CN215860324U - System for be used for piping lane to patrol and examine robot and pass through preventing fire door - Google Patents
System for be used for piping lane to patrol and examine robot and pass through preventing fire door Download PDFInfo
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- CN215860324U CN215860324U CN202121961248.6U CN202121961248U CN215860324U CN 215860324 U CN215860324 U CN 215860324U CN 202121961248 U CN202121961248 U CN 202121961248U CN 215860324 U CN215860324 U CN 215860324U
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Abstract
The utility model discloses a system for a pipe gallery inspection robot to pass through a fireproof door, which comprises a first guide rail and a second guide rail which are respectively arranged at two sides of the fireproof door, wherein the first guide rail and the second guide rail are fixedly connected with the top surface of a tunnel; the top of the tunnel is also provided with a third guide rail, and the third guide rail is connected with a third guide rail sliding groove arranged on the top surface of the tunnel through an automatic telescopic rod, so that the third guide rail slides along the third guide rail sliding groove and moves in the vertical direction along the automatic telescopic rod; the automatic locking device is characterized in that a plurality of automatic locks are fixed at the two longitudinal ends of the third guide rail respectively, automatic locking grooves are formed in the butt joint faces of the first guide rail, the second guide rail and the third guide rail respectively, and the automatic locking grooves are matched with the automatic locks to enable the third guide rail to be in butt joint locking with the first guide rail and the second guide rail. The intelligent inspection robot can guarantee the normal work of the intelligent inspection robot while guaranteeing the integrity of the fireproof subarea.
Description
Technical Field
The utility model belongs to the technical field of comprehensive pipe rack inspection robots, and particularly relates to a system for a pipe rack inspection robot to pass through a fireproof door.
Background
The utility tunnel is used as a pipeline transmission mode for urban electric power and the like, replaces laying modes such as pipe arrangement, direct burial and the like, partially replaces an overhead line transmission mode, and is widely applied. However, the comprehensive pipe gallery has limited space and complex environment, and is particularly important for monitoring and routing inspection of the environment in the tunnel and power equipment.
The environment inside the pipe gallery may be in the presence of hazardous gases or cause a fire to occur due to damaged lines. Because only rely on the personnel of patrolling and examining inside the piping lane to patrol and examine the operating condition that can not grasp underground pipe gallery completely in real time, consequently for reducing the blind area, simultaneously not increase by a large amount and detect, sensing equipment, introduced among the prior art rail mounted robot and patrolled and examined the piping lane in real time, separate the piping lane inside for a plurality of independent fire prevention subregion through the fire prevention door simultaneously, and rail mounted robot mountable comes the inside operating mode of real-time supervision piping lane at the top of piping lane and through passing through each fire prevention subregion.
When patrolling and examining the work, because present prevent that fire door can not independently open, lead to the robot can not pass fire prevention division wall and prevent fire door. If the robot that patrols and examines will follow the current fire door department and directly pass, just need to reform transform current fire door, install the switching of equipment control fire door such as auto-induction device and electric door closer additional, the track gesture of robot is necessary to pass from fire door top. If the inspection robot does not directly pass through the existing fireproof door, a robot fire door for the robot to pass through needs to be additionally installed above or on the side surface of the existing fireproof door, other equipment or a partition wall is generally installed above or on the side surface of the fireproof door, and therefore the refitting work amount is large, and the time is long and the cost is high. Especially a lot of old utility tunnel space height per se is low on the low side, and original fire door height that prevents is low, and the erection equipment is many in addition in the piping lane, and some prevent that the fire door top is muddy earth or fire brick even, lead to preventing that fire door reforms transform and need remove a lot of pipelines and equipment, reform transform not only the engineering volume big, the potential safety hazard is also big moreover.
SUMMERY OF THE UTILITY MODEL
In view of one or more of the above drawbacks or needs for improvement in the prior art, the present invention provides a system for a pipe gallery inspection robot to pass through a fire door, which can ensure the integrity of a fire-proof partition and ensure the normal operation of an intelligent inspection robot.
