CN217669379U - Multifunctional grain depot intelligent inspection robot - Google Patents
Multifunctional grain depot intelligent inspection robot Download PDFInfo
- Publication number
- CN217669379U CN217669379U CN202222513588.3U CN202222513588U CN217669379U CN 217669379 U CN217669379 U CN 217669379U CN 202222513588 U CN202222513588 U CN 202222513588U CN 217669379 U CN217669379 U CN 217669379U
- Authority
- CN
- China
- Prior art keywords
- chassis
- guide
- module
- grain depot
- sampling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an intelligence inspection device field specifically discloses a multi-functional grain depot intelligence inspection robot, including realizing the mobilizable removal chassis of robot and carrying on the main control board on removing the chassis, intelligent navigation keeps away the barrier module, patrols and examines work module, wireless transmission module and sampling mechanism, it removes the chassis for the crawler-type to remove the chassis, sampling mechanism sets up on the front end or the rear end of crawler-type removal chassis traffic direction, it is controlled by the main control board to remove the chassis, intelligent navigation keeps away the barrier module and is used for realizing the navigation of deciding for oneself and keeps away the barrier, provides the removal data that main control board control removed the chassis simultaneously, it patrols and examines work to patrol and examine the intelligence that work module is used for the grain depot, sampling mechanism is provided with a set of or multiunit and is used for the sample work of grain in the grain depot by main control, it supplies the remote transmission data to set up wireless transmission module on the main control board. The robot is patrolled and examined through this intelligence and can directly be gone on patrolling and examining and sample on the grain of grain depot.
Description
Technical Field
The utility model relates to an intelligence inspection device field especially relates to the intelligence inspection robot who is applied to grain depot.
Background
The grain warehouse storage period needs to be regularly checked to ensure the storage quality of grains, at present, the adopted checking mode is a traditional manual inspection mode, the manual inspection content comprises routine inspection of states in the grain warehouse such as environment humidity, environment temperature, film water accumulation beads, grain germination, nitrogen concentration and the like, and grain sampling in the grain warehouse and the like. Traditional manual inspection is because of the dark airtight environment in the granary, the space is limited, the high oxygen deficiency's environment, operating personnel inspection operation intensity is big, danger is high, and need patrol and examine the operation under limited space, oxygen deficiency or poison environment, staff's risk has been increased, the artifical detection quality that patrols and examines is subject to operating personnel's state nuclear subjectivity, the condition such as lou examine, false retrieval appear more easily, and the testing result can not be traceed back, direct influence detection quality, also hardly promote the accuracy of patrolling and examining the result.
With the continuous development of high technology, an intelligent inspection robot replacing manpower is adopted in many fields at present, but due to the difference between the inspection work of a granary and other inspection work contents, environment states and driving roads, the existing intelligent inspection robot cannot be simply converted or directly applied to inspection in the granary.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a can directly go and patrol and examine the robot is patrolled and examined to multi-functional grain depot intelligence of patrolling and examining with the sample on the grain of grain depot.
In order to achieve the above purpose, the technical scheme of the utility model is that: the utility model provides a multi-functional grain depot intelligence inspection robot which characterized in that, is including realizing the mobilizable removal chassis of robot and carrying on main control board, intelligent navigation on removing the chassis and keeping away barrier module, the work module of patrolling and examining, wireless transmission module and sampling mechanism, remove the chassis and be crawler-type removal chassis, sampling mechanism sets up on the front end or the rear end of crawler-type removal chassis traffic direction, remove the chassis and be controlled by the main control board, intelligent navigation keeps away the barrier module and is used for realizing autonomic navigation and keeps away the barrier, provides the removal data that the main control board controlled removal chassis simultaneously, the work module of patrolling and examining is used for the intelligence of grain depot to patrol and examine the work, sampling mechanism is provided with a set of or multiunit, is used for the sample work of grain in the grain depot by the main control board control, set up wireless transmission module on the main control board and supply remote transmission data.
Sample mechanism is including promoting power part, hopper direction cover and sampling spoon, it is on removing the chassis to promote power part erection joint, hopper direction cover corresponds and is promoting power part below erection joint on removing the chassis, the movable inlay of sampling spoon is established in hopper direction cover, the lower extreme that promotes power part penetrates from the upper end of hopper direction cover and connects on the sampling spoon, the lower extreme of hopper direction cover is for supplying the opening that the sampling spoon stretches out or withdraw, be equipped with movable guide structure between hopper direction cover and the sampling spoon, promote and be connected through steerable movable structure between lower extreme of power part and the sampling spoon, movable guide structure stretches out the action of taking for this action process of withdrawing for can realizing the sampling spoon, an open-ended side towards the sampling spoon is closing panel in the hopper direction cover.
