ES2229938A1 - Self-propelled robot for the handling of explosive devices - Google Patents

Self-propelled robot for the handling of explosive devices

Info

Publication number
ES2229938A1
ES2229938A1 ES200302384A ES200302384A ES2229938A1 ES 2229938 A1 ES2229938 A1 ES 2229938A1 ES 200302384 A ES200302384 A ES 200302384A ES 200302384 A ES200302384 A ES 200302384A ES 2229938 A1 ES2229938 A1 ES 2229938A1
Authority
ES
Spain
Prior art keywords
self
wheels
explosive devices
robot
propelled
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.)
Pending
Application number
ES200302384A
Other languages
Spanish (es)
Inventor
Cesar Sallen Rosello
Alfredo Sallen Rosello
Roberto Torres Pueo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Proyectos y Tecnologia Sallen SL
Original Assignee
Proyectos y Tecnologia Sallen SL
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Proyectos y Tecnologia Sallen SL filed Critical Proyectos y Tecnologia Sallen SL
Priority to ES200302384A priority Critical patent/ES2229938A1/en
Priority to PCT/ES2004/000393 priority patent/WO2005035204A1/en
Publication of ES2229938A1 publication Critical patent/ES2229938A1/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/002—Manipulators for defensive or military tasks
    • B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels

Abstract

The invention relates to a self-propelled robot (1) which is used to handle explosive devices and to perform special, dangerous operations and which is remote controlled by means of a control console. The inventive robot comprises a pair of independent motors which each transmit a movement to a lateral running gear (5) and an articulated arm (4) which is defined by four sections and an end clamp (9) which can rotate in a specific manner. The aforementioned arm (4) is articulated to a column (3) which can rotate in relation to a vertical axis. In one embodiment of the invention, the above-mentioned running gear (5) is defined by five wheels, whereby the intermediate wheels (7) are provided with a smaller diameter and the central wheel rotates around an axis located below the axis of rotation of the end wheels.

Description

Robot autopropulsado para manipulación de artefactos explosivos.Self-propelled robot for handling explosive devices.

Objeto de la invenciónObject of the invention

La siguiente invención, según se expresa en el enunciado de la presente memoria descriptiva, se refiere a un robot autopropulsado para manipulación de artefactos explosivos, siendo del tipo de robots manejados a distancia por medio de una consola de mandos, de utilidad para la manipulación de artefactos explosivos y para la realización de operaciones especiales y peligrosas, de forma que el robot comprende unos medios de traslación definidos por una pareja de motores independientes que transmiten movimiento, respectivamente, cada uno de ellos, a las ruedas de un lateral del chasis, un brazo articulado conformado por cuatro tramos, desplazable según su plano vertical y una pinza en su extremo, cuyo brazo esta montado en una torre dotada de un movimiento giratorio, respecto de un plano horizontal, de, aproximadamente, 15º a cada lado de su eje longitudinal.The following invention, as expressed in the set forth herein, refers to a robot self-propelled for handling explosive devices, being of the type of robots managed remotely by means of a console of controls, useful for the manipulation of artifacts explosives and for performing special operations and dangerous, so that the robot comprises some means of translation defined by a pair of independent motors that they transmit movement, respectively, each of them, at wheels on one side of the chassis, an articulated arm made up of four sections, movable according to its vertical plane and a clamp in its end, whose arm is mounted on a tower equipped with a rotating movement, relative to a horizontal plane, of, approximately 15º on each side of its longitudinal axis.

Asimismo, el robot autopropulsado incorpora una serie de cámaras de visión y unos sensores de proximidad.Also, the self-propelled robot incorporates a series of vision cameras and proximity sensors.

Así, el brazo articulado presentan una gran movilidad, dado que el mismo puede abarcar un ángulo de 30º y esta conformado por cuatro tramos accionados por respectivos cilindros y la pinza dispone de unos medios específicos de giro con objeto de dotarla de una gran maniobrabilidad.Thus, the articulated arm has a large mobility, since it can cover an angle of 30º and this formed by four sections driven by respective cylinders and The clamp has specific turning means in order to provide it with great maneuverability.

