the telescopic joint (3) is installed on a robot, the other end of the telescopic joint is a telescopic end, one end of the coupling joint (4) is connected with the telescopic end of the telescopic joint (3) and driven to be telescopic by the telescopic joint (3), and the other end of the coupling joint (4) has pitching freedom degree or deflection freedom degree; the water storage module (5) and the tail end control and sensing module (6) are installed at the other end of the coupling joint (4) and reach a set position and angle through the driving of the telescopic joint (3) and the coupling joint (4).
2. The robotic water delivery device of claim 1, wherein: the telescopic joint (3) comprises a telescopic driving motor (7), a telescopic lead screw (9), a telescopic screw nut, a telescopic sliding block (10), a sliding block connecting rod (11), a telescopic assembly, a fixed base (14), a telescopic outer frame (15), a telescopic lead screw fixing seat (16) and a multilayer supporting sleeve (17), one end of the fixed base (14) is installed on the robot, the other end of the fixed base is connected with the telescopic outer frame (15), the telescopic lead screw fixing seat (16) is fixed on the telescopic outer frame (15), the telescopic lead screw fixing seat (16) is rotatably provided with the telescopic lead screw (9), the telescopic lead screw (9) is connected with an output shaft of the telescopic driving motor (7) fixed on the fixed base (14), the telescopic screw nut is connected on the telescopic lead screw (9) in a threaded manner, the telescopic sliding block (10) is fixedly connected with the telescopic screw nut, one end of the sliding block connecting rod (11) is hinged with the telescopic sliding block (10), the other end is connected with the innermost layer of the multi-layer supporting sleeve (17) through a telescopic assembly, and the outermost layer of the multi-layer supporting sleeve (17) is fixedly connected with the outer part of the telescopic outer frame (15).
3. The robotic water delivery device of claim 2, wherein: the telescopic assembly comprises a support rod (12) and a support connection (13), the support rod (12) is in a cross shape for multiple support rods, the support connection (13) is arranged on the innermost layer of the multilayer support sleeve (17), and the two sides of the support rod (12) in the cross shape are hinged to the sliding block connecting rod (11) and the support connection (13) respectively.
4. The robotic water delivery device of claim 1, wherein: the coupling joint (4) comprises two coupling driving motors (18), a transmission gear set, an output bevel gear (23), a cross shaft (25), two coupling bases (26) and an output connecting piece (27), wherein the two coupling bases (26) are arranged at the output end of the telescopic joint (3), the two coupling driving motors (18) are symmetrically arranged on the coupling bases (26), and two sides of each coupling base (26) are respectively provided with a group of transmission gear sets; two output bevel gears (23) are mounted on the cross shaft (25), two ends of the cross shaft (25) are respectively rotatably connected with the output connecting piece (27), the input end of each transmission gear set on each side is driven by a coupling driving motor (18), the output end of each transmission gear set is respectively meshed with one toothed end of each output bevel gear (23), and the other end of each output bevel gear (23) is mounted on the output connecting piece (27).
5. The robotic water delivery device of claim 4, wherein: the transmission gear set comprises an output gear (19), an inert gear (20), transmission gears (21) and an input bevel gear (22), the output gear (19) is connected to the output end of the coupling driving motor (18), the two transmission gears (21) on two sides are installed on a bevel gear shaft (24) and are linked with the bevel gear shaft (24), the bevel gear shaft (24) is rotatably installed on the coupling base (26), the gear shaft of the inert gear (20) is rotatably installed on the coupling base (26), and the inert gear (20) is located between the output gear (19) and the transmission gears (21) and is respectively meshed with the output gear (19) and the transmission gears (21); two input bevel gears (22) are mounted on the bevel gear shaft (24), the input bevel gears (22) are linked with the bevel gear shaft (24), and each input bevel gear (22) is meshed with two output bevel gears (23) on the cross shaft (25) respectively.
6. The robotic water delivery device of claim 5, wherein: two ends of one of the cross shafts (25) are respectively rotatably connected with the output connecting piece (27), the other shaft is in a hollow tubular shape, and the bevel gear shaft (24) penetrates through the hollow tube.
7. The robotic water delivery device of claim 6, wherein: the water storage device is characterized in that the output connecting piece (27) is U-shaped, two ends of one of the cross shafts (25) are respectively and rotatably connected with two sides of the opening end of the U-shaped, and the water storage module (5) and the tail end control and sensing module (6) are installed at the bottom of the U-shaped.
8. The robotic water delivery device of claim 1, wherein: the water storage module (5) comprises a water storage tank (28), a water conveying pipe (29), a water conveying valve (30), a water valve speed reducer (31), a water valve motor (32), a tail end hose (33) and a water supply base (34), the water storage tank (28) is fixed on the robot and is connected with one end of the water conveying valve (30) through the water conveying pipe (29), and the other end of the water conveying valve (30) is connected with the tail end hose (33); the water delivery valve (30) is provided with a water valve speed reducer (31) and a water valve motor (32), the water delivery valve (30) and the water valve motor (32) are both arranged on a water supply base (34), and the water supply base (34) is fixedly connected to the other end of the coupling joint (4).
9. The robotic water delivery device of claim 1, wherein: terminal control and perception module (6) are including water supply base (34), turn to motor (35), turn to reduction gear (36), turn to connector (37), miniature camera (38) and miniature distancer (39), should turn to motor (35) and connect to turn to reduction gear (36) and fix on water supply base (34), the output that turns to reduction gear (36) is equipped with and turns to connector (37), should turn to and be fixed with terminal hose (33) on connector (37), install the top at water supply base (34) miniature camera (38) and miniature distancer (39).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023124719.6U CN214323419U (en) | 2020-12-23 | 2020-12-23 | Water supply device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023124719.6U CN214323419U (en) | 2020-12-23 | 2020-12-23 | Water supply device for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214323419U true CN214323419U (en) | 2021-10-01 |
Family
ID=77900913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023124719.6U Withdrawn - After Issue CN214323419U (en) | 2020-12-23 | 2020-12-23 | Water supply device for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214323419U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112571455A (en) * | 2020-12-23 | 2021-03-30 | 中国科学院沈阳自动化研究所 | Water supply device of robot |
-
2020
- 2020-12-23 CN CN202023124719.6U patent/CN214323419U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112571455A (en) * | 2020-12-23 | 2021-03-30 | 中国科学院沈阳自动化研究所 | Water supply device of robot |
| CN112571455B (en) * | 2020-12-23 | 2023-12-15 | 中国科学院沈阳自动化研究所 | Water supply device of robot |
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