The steerable movable structure is characterized in that the lower end of the pushing power part is fixedly connected with a hinged head, and the hinged head is hinged with the sampling spoon, so that the sampling spoon can rotate relative to the hinged head; the movable guide structure is characterized in that the upper ends of the two outer side walls of the sampling spoon are respectively and correspondingly protruded with guide columns, the two guide columns are respectively arranged close to the inner sides of the two outer side walls of the sampling spoon, the two outer side walls of the hopper guide cover corresponding to the two guide columns are respectively provided with guide grooves for the corresponding guide columns to be embedded in and slide in, the two guide grooves respectively extend from the upper ends to the lower ends of the two outer side walls of the hopper guide cover, the upper ends of the guide grooves are close to the middle of the two outer side walls of the hopper guide cover, and the guide grooves extend downwards for a section and then gradually extend towards the inner sides close to the two outer side walls of the hopper guide cover.
The sampling spoon upwards extends to form corresponding lateral wall board including having flourishing material chamber and towards the relative both sides that move the one side of chassis for open-ended flourishing material portion and flourishing material portion, the guide post is protruding respectively to be established in the outside of both sides lateral wall board, corresponds flourishing material portion upper end between the both sides lateral wall board and is equipped with and supplies with articulated portion articulated with the articulated joint.
The upper end of the hopper guide cover is fixedly provided with a guide hole for the lower end of the pushing power component to penetrate through and play a role in lifting, moving and guiding.
The propelling power part is a pen-shaped electric push rod, the push rod of the pen-shaped electric push rod faces downwards, the upper end of the pen-shaped electric push rod is fixedly connected to the frame of the movable chassis, and the lower end of the push rod of the pen-shaped electric push rod is connected with the steerable movable structure.
The movable chassis comprises a bottom plate frame and crawler traveling driving mechanisms which are respectively arranged on two opposite sides of the bottom plate frame, each crawler traveling driving mechanism comprises a motor reducer assembly arranged in the bottom plate frame, a connecting shaft connected to an output shaft of the motor reducer assembly and connected to the bottom plate frame through a bearing assembly, a connecting flange fixedly sleeved on the connecting shaft, a driving wheel fixedly connected to the connecting flange, a tensioning wheel arranged on the bottom plate frame and corresponding to the driving wheel through an adjustable position structure, a guide wheel arranged on the bottom plate frame and corresponding to the driving wheel and the tensioning wheel and arranged between the driving wheel and the tensioning wheel, and a crawler ring wound on the driving wheel and the tensioning wheel, and a guide structure matched with the guide wheel is arranged on the inner side wall of the crawler ring.
The inspection work module comprises a vision system module with a vision camera installed on the mobile chassis and an environmental parameter detection module with a sensor installed on the mobile chassis.
By adopting the technical scheme, the beneficial effects of the utility model are that: 1. have and patrol and examine operating module, wireless transmission module and sampling mechanism and can realize patrolling and examining and sample work through the robot, replace the manual work to carry out work, avoided the artifical hidden danger of patrolling and examining, promoted the accuracy of patrolling and examining the result. 2. The crawler-type mobile chassis can run on flat ground or directly on grain piles, is high in power and stable in running, is beneficial to stable running of the patrol inspection working module and the sampling mechanism, and works more reliably. 3. The structure setting of sampling mechanism is simple easily to realize, and compact structure is small, can set up the multiunit and be used for taking a sample many, and sampling mechanism's structure setting can effectively get the sample and properly deposit, unloads sample etc. automatically. To sum up, through the utility model discloses a multi-functional grain depot intelligence patrols and examines robot and can independently patrol and examine often and detect and sample, and the result of patrolling and examining has objectivity, uniformity and traceability, can independently navigate, keep away barrier, warning, effectively patrols and examines work to the grain security in the better assurance grain depot.