Campo de aplicaciónScope

En la presente memoria se describe un robot autopropulsado de manejo a distancia por una consola de mandos, de aplicación para la realización de diferentes operaciones peligrosas, siendo de especial aplicación para la manipulación de artefactos explosivos.A robot is described herein. self-propelled remote control by a control console, of application for performing different operations dangerous, being of special application for handling explosive devices.

Antecedentes de la invenciónBackground of the invention

Convencionalmente, cuando hay que manipular artefactos explosivos o realizar operaciones de riesgo, más aún, cuando están en riesgo vidas humanas, se utilizan robots que son manejados a distancia por medio de una consola de control.Conventionally, when you have to manipulate explosive devices or risk operations, moreover, when human lives are at risk, robots are used that are remotely operated by means of a control console.

De esta forma, entre los robots existentes para la manipulación de artefactos explosivos, podemos citar aquel que comprende un brazo articulado, según un único tramo, y sin posibilidad de girar según un plano horizontal, es decir, únicamente, tiene movimiento según un plano vertical y limitado por su único tramo articulado.In this way, among existing robots to the manipulation of explosive devices, we can cite the one that it comprises an articulated arm, according to a single section, and without possibility of turning according to a horizontal plane, that is, only, it has movement according to a vertical plane and limited by its only articulated section.

Asimismo, este tipo de robots disponen de una serie de elementos de control, como son cámara de visión y sensores de proximidad.Also, these types of robots have a series of control elements, such as vision camera and sensors of proximity.

Descripción de la invenciónDescription of the invention

En la presente memoria se describe un robot autopropulsado para manipulación de artefactos explosivos, siendo del tipo de robots autopropulsados manejados a distancia por medio de una consola de mandos, de utilidad para la manipulación de artefactos explosivos y para la realización de operaciones especiales y peligrosas, de forma que el robot autopropulsado comprende una pareja de motores independientes transmitiendo el movimiento, cada uno de ellos, a un tren lateral de rodadura y un brazo articulado definido por cuatro tramos y una pinza extrema dotada de movimiento giratorio específico, estando montado el brazo articulado en una torre dotada de movimiento giratorio respecto de un plano horizontal.A robot is described herein. self-propelled for handling explosive devices, being of the type of self-propelled robots managed remotely by of a control console, useful for handling explosive devices and operations special and dangerous, so that the self-propelled robot it comprises a pair of independent motors transmitting the movement, each of them, to a tread and a articulated arm defined by four sections and an extreme clamp equipped with specific rotating movement, the articulated arm in a tower equipped with rotating movement regarding a horizontal plane.

De esta forma, el robot esta dotado de una gran maniobrabilidad, ya que, el brazo articulado, además de su desplazamiento según un plano vertical, puede abarcar una superficie relativa a, aproximadamente, 30º respecto de un plano horizontalIn this way, the robot is endowed with a large maneuverability, since the articulated arm, in addition to its displacement according to a vertical plane, can cover a surface  relative to approximately 30º with respect to a plane horizontal

El tren de rodadura de cada lateral del robot autopropulsado esta definido por cinco ruedas, presentando dos de ellas un diámetro menor al de las otras tres ruedas y estando dispuestas las dos de menor diámetro entre las otras ruedas.The undercarriage on each side of the robot self-propelled is defined by five wheels, presenting two of they a smaller diameter than the other three wheels and being arranged the two of smaller diameter between the other wheels.

Por otra parte, la rueda central, relativa a una de las de mayor diámetro, tiene su eje de giro ligeramente más bajo que el de las dos ruedas extremas de diámetro semejante, de manera que la misma siempre estará en contacto con el suelo en correspondencia con la anterior o posterior.On the other hand, the central wheel, relative to a of the larger diameter, has its axis of rotation slightly lower that of the two extreme wheels of similar diameter, so that it will always be in contact with the ground in correspondence with the previous or later.