In order to achieve the purpose, the system for the pipe gallery inspection robot to pass through the fireproof door comprises a first guide rail and a second guide rail which are respectively arranged on two sides of the fireproof door, and the first guide rail and the second guide rail are fixedly connected with the top surface of a tunnel;
the top of the tunnel is also provided with a third guide rail, and the third guide rail is connected with a third guide rail sliding groove arranged on the top surface of the tunnel through an automatic telescopic rod, so that the third guide rail slides along the third guide rail sliding groove and moves in the vertical direction along the automatic telescopic rod at the same time, and the butt joint with the first guide rail and the second guide rail is realized;
the vertical both ends of third guide rail are fixed with a plurality of automatic lock respectively, be equipped with automatic locked groove on the butt joint face of first guide rail, second guide rail and third guide rail respectively, automatic locked groove and automatic lock phase-match are used for the third guide rail with lock when first guide rail and second guide rail dock.
As a further improvement of the present invention, laser receiving devices are respectively fixed above the automatic locks at the two longitudinal ends of the third guide rail, and laser emitting devices are set at positions of the first guide rail and the second guide rail corresponding to the laser receiving devices.
As a further improvement of the utility model, the third guide rail is also provided with an electronic level meter which is used for detecting the levelness of the third guide rail and enabling the automatic telescopic rod to move up and down to adjust the levelness through information fed back by the electronic level meter.
As a further improvement of the utility model, at least two sets of sliding systems are installed in the third guide rail sliding groove, each set of sliding system respectively comprises a sliding wheel set and a driving motor, and the sliding wheel set is matched with a running space in the third guide rail sliding groove to drive the third guide rail to horizontally move along the third guide rail sliding groove.
As a further improvement of the utility model, the tunnel walls at two sides of the fireproof door are respectively provided with a first position sensor and a second position sensor which are used for sensing the inspection robot so as to control the opening and closing of the fireproof door.
As a further improvement of the utility model, a limit sensor is arranged on the tunnel wall at the position where the door leaf of the fireproof door is opened to the maximum angle and is used for detecting the opening and closing states of the double-opening door leaf.
As a further improvement of the utility model, the tunnel wall is also provided with a control box, and the control box comprises a robot fire door control module, an electric lock control module, a laser emission identification module, a power supply module and a door opening and closing device motor driving module.
As a further improvement of the utility model, the first position sensor, the second position sensor and the limit sensor are connected with the input end of the robot fire door control module, and the door closer driving module is connected with the output end of the robot fire door control module.
As a further improvement of the utility model, the output end of the door opening and closing drive module is connected with a door opening and closing motor, and the power supply module is connected with the first position sensor, the second position sensor, the limit sensor, the robot fireproof door control module and the motor.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
(1) according to the system for the pipe gallery inspection robot to pass through the fireproof door, the chute is arranged on the top surface of the tunnel, the third guide rail is driven to move in the chute and is sequentially butted with the first guide rail and the second guide rail respectively, the fireproof door does not need to be reformed, and the problems that the existing fireproof door cannot ensure the integrity of a fireproof subarea and the normal work of the intelligent inspection robot can be solved. The third guide rail is connected with an automatic telescopic rod, so that the level of the third guide rail can be adjusted, and the guide rails are smoothly locked and butted; the guide rails are connected through the automatic lock, so that the butt joint precision of the connection of the two guide rails is guaranteed, and the inspection robot stably passes through the third guide rail.
(2) According to the system for the pipe gallery inspection robot to pass through the fireproof door, the laser receiving device on the third guide rail receives the laser emitted from the laser emitting devices arranged on the first guide rail and the second guide rail respectively, so that the third guide rail is accurately butted with the first guide rail and the second guide rail, the positions of the laser emitting device and the laser receiving device accurately correspond to each other, and the guide rails can be further guaranteed to be successfully butted.