Drawings
Fig. 1 is a schematic structural view of the multifunctional grain depot intelligent inspection robot related to the utility model;
fig. 2 is a schematic structural view of the multifunctional grain depot intelligent inspection robot (with the outer shell removed) related to the utility model;
FIG. 3 is a schematic cross-sectional view of a track drive mechanism according to the present invention;
fig. 4 is a schematic structural diagram of a sampling mechanism according to the present invention;
fig. 5 is a structural schematic diagram of a state change of the sampling mechanism according to the present invention;
fig. 6 is a schematic cross-sectional structural view of a sampling mechanism according to the present invention;
fig. 7 is a schematic structural diagram of a sampling spoon of the sampling mechanism of the present invention.
In the figure:
moving the chassis 1; a floor frame 11;
a crawler travel drive mechanism 12; a motor reducer assembly 121; a bearing assembly 122;
a connecting flange 123; a drive wheel 124; a guide wheel 125; a track ring 126; a guide structure 127;
a tension pulley 128; a connecting shaft 129;
a sampling mechanism 2; the power-driving part 21; a hinge joint 211;
a hopper guide cover 22; a guide hole 221; an opening 222; a guide groove 223;
a sampling spoon 23; the guide posts 231; a material holding cavity 232; a material holding part 233; side wall panels 234; a hinge portion 235.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the specific embodiments below.
The multifunctional grain depot intelligent inspection robot disclosed by the embodiment comprises a mobile chassis 1, and a main control board (not shown in the attached drawing), an intelligent navigation obstacle avoidance module (part of components are shown in the attached drawing), an inspection work module (not shown in the attached drawing), a wireless transmission module (not shown in the attached drawing) and a sampling mechanism 2 which are carried on the mobile chassis 1, wherein the mobile chassis 1 is used for realizing the mobility of the robot and is controlled by the main control board, the intelligent navigation obstacle avoidance module is used for realizing the autonomous navigation obstacle avoidance of the robot and simultaneously providing mobile data of the main control board for controlling the mobile chassis 1, the inspection work module is used for the intelligent inspection work of a grain depot, the main control board is provided with the wireless transmission module for remotely transmitting the data, and the sampling mechanism 2 is used for the sampling work of grains in the grain depot and is controlled by the main control board. The specific structural arrangement and positional connection relationship of the present embodiment are described in detail below with reference to the accompanying drawings.
Remove chassis 1, as shown in fig. 1, fig. 2 and fig. 3, because the utility model discloses an it is applied to in the granary to patrol and examine the robot, except that the environment in the storehouse is patrolled and examined, still need be close to grain or carry out the grain vision of close distance on grain heap and acquire observation and sample, therefore it removes chassis 1 and should be crawler-type removal chassis, grabs ground and traveles steadily, and adaptability is high. The specific structure of the crawler belt driving mechanism 12 includes a base plate frame 11 and crawler belt driving mechanisms 12 respectively installed on two opposite sides of the base plate frame 11, where the crawler belt driving mechanism 12 includes a motor reducer assembly 121 installed in the base plate frame 11, a connecting shaft 129 connected to an output shaft of the motor reducer assembly 121 and connected to the base plate frame 11 through a bearing assembly 122, a connecting flange 123 fixedly sleeved on the connecting shaft 129, a driving wheel 124 fixedly connected to the connecting flange 123, a tension wheel 128 installed on the base plate frame 11 corresponding to the driving wheel 124 through a position adjustable structure (which may be an adjusting structure commonly used for a crawler belt mechanism), a guide wheel 125 installed on the base plate frame 11 corresponding to a position between the driving wheel 124 and the tension wheel 128, and a crawler belt ring 126 wound on the driving wheel 124 and the tension wheel 128, and a guide structure 127 matched with the guide wheel 125 is provided on an inner side wall of the crawler belt ring 126. During running, driving force is provided through the motor reducer assembly 121, the bearing assembly 122 and the bottom plate frame 11 are used for fixedly supporting the track running driving mechanism 12, the driving force is transmitted to the driving wheel 124 through the connecting shaft 129, under the tensioning action of the tensioning wheel 128, the driving wheel 124 rotates to drive the track ring 126 to rotate, and the guide wheel 125 and the guide structure 127 play a role in preventing the track from axially moving in a crossing manner, so that the track runs forwards in a climbing manner and is not easy to slip. The motor reducer assembly 121 is mainly controlled by a main control board, a speed command is issued to the driver through CANopen communication, the driver controls the motor reducer assembly 121, meanwhile, the driver feeds back position information to the industrial personal computer, so that functions of advancing, retreating, turning in place and the like of the robot can be achieved, and a coulometer on the main control board can obtain the real-time electric quantity state of a robot battery for paying attention to use and charging. The mobile chassis can be further provided with a three-color lamp, a sound box and a matching remote terminal to achieve an alarm state, and communication between the handheld terminal, the remote server and the robot can be achieved through a wireless transmission module (in a WiFi or 5G router mode or the like).