Cada uno de los motores independientes transmite movimiento a la rueda central de su correspondiente tren de rodadura, siendo transmitido de esta a las ruedas extremas, de igual diámetro, y de estas a la de menor diámetro contigua.Each of the independent engines transmits  movement to the center wheel of its corresponding train rolling, being transmitted from this to the extreme wheels, of equal diameter, and of these to the one of smaller contiguous diameter.

Mediante el tren de rodadura descrito se permite que el robot presente una gran movilidad, así como un perfecto agarre en todos los terrenos y la posibilidad de superar pendientes de, incluso, más de 30º.The described undercarriage allows that the robot has great mobility, as well as a perfect grip on all terrains and the possibility of overcoming slopes of even more than 30º.

Para complementar la descripción que seguidamente se va a realizar, y con objeto de ayudar a una mejor comprensión de las características de la invención, se acompaña a la presente memoria descriptiva, de un juego de planos, en cuyas figuras de forma ilustrativa y no limitativa, se representan los detalles más característicos de la invención.To complement the description below is going to be done, and in order to help a better understanding of The characteristics of the invention are accompanied by the present descriptive memory, of a set of planes, in whose figures of illustrative and non-limiting, the details are represented characteristic of the invention.

Breve descripción de los diseñosBrief description of the designs

Figura 1. Muestra una vista en alzado lateral del robot autopropulsado objeto de la invención, pudiendo observar el brazo articulado en su posición de plegado.Figure 1. Shows a side elevation view of the self-propelled robot object of the invention, being able to observe the articulated arm in its folded position.

Figura 2. Muestra una vista en alzado lateral del robot autopropulsado objeto de la invención, pudiendo observar el brazo articulado en su posición extendida.Figure 2. Shows a side elevation view of the self-propelled robot object of the invention, being able to observe the articulated arm in its extended position.

Figura 3. Muestra una vista en alzado lateral del robot autopropulsado objeto de la invención, pudiendo observar el brazo articulado en diferentes posiciones extendidas de trabajo con la pinza en su extremo.Figure 3. Shows a side elevation view of the self-propelled robot object of the invention, being able to observe the articulated arm in different extended working positions with The clamp at its end.

Figura 4. Muestra una vista en planta del mecanismo de transmisión del movimiento definido por una pareja de motores independientes que transmiten movimiento a las ruedas de ambos laterales.Figure 4. Shows a plan view of the movement transmission mechanism defined by a pair of independent motors that transmit movement to the wheels of both sides

Figura 5. Muestra una vista en planta de la pinza en su posición de cierre y apertura, teniendo la misma un específico movimiento giratorio.Figure 5. Shows a plan view of the clamp in its closed and open position, having a specific rotating movement.

Figura 6. Muestra una vista en planta relativa al recorrido angular, según un plano horizontal, del que esta provisto la torre de montaje del brazo articulado.Figure 6. Shows a plan view relative to angular path, according to a horizontal plane, of which this provided with the articulated arm mounting tower.

Descripción de una realización preferenteDescription of a preferred embodiment

A la vista de las comentadas figuras y de acuerdo con la numeración adoptada podemos observar como el robot 1 autopropulsado comprende una pareja de motores 2 independientes transmitiendo el movimiento, cada uno de ellos, a un tren 5 lateral de rodadura y un brazo 4 articulado definido por cuatro tramos y una pinza 9 extrema dotada de movimiento giratorio específico, estando montado el brazo 4 articulado en una torre 3 dotada de movimiento giratorio, respecto de un plano horizontal.In view of the commented figures and agree with the numbering adopted we can observe how the robot 1 self-propelled comprises a pair of independent 2 motors transmitting the movement, each of them, to a side 5 train of rolling and an articulated arm 4 defined by four sections and an extreme clamp 9 equipped with a specific rotating movement, the articulated arm 4 being mounted on a tower 3 equipped with rotating movement, relative to a horizontal plane.