(3) According to the system for the pipe gallery inspection robot to pass through the fireproof door, the door leaf is opened under the control of the fireproof door control module of the robot, the third guide rail moves along the sliding groove and controls the laser emitting device on the first guide rail to emit laser, the laser receiving device arranged on the third guide rail receives the laser, the third guide rail is leveled further through the electronic level meter, the electric lock at the butt joint part is used for locking, the inspection robot walks onto the transition guide rail, the transition guide rail and the inspection robot are in butt joint with the second guide rail together, and therefore the fireproof door can be passed through on the premise that the whole fireproof performance of the fireproof door is not damaged completely.
Drawings
FIG. 1 is a schematic view of the overall structure of the system for a pipe gallery inspection robot to pass through a fire door according to the present invention, in this case, the state of the inspection robot before passing through the fire door;
FIG. 2 is a schematic view of the overall structure of the system for the pipe rack inspection robot to pass through the fire door according to the present invention, which is the state when the inspection robot is passing through the fire door;
fig. 3 is a cross-sectional view of a third rail involved in the system for a pipe rack inspection robot to pass through a fire door of the present invention;
FIG. 4 is a cross-sectional view of the first and second rails involved in the system for a pipe rack inspection robot to pass through a fire door of the present invention;
FIG. 5 is a sectional view of a third rail runner involved in the system for a pipe rack inspection robot to pass through a fire door of the present invention;
fig. 6 is a schematic structural view of a third guide rail sliding mechanism involved in the system for the pipe rack inspection robot to pass through the fireproof door.
In all the figures, the same reference numerals denote the same features, in particular: the system comprises a tunnel 1, a routing inspection robot 2, a fire door 3, a first guide rail 4, a third guide rail chute 5, an automatic telescopic rod 6, a third guide rail 7, a second guide rail 8, a second position sensor 9, a control box 10, a communication base station 11, a limit sensor 12, a first position sensor 13, an automatic lock 14, a laser emitting device 15, a laser receiving device 16, an automatic locking groove 17 and an electronic level meter 18.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the utility model.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Based on the fact that a fireproof door is required to be modified usually in the prior art, and an additional door and window is arranged for an inspection robot to pass through, the utility model provides a system for a pipe gallery inspection robot to pass through the fireproof door, so that the problem that the existing fireproof door cannot ensure the integrity of fireproof partitions and the normal work of an intelligent inspection robot is solved. Fig. 1 is a schematic view of the overall structure of the system for the pipe gallery inspection robot to pass through the fireproof door. As shown in fig. 1, the system for a pipe rack inspection robot to pass through a fire door comprises a first guide rail 4 and a second guide rail 8 which are respectively arranged at two sides of the fire door, and the first guide rail 4 and the second guide rail 8 are respectively fixedly connected with the top surface of a tunnel through a guide rail bracket. The tunnel top still is fixed with third guide rail 7, and third guide rail 7 passes through automatic telescopic link 6 and installs at the third guide rail spout 5 fixed connection of tunnel top surface, and automatic telescopic link 6 passes through the lift and shrink motor drive to can follow third guide rail spout 5 and slide when making third guide rail 7 move along automatic telescopic link 6 in vertical direction.
As further shown in fig. 5 and 6, at least two sets of sliding systems are installed in the third guide rail sliding slot 5, and each sliding system is composed of a first sliding wheel set, a first driving motor, a second sliding wheel set and a second driving motor, the first sliding wheel set and the second sliding wheel set are matched with the running space inside the third guide rail sliding slot 5, and the sliding wheel sets carry the third guide rail to move horizontally along the inside of the third guide rail sliding slot 5. In addition, the third guide rail sliding groove is fixedly arranged on the top surface of the tunnel, and the installation levelness of the sliding groove is not strictly required when the sliding groove is installed.