The patrol inspection working module comprises a vision system module provided with a vision camera installed on the mobile chassis 1 and an environment parameter detection module provided with a sensor installed on the mobile chassis. In this embodiment, the vision camera can adopt a two-degree-of-freedom pan-tilt-zoom camera to shoot the right front position of the robot, so that the vision data is obtained through the vision system module, the environmental condition in the grain depot can be detected by the environmental parameter detection module (which can comprise an oxygen sensor, a temperature and humidity sensor and other sensors) at any time, millimeter-level index quantification can be realized through system detection data, grain surface acquisition data and facility/operation safety association rules are researched through developing high-efficiency data management and mining technologies for grain situation safety, a grain situation safety state analysis model and a safety risk expert system based on a decision-making mechanism are designed and established, and large database establishment and risk early warning of grain situations are realized. And the following interaction can be executed in the acquisition, processing, analysis and prediction of grain condition data in the warehouse: the method comprises the steps that a vision camera conducts inspection in a grain depot through autonomous navigation, when the vision camera meets a place needing inspection, an industrial personal computer obtains a snapshot instruction and sends the snapshot instruction to a grain depot intelligent inspection robot, the grain depot intelligent inspection robot triggers the vision camera to receive the snapshot instruction when receiving the snapshot instruction, the robot conducts target recognition on an image obtained through snapshot or conducts target analysis on an image obtained through snapshot sent by a receiver robot and is compared with a disease model in a database, corresponding risk levels are obtained and fed back to a handheld terminal or a remote server, corresponding data storage is conducted, and the system can give an alarm and record the current position to feed back to a worker. And if the detection point has no risk, the robot continues to move to the next disease detection point under the action of navigation. In the process, the staff can also control the operation of the robot and acquire the data of the vision camera through the handheld terminal, and the robot can also transmit the data acquired by the vision camera to the remote end through WiFi.
The intelligent navigation obstacle avoidance module can refer to corresponding modules of some existing intelligent mobile devices, for example, obstacle avoidance is achieved through ultrasonic obstacle avoidance radars, emergency stop buttons and the like, autonomous walking of the robot in a grain depot is achieved through two-dimensional code navigation or laser radars and the like, data required or obtained by intelligent navigation obstacle avoidance are transmitted through the wireless transmission module, specific setting is not described in detail here, and clear understanding of the technical scheme is not influenced.
The sampling mechanism 2 is arranged at the front end or the rear end of the traveling direction of the crawler-type moving chassis, one or more groups of sampling mechanisms 2 can be arranged, two groups of sampling mechanisms are arranged at the same end in the drawing, the sampling mechanisms are specifically arranged according to actual inspection sampling requirements, and the sampling work of grains in a grain depot is controlled by a main control board. The specific structural arrangement of this embodiment is as shown in fig. 4, 5, 6 and 7, and includes a pushing power part 21, a hopper guide cover 22 and a sampling spoon 23.
The propelling power part 21 in this embodiment is a pen-shaped electric push rod, the push rod of the pen-shaped electric push rod faces downward, the upper end of the push rod is fixedly connected to the frame of the movable chassis 1, the hopper guide cover 22 is correspondingly installed and connected to the frame of the movable chassis 1 below the pen-shaped electric push rod, the sampling spoon 23 is movably embedded in the hopper guide cover 22, the lower end of the push rod of the pen-shaped electric push rod penetrates from the upper end of the hopper guide cover 22 and is connected to the sampling spoon 23, and the push rod is connected with the sampling spoon through a turnable movable structure, specifically, the lower end of the push rod of the pen-shaped electric push rod is fixedly connected with a hinge joint 211, and the hinge joint 211 is connected with the sampling spoon 23 in a hinged manner, so that the sampling spoon 23 can be turned relative to the hinge joint, and here, in order to achieve the telescopic stability of the push rod of the pen-shaped electric push rod, the upper end of the hopper guide cover 22 is fixedly provided with a guide hole 221 through which the lower end of the push rod of the pen-shaped electric push rod penetrates to play a lifting, moving guiding role.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications made by those skilled in the art should not be construed as departing from the scope of the present invention.