El tren 3 de rodadura de cada lateral del robot 1 esta definido por cinco ruedas, presentando dos de dichas ruedas 7 un diámetro menor al de las otras tres ruedas 6 y estando dispuestas las dos ruedas 7 de menor diámetro entre las otras ruedas 7.The train 3 running on each side of the robot 1 it is defined by five wheels, presenting two of said wheels 7 a smaller diameter than the other three wheels 6 and being arranged the two wheels 7 of smaller diameter between the other wheels 7.

Dado que los motores 2 son independientes a través de los mismos, desde la consola de control se controla el desplazamiento del robot, permitiendo su avance, su retroceso y su giro en ambos sentidos al invertir el sentido de giro de los mismos.Since engines 2 are independent of through them, the control console controls the robot displacement, allowing its advance, its recoil and its turn in both directions by reversing the direction of rotation of the same.

Por otra parte, la rueda central, relativa a una de las ruedas 6 de mayor diámetro, tiene su eje 8 de giro ligeramente más bajo que el eje de giro de las dos ruedas 6 extremas de diámetro semejante, de forma que así siempre se encuentra en contacto con el suelo la rueda central y una de las ruedas 6 extremas.On the other hand, the central wheel, relative to a of wheels 6 of greater diameter, has its axis 8 of rotation slightly lower than the axis of rotation of the two wheels 6 extremes of similar diameter, so that always finds the central wheel and one of the 6 extreme wheels.

La transmisión del movimiento desde cada uno de los motores 2 independientes se realiza a la rueda 6 central de su correspondiente tren 5 de rodadura, siendo transmitido de esta a las ruedas 6 extremas, de igual diámetro, y de estas a la rueda 7 de menor diámetro contigua a ella.The transmission of movement from each of the independent motors 2 is made to the central wheel 6 of its corresponding undercarriage 5, being transmitted from it to the   extreme 6 wheels, of equal diameter, and of these to wheel 7 of smaller diameter adjacent to it.

Para ello la transmisión desde el correspondiente motor 2 al eje 8 de la rueda 6 central, del respectivo tren 5 de rodadura, se materializa por una cadena 12 y desde este eje 8 de la rueda 6 central se transmite movimiento a los ejes de las ruedas 6 extremas por medio de correspondientes cadenas 10 y 11, y, finalmente, desde los ejes de las ruedas 6 extremas se transmite movimiento a los ejes de las ruedas 7 de menor diámetro contiguas a ellas por medio de respectivas cadenas 13 y 14.For this the transmission from the corresponding motor 2 to axle 8 of the central wheel 6, of the respective train 5 of rolling, is materialized by a chain 12 and from this axis 8 of the central wheel 6 movement is transmitted to the wheel axles 6 ends by means of corresponding chains 10 and 11, and, finally, from the axles of the extreme 6 wheels it is transmitted movement to the axles of the smaller diameter wheels 7 adjacent to they through respective chains 13 and 14.

La materialización del mecanismo de transmisión del movimiento y del tren 5 de rodadura de la forma descrita permite que el robot 1 autopropulsado disponga del adecuado agarre en todos los terrenos, y pueda superar pendientes de hasta 30º.The materialization of the transmission mechanism of the movement and of the undercarriage 5 in the manner described allows the self-propelled robot 1 to have the right grip in all terrains, and can overcome slopes of up to 30º.

Para permitir los idóneos movimientos del brazo 4 articulado el robot 1 autopropulsado incorpora un grupo hidráulico, excepto para los movimientos de giro de la pinza 9, para cuyos específicos giros incorpora un motor eléctrico, de forma que los movimientos articulados de los cuatro tramos conformantes del brazo 4 articulado, presenta correspondientes cilindros de accionamiento, los cuales son de actuación independiente.To allow suitable movements of arm 4 articulated the self-propelled robot 1 incorporates a hydraulic group, except for the rotational movements of the clamp 9, for whose specific turns incorporates an electric motor, so that the articulated movements of the four conforming arm sections 4 articulated, presents corresponding drive cylinders, which are independent acting.