Be equipped with first position sensor 13 and second position sensor 9 on the tunnel wall of fire door's both sides respectively for to patrolling and examining the robot and respond to, prevent the switch of fire door with the control. In one embodiment of the utility model shown in fig. 1, the inspection robot moves from the first guide rail 4 to the second guide rail 8, the first position sensor 13 controls the opening of the fire door when sensing the approach of the inspection robot, and the second position sensor 9 controls the closing of the fire door when sensing the approach of the inspection robot; and a limit sensor 12 is arranged at the position of the maximum angle of opening of the door leaf of the fireproof door and is used for detecting the opening and closing states of the double-opening door leaf. If the inspection robot moves from the second guide rail 8 to the first guide rail 4, the opening principle of the fireproof door is the same as the above.
The tunnel wall is also provided with a control box 10, and the control box 10 comprises a robot fire door control module (the robot fire door control module can be a PLC (programmable logic controller) or a single chip microcomputer controller), an electric lock control module, a laser emission identification module, a power supply module and a door opening and closing device motor driving module; first position sensor 13, second position sensor 9 and spacing sensor 12 connect the input of robot fire door control module, and shutter drive module connects the output of robot fire door control module, and shutter drive module's output and shutter motor are connected, and first position sensor 13, second position sensor 9, spacing sensor 12, robot fire door control module and motor are connected to power module.
The inspection robot 2 is connected with a communication base station 11 arranged on a tunnel wall in a wireless mode, the communication base station 11 is connected with a control box 10 in an Ethernet mode, the communication base station 11 and the control box 10 are respectively installed at proper positions near a fireproof door, and the control box 10 is connected with an electric door closer in a wired mode.
Preferably, the control box 10 further comprises a wireless communication module, and the wireless communication module is wirelessly connected with the robot scheduling management system. When the position sensor or the limit sensor fails, the robot fireproof door control module can receive a control instruction of the dispatching system to open the fireproof door, and the robot closes the fireproof door after passing through the fireproof door.
Preferably, the control box 10 further includes a fire-fighting linkage module, the fire-fighting linkage module is connected to a fire-fighting management system, the fire-fighting linkage module can be in communication linkage with the fire-fighting management system in the corridor, and when a linkage opening and closing control instruction of the fire-fighting system is received, the robot fire-proof door control module coordinately controls the motor drive module of the robot to act according to the linkage system instruction, and can control the action of a door closer of the fire door, so as to realize the opening and closing action of the fire door.
Fig. 2 to 4 are sectional views of a third guide rail, a first guide rail and a second guide rail related to the system for the pipe rack inspection robot to pass through a fire door according to the present invention, as shown in fig. 2, a plurality of automatic locks 14 are respectively fixed at two longitudinal ends of the third guide rail 7, and accordingly, as shown in fig. 3 and 4, automatic locking grooves 17 are respectively formed on the abutting surfaces of the first guide rail 4, the second guide rail 8 and the third guide rail 7, preferably, a riveting manner is adopted, the automatic locking grooves 17 are matched with the automatic locks 14 on the third guide rail 7, and are used for locking when the third guide rail is abutted against the first guide rail and the second guide rail, so that the accuracy when the third guide rail is abutted against the first guide rail and the second guide rail can be ensured. In the embodiment of fig. 2 to 4 of the present invention, the automatic lock 14 and the automatic lock groove 17 are respectively disposed on both sides and the top of the guide rail, but the present invention is not limited to the specific position thereof as long as the automatic lock 14 and the automatic lock groove 17 are correspondingly disposed to achieve locking and unlocking.
Preferably, the third guide rail 7 is further provided with an electronic level 18 for detecting the levelness of the third guide rail, the automatic telescopic rod is moved up and down through information fed back by the electronic level to keep the third guide rail in a horizontal state, and when the levelness of the third guide rail has a deviation, the control system adjusts the extension and retraction of the automatic telescopic rod 6; and the provision of the electronic level 18 on the third rail 7 does not impede the passage of the inspection robot on the third rail 7.