Claims (8)
1. The multifunctional intelligent grain depot inspection robot is characterized by comprising a movable chassis, a main control board, an intelligent navigation obstacle avoidance module, an inspection work module, a wireless transmission module and a sampling mechanism, wherein the movable chassis is a crawler-type movable chassis, the sampling mechanism is arranged at the front end or the rear end of the traveling direction of the crawler-type movable chassis, the movable chassis is controlled by the main control board, the intelligent navigation obstacle avoidance module is used for realizing autonomous navigation obstacle avoidance and simultaneously providing the main control board for controlling the movement data of the movable chassis, the inspection work module is used for intelligent inspection work of a grain depot, the sampling mechanism is provided with one or more groups, the main control board is used for controlling the sampling work of grains in the grain depot, and the main control board is provided with the wireless transmission module for remotely transmitting data; sample mechanism is including promoting power part, hopper guide housing and sampling spoon, it connects on removing the chassis to promote power part erection, hopper guide housing corresponds and is promoting power part below erection joint on removing the chassis, the sampling spoon is mobile to be inlayed in hopper guide housing, the lower extreme that promotes power part penetrates from the upper end of hopper guide housing and connects on the sampling spoon, the lower extreme of hopper guide housing is for supplying the opening that the sampling spoon stretches out or retracts, be equipped with movable guide structure between hopper guide housing and the sampling spoon, through can turning to movable structure between the lower extreme that promotes power part and the sampling spoon and being connected, movable guide structure stretches out to this action process of retracting for the action of salvaging for can realizing the sampling spoon, an open-ended side towards the sampling spoon is closed panel in the hopper guide housing.
2. The multifunctional grain depot intelligent inspection robot according to claim 1, wherein the steerable movable structure is that a hinged joint is fixedly connected to the lower end of the pushing power part, and the hinged joint is hinged to the sampling spoon, so that the sampling spoon can rotate relative to the hinged joint; the movable guide structure is characterized in that the upper ends of the two opposite outer side walls of the sampling spoon are respectively and correspondingly protruded with guide columns, the two guide columns are respectively arranged close to the inner sides of the two opposite outer side walls of the sampling spoon, the two opposite outer side walls of the hopper guide cover corresponding to the two guide columns are respectively provided with guide grooves for the corresponding guide columns to be embedded in and slide in, the two guide grooves respectively extend from the upper ends to the lower ends of the two opposite outer side walls of the hopper guide cover, the upper ends of the guide grooves are close to the middle of the two opposite outer side walls of the hopper guide cover, and the guide grooves extend downwards for a section and then gradually extend towards the inner sides close to the two opposite outer side walls of the hopper guide cover.
3. The robot is patrolled and examined to multi-functional grain depot intelligence of claim 2, characterized in that, the sampling spoon includes that it has material containing cavity and the one side towards moving the chassis is open material containing portion and the relative both sides of material containing portion upwards extend and form corresponding lateral wall board, the guide post is protruding respectively and is established in the outside of both lateral wall boards, it supplies articulated portion that the articulated joint is articulated to be equipped with to supply to hold the material portion upper end between the both lateral wall boards to correspond.
4. The intelligent inspection robot for the grain depot according to claim 1, wherein a guide hole for pushing the lower end of the power component to penetrate through and play a role in guiding the lifting movement is fixedly arranged at the upper end of the hopper guide cover.
5. The multifunctional grain depot intelligent inspection robot according to claim 1, wherein the pushing power component is a pen-shaped electric push rod, the push rod of the pen-shaped electric push rod faces downwards, the upper end of the pen-shaped electric push rod is fixedly connected to the frame of the movable chassis, and the lower end of the push rod is connected with a steerable movable structure.
6. The intelligent inspection robot for the multi-functional grain depot according to any one of claims 1 to 5, wherein the movable chassis comprises a bottom plate frame and crawler driving mechanisms respectively installed at two opposite sides of the bottom plate frame, the crawler driving mechanisms comprise a motor reducer assembly installed in the bottom plate frame, a connecting shaft connected to an output shaft of the motor reducer assembly and connected to the bottom plate frame through a bearing assembly, a connecting flange fixedly sleeved on the connecting shaft, a driving wheel fixedly connected to the connecting flange, a tension wheel installed on the bottom plate frame corresponding to the driving wheel through a position adjustable structure, a guide wheel installed on the bottom plate frame corresponding to a position between the driving wheel and the tension wheel, and a crawler ring wound on the driving wheel and the tension wheel, and a guide structure matched with the guide wheel is arranged on an inner side wall of the crawler ring.