Además, dado que el brazo 4 articulado esta montado en una torre 5 dotada de movimiento giratorio, respecto de un plano horizontal, el mismo tiene una gran maniobrabilidad.In addition, since the articulated arm 4 is mounted on a tower 5 equipped with rotating movement, with respect to a horizontal plane, it has great maneuverability.

Lógicamente, el robot 1 autopropulsado incorpora la correspondiente electrónica de control apareciendo en una pantalla de la consola de mandos todas las incidencias, y, además, para el adecuado funcionamiento del mismo incorpora: cuatro cámaras, estando ubicada una cámara 15 en un brazo hidráulico con un giro horizontal de 360º permitiendo tener una visión general del entorno; una segunda cámara en la parte frontal de robot; una tercera cámara 17 en el brazo y una cuarta cámara en la pinza.Logically, the self-propelled robot 1 incorporates the corresponding control electronics appearing in a control console screen all incidents, and also for the proper functioning of it incorporates: four chambers, a chamber 15 being located in a hydraulic arm with a horizontal rotation of 360º allowing to have an overview of the environment; a second camera on the front of the robot; a third chamber 17 in the arm and a fourth chamber in the clamp.

Asimismo, el robot 1 autopropulsado incorpora cuatro medidores de distancia por ultrasonidos, estando situado un sensor 18 en la parte posterior, un segundo sensor 19 en la parte anterior, un tercer sensor 20 en proximidad a la parte inferior de la pinza y un cuarto sensor 21 en la parte frontal de la pinza.Also, the self-propelled robot 1 incorporates four ultrasonic distance meters, being located a sensor 18 on the back, a second sensor 19 on the part anterior, a third sensor 20 in proximity to the bottom of the clamp and a fourth sensor 21 on the front of the clamp.

Igualmente, el robot 1 autopropulsado puede incorporar una escopeta 23 y un puntero láser 22 intermitente para mayor precisión.Similarly, the self-propelled robot 1 can incorporate a shotgun 23 and an intermittent laser pointer 22 to Greater precision.

La pinza 9 podrá presentar diferentes características de acuerdo al trabajo a realizar, y, así, las pinzas pueden cortar, arrastrar, levantar e incluso destruir objetos.Clamp 9 may have different characteristics according to the work to be done, and, thus, the Tweezers can cut, drag, lift and even destroy objects.

El robot 1 autopropulsado cuenta también con tres grupos de focos, constituido cada uno de ellos por dos lámparas halógenas, estando situados en la parte anterior y posterior del robot y en el brazo.The self-propelled robot 1 also has three focus groups, each consisting of two lamps halogen, being located in the front and back of the Robot and arm.

Claims (4)

1. Robot autopropulsado para manipulación de artefactos explosivos, siendo del tipo de robots autopropulsados manejados a distancia por medio de una consola de mandos, de utilidad para la manipulación de artefactos explosivos y para la realización de operaciones especiales y peligrosas, caracterizado porque el robot (1) autopropulsado comprende una pareja de motores (2) independientes transmitiendo el movimiento, cada uno de ellos, a un tren (5) de rodadura lateral y un brazo (4) articulado definido por cuatro tramos y una pinza (9) extrema dotada de movimiento giratorio específico, estando montado el brazo (4) articulado en una torre (3) dotada de movimiento giratorio, respecto de un plano horizontal.1. Self-propelled robot for manipulation of explosive devices, being of the type of self-propelled robots managed remotely by means of a control console, useful for handling explosive devices and for performing special and dangerous operations, characterized in that the robot ( 1) self-propelled comprises a pair of independent motors (2) transmitting the movement, each of them, to a side-running train (5) and an articulated arm (4) defined by four sections and an end caliper (9) endowed with specific rotating movement, the arm (4) being articulated in a tower (3) equipped with rotating movement, with respect to a horizontal plane. 2. Robot autopropulsado para manipulación de artefactos explosivos, según reivindicación 1ª, caracterizado porque el tren (5) de rodadura de cada lateral del robot (1) autopropulsado esta definido por cinco ruedas, presentando dos de dichas ruedas (7) un diámetro menor al de las otras tres ruedas (6) y estando dispuestas las dos ruedas (7) de menor diámetro intercaladas entre las otras ruedas (6) de mayor diámetro.2. Self-propelled robot for handling explosive devices, according to claim 1, characterized in that the undercarriage (5) of each side of the self-propelled robot (1) is defined by five wheels, two of said wheels (7) having a diameter smaller than of the other three wheels (6) and the two wheels (7) of smaller diameter being interposed between the other wheels (6) of larger diameter. 3. Robot autopropulsado para manipulación de artefactos explosivos, según reivindicaciones 1ª y 2ª, caracterizado porque la rueda (6) central, relativa a una de las de mayor diámetro, tiene su eje (8) de giro ligeramente más bajo que el eje de giro de las dos ruedas (6) extremas de diámetro semejante.3. Self-propelled robot for handling explosive devices, according to claims 1 and 2, characterized in that the central wheel (6), relative to one of the largest diameter, has its axis (8) of rotation slightly lower than the axis of rotation of the two extreme wheels (6) of similar diameter. 4. Robot autopropulsado para manipulación de artefactos explosivos, según reivindicación 1ª, caracterizado porque cada uno de los motores (2) independientes transmite movimiento a la rueda (6) central de su correspondiente tren (5) de rodadura lateral, siendo transmitido de esta a las ruedas (6) extremas, de igual diámetro, y de estas a la contigua rueda (7) de menor diámetro.4. Self-propelled robot for handling explosive devices, according to claim 1, characterized in that each of the independent motors (2) transmits movement to the central wheel (6) of its corresponding lateral running train (5), being transmitted from it to the extreme wheels (6), of equal diameter, and of these to the adjacent wheel (7) of smaller diameter.
ES200302384A 2003-10-14 2003-10-14 Self-propelled robot for the handling of explosive devices Pending ES2229938A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
ES200302384A ES2229938A1 (en) 2003-10-14 2003-10-14 Self-propelled robot for the handling of explosive devices
PCT/ES2004/000393 WO2005035204A1 (en) 2003-10-14 2004-09-07 Self-propelled robot for the handling of explosive devices

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES200302384A ES2229938A1 (en) 2003-10-14 2003-10-14 Self-propelled robot for the handling of explosive devices

Publications (1)

Publication Number Publication Date
ES2229938A1 true ES2229938A1 (en) 2005-04-16

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ES (1) ES2229938A1 (en)
WO (1) WO2005035204A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES1073757Y (en) * 2010-09-20 2011-05-06 Proyectos Y Tecnologia Sallen S L TELECOMMAND ROBOT FOR SPECIAL OPERATIONS
ES2542480B1 (en) * 2015-06-03 2016-05-12 Proytecsa Security, S.L. SYSTEM ADAPTED TO A ROBOT TO HANDLE BULKY OBJECTS
CN105082180B (en) * 2015-08-04 2018-01-02 杭州华能工程安全科技股份有限公司 A kind of Tunnel testing robot and detection method
CN105710857B (en) * 2016-04-15 2017-09-01 北京电子科技职业学院 A kind of intelligent explosive-removal robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4730684A (en) * 1986-07-22 1988-03-15 Borge Pedersen Vehicle
GB2290759A (en) * 1994-06-29 1996-01-10 Hay Royds Mining Limited Coal carrying vehicle
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4730684A (en) * 1986-07-22 1988-03-15 Borge Pedersen Vehicle
GB2290759A (en) * 1994-06-29 1996-01-10 Hay Royds Mining Limited Coal carrying vehicle
US6113343A (en) * 1996-12-16 2000-09-05 Goldenberg; Andrew Explosives disposal robot

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Publication number Publication date
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