The utility model discloses a system for a pipe gallery inspection robot to pass through a fireproof door, which comprises the following working processes:
when the position sensor detects that the robot approaches, the door leaf is controlled to be opened, and the limit sensor detects that the door leaf reaches a preset opening degree;
a sliding mechanism in the third guide rail sliding groove drives the third guide rail to slide to the first guide rail for a set distance, and simultaneously controls a laser emitting device on the first guide rail to emit laser, and the automatic telescopic rod starts to move downwards until a laser receiving device arranged on the third guide rail receives the laser;
meanwhile, an electronic level gauge arranged on the third guide rail starts to work, horizontal data are transmitted to a control system, the control system controls the up-and-down movement of an automatic telescopic rod through analysis to adjust the horizontal, locking is carried out after the horizontal movement, an electric lock on the first guide rail is popped out, extends into an automatic locking groove of the third guide rail and is locked, and the inspection robot walks onto the third guide rail;
the sliding mechanism on the third guide rail sliding chute drives the third guide rail and the inspection robot to move towards the second guide rail together, and the inspection robot is in butt joint with the second guide rail and locked, so that the robot smoothly passes through the fireproof door;
and when the third guide rail passes through, the fireproof door leaf is closed.
In one embodiment of the present invention, the specific steps are as follows:
(1) in the process of inspecting the pipe gallery by the intelligent inspection robot, when the position sensor detects that the robot approaches, the robot fireproof door control module controls the motor driving module to drive the motor to move, and a chain rod connected with the motor is movably connected with the sliding groove through a bearing, so that the rotation of the motor drives the rotation of the door leaf to open the door leaf, and when the limit sensor detects that the double-opening door leaf reaches a preset opening degree, the rotation of the motor is stopped;
(2) a sliding mechanism in a third guide rail sliding groove drives a third guide rail to slide towards the first guide rail for a set distance, when the sliding is finished, a control system controls a laser emitting device on the first guide rail to emit laser, an automatic telescopic rod starts to move downwards until a laser receiving device arranged on the third guide rail receives the laser, the laser emitting device and the laser receiving device are arranged on the same horizontal height, and finally the third guide rail and the first guide rail are ensured to be on the same horizontal height;
(3) meanwhile, an electronic level meter arranged on the third guide rail starts to work, horizontal data are transmitted to a control system, the control system controls the up-and-down movement of an automatic telescopic rod through analysis to adjust the horizontal, the control system sends a locking command after the horizontal movement, three electric locks arranged on the first guide rail pop out and extend into an automatic locking groove of the third guide rail to be locked, so that the third guide rail is completely horizontally connected with the first guide rail, and the inspection robot walks to the designated position of the third guide rail;
(4) the sliding mechanism on the third guide rail sliding chute drives the third guide rail and the inspection robot to move towards the second guide rail together, and the inspection robot is in butt joint with the second guide rail and locked, so that the robot smoothly passes through the fireproof door;
(5) when the third guide rail slides to the second guide rail, robot fire door control module control motor drive module driving motor antiport to drive chain pole motion and make the double open type door leaf close, when spacing sensor detects the double open type door leaf and has closed, the rotation of stop motor, thereby make the robot fire door under the condition of unmanned intervention, under the condition of guaranteeing the fire-proof area integrality, realize the intelligence and patrol and examine the normal work of robot.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the utility model, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The system for the pipe gallery inspection robot to pass through the fireproof door is characterized by comprising a first guide rail (4) and a second guide rail (8) which are respectively arranged on two sides of the fireproof door, wherein the first guide rail (4) and the second guide rail (8) are fixedly connected with the top surface of a tunnel;
the top of the tunnel is also provided with a third guide rail (7), and the third guide rail (7) is connected with a third guide rail sliding groove (5) arranged on the top surface of the tunnel through an automatic telescopic rod (6), so that the third guide rail (7) can slide along the third guide rail sliding groove (5) and move in the vertical direction along the automatic telescopic rod (6) at the same time, and the butt joint with the first guide rail (4) and the second guide rail (8) is realized;
third guide rail (7) vertical both ends are fixed with a plurality of automatic lock (14) respectively, be equipped with automatic locked groove (17) on the butt joint face of first guide rail (4), second guide rail (8) and third guide rail (7) respectively, automatic locked groove (17) and automatic lock (14) phase-match are used for third guide rail (7) with lock when first guide rail (4) and second guide rail (8) butt joint.
2. The system for the pipe rack inspection robot to pass through the fireproof door according to claim 1, wherein laser receiving devices (15) are respectively fixed above the automatic locks (17) at the longitudinal two ends of the third guide rail (7), and laser emitting devices (16) are set at the positions of the first guide rail (4) and the second guide rail (8) corresponding to the laser receiving devices.
3. The system for the pipe rack inspection robot to pass through the fireproof door according to claim 1 or 2, wherein an electronic level (18) is further arranged on the third guide rail (7) and used for detecting the levelness of the third guide rail, and the levelness can be adjusted by moving an automatic telescopic rod up and down through information fed back by the electronic level.
4. The system for the pipe rack inspection robot to pass through the fireproof door according to claim 3, wherein at least two sets of sliding systems are installed in the third guide rail sliding groove (5), each set of sliding systems respectively comprises a sliding wheel set and a driving motor, and the sliding wheel sets are matched with the internal walking space of the third guide rail sliding groove (5) to drive the third guide rail to horizontally move along the third guide rail sliding groove.
5. The system for the pipe rack inspection robot to pass through the fire door according to claim 1 or 4, characterized in that a first position sensor (13) and a second position sensor (9) are respectively arranged on the tunnel walls at two sides of the fire door for sensing the inspection robot to control the opening and closing of the fire door.
6. The system for the pipe rack inspection robot to pass through the fire door according to claim 5, characterized in that a limit sensor (12) is arranged on the tunnel wall at the position where the door leaf of the fire door is opened to the maximum angle for detecting the opening and closing state of the double-opening door leaf.
7. The system for the pipe rack inspection robot to pass through the fireproof door according to claim 6, wherein a control box (10) is further arranged on the tunnel wall, and the control box (10) comprises a robot fireproof door control module, an electric lock control module, a laser emission recognition module, a power supply module and a door opening and closing device motor driving module.
8. The system for the pipe rack inspection robot to pass through the fireproof door according to claim 7, wherein the first position sensor (13), the second position sensor (9) and the limit sensor (12) are connected with an input end of a robot fireproof door control module, and the door opening and closing drive module is connected with an output end of the robot fireproof door control module.
9. The system for the pipe rack inspection robot passes through fire door according to claim 7 or 8, characterized in that, the output of door opener drive module is connected with door opener motor, power module connects first position sensor (13), second position sensor (9), spacing sensor (12), robot fire door control module and motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121961248.6U CN215860324U (en) | 2021-08-20 | 2021-08-20 | System for be used for piping lane to patrol and examine robot and pass through preventing fire door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121961248.6U CN215860324U (en) | 2021-08-20 | 2021-08-20 | System for be used for piping lane to patrol and examine robot and pass through preventing fire door |
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| CN215860324U true CN215860324U (en) | 2022-02-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118024210A (en) * | 2024-04-11 | 2024-05-14 | 齐鲁工业大学(山东省科学院) | Fireproof door auxiliary traversing system and method based on link mechanism |
| CN118081806A (en) * | 2024-04-29 | 2024-05-28 | 齐鲁工业大学(山东省科学院) | Firewall traversing system and method for rail-mounted robot and pipe gallery |
-
2021
- 2021-08-20 CN CN202121961248.6U patent/CN215860324U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118024210A (en) * | 2024-04-11 | 2024-05-14 | 齐鲁工业大学(山东省科学院) | Fireproof door auxiliary traversing system and method based on link mechanism |
| CN118081806A (en) * | 2024-04-29 | 2024-05-28 | 齐鲁工业大学(山东省科学院) | Firewall traversing system and method for rail-mounted robot and pipe gallery |
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