7. The multifunctional grain depot intelligent inspection robot according to any one of claims 1-5, wherein the inspection work module comprises a vision system module with a vision camera mounted on a mobile chassis and an environmental parameter detection module with a sensor mounted on the mobile chassis.
8. The intelligent inspection robot according to claim 6, wherein the inspection work module comprises a vision system module with a vision camera mounted on a mobile chassis and an environmental parameter detection module with a sensor mounted on the mobile chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222513588.3U CN217669379U (en) | 2022-09-22 | 2022-09-22 | Multifunctional grain depot intelligent inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222513588.3U CN217669379U (en) | 2022-09-22 | 2022-09-22 | Multifunctional grain depot intelligent inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217669379U true CN217669379U (en) | 2022-10-28 |
Family
ID=83726080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222513588.3U Active CN217669379U (en) | 2022-09-22 | 2022-09-22 | Multifunctional grain depot intelligent inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217669379U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847446A (en) * | 2023-01-16 | 2023-03-28 | 泉州通维科技有限责任公司 | Inspection robot in bridge compartment beam |
| CN116990061A (en) * | 2023-09-26 | 2023-11-03 | 天津玖腾科技有限公司 | Intelligent grain sampling robot |
| CN117067235A (en) * | 2023-10-13 | 2023-11-17 | 天津玖腾科技有限公司 | Safety cabin for grain sampling robot |
-
2022
- 2022-09-22 CN CN202222513588.3U patent/CN217669379U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847446A (en) * | 2023-01-16 | 2023-03-28 | 泉州通维科技有限责任公司 | Inspection robot in bridge compartment beam |
| CN116990061A (en) * | 2023-09-26 | 2023-11-03 | 天津玖腾科技有限公司 | Intelligent grain sampling robot |
| CN116990061B (en) * | 2023-09-26 | 2023-12-01 | 天津玖腾科技有限公司 | Intelligent grain sampling robot |
| CN117067235A (en) * | 2023-10-13 | 2023-11-17 | 天津玖腾科技有限公司 | Safety cabin for grain sampling robot |
| CN117067235B (en) * | 2023-10-13 | 2023-12-19 | 天津玖腾科技有限公司 | Safety cabin for grain sampling robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN217669379U (en) | Multifunctional grain depot intelligent inspection robot | |
| CN108267172B (en) | Intelligent robot inspection system for mine | |
| WO2017004944A1 (en) | Charging device of automatic cruise platform for greenhouse | |
| CN211955374U (en) | Detection device and detection system for detecting limited space operation environment | |
| CN213499234U (en) | Wheeled intelligent inspection robot | |
| CN112855266A (en) | Intelligent monitoring and autonomous cooperative follow machine device of coal mining machine and inspection platform system | |
| CN110703778A (en) | Intelligent safety positioning inspection robot device and system for mine | |
| CN104385274A (en) | Emergency disposal robot used for responding to subway sudden events | |
| CN112644601A (en) | Intelligent cruise search and rescue robot under foot type coal mine | |
| CN210036823U (en) | Petrochemical inspection robot | |
| CN210466137U (en) | Safe explosion-proof inspection robot | |
| CN216682212U (en) | Multi-functional autonomic robot of patrolling and examining of grain | |
| CN110575642A (en) | Cable tunnel robot | |
| CN108319265A (en) | The control system and method for a kind of ground running robot for electric power computer room inspection | |
| CN214394180U (en) | Explosion-proof intelligent inspection robot | |
| CN218976771U (en) | Intelligent inspection robot for motor car chassis | |
| CN211615617U (en) | Cable trench inspection robot | |
| CN209928282U (en) | Safety warning inspection robot | |
| CN217738461U (en) | Portable check out test set suitable for transformer substation patrols and examines | |
| CN216266065U (en) | Intrinsic safety type inspection robot | |
| CN107263485B (en) | Cargo robot based on machine vision factory | |
| CN210639463U (en) | Cable tunnel robot | |
| CN217496560U (en) | Intelligent omnidirectional airport luggage conveying and rotating platform control system | |
| CN214028901U (en) | Cable tunnel is inspection device in coordination | |
| CN218965395U (en) | Intelligent inspection robot in motor car carriage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |