CN104044422B - Bearing device safety detection robot under burst fire-disaster - Google Patents
Bearing device safety detection robot under burst fire-disaster Download PDFInfo
- Publication number
- CN104044422B CN104044422B CN201410249600.1A CN201410249600A CN104044422B CN 104044422 B CN104044422 B CN 104044422B CN 201410249600 A CN201410249600 A CN 201410249600A CN 104044422 B CN104044422 B CN 104044422B
- Authority
- CN
- China
- Prior art keywords
- gear
- pedestal
- bearing device
- disaster
- safety detection
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
Bearing device safety detection robot under a kind of burst fire-disaster, comprises crawler component, connects the flight assembly on crawler component top and some mechanical arm assemblies of connection crawler component; Crawler component comprises pedestal, is arranged on transmission component, connection pedestal and six shanks of transmission component on pedestal, the drive unit of connection for transmission assembly, pedestal comprises the connecting rod of a first end, the second end, connection first end and the second end, and drive unit is fixed on first end; Pedestal also comprises some fixed parts and extension; Transmission component comprise be arranged on the driving gear of drive unit, with left gear and right gear, Left Drive axle, the right power transmission shaft of driving gear engagement, be arranged on some worm screws portion, the worm gear of corresponding each worm screw portion and the worm gear pole at connection worm gear center of Left Drive axle and right power transmission shaft; The present invention, by crawler component, flight assembly, mechanical hand assembly are set, has very high front line speed, and it is reliable to creep, and greatly improves its operating efficiency.
Description
Technical field:
The present invention relates to a kind of rescue aid, relate in particular to bearing device under a kind of burst fire-disaster and examine safelySurvey robot.
Background technology:
Natural calamity the mankind's safety as serious threats such as earthquake, fire, floods, more and more causesPeople pay close attention to widely. By Robotics, control technology, the information processing technology, rescue attempt technologyDeng fusion, develop and develop the device for searching and rescuing, succour dealing with calamity, be one, rescue aid fieldChallenging frontier.
In recent years, the sudden accidents such as chemical plant, nuclear power plant blast, leakage usually occur, bySevere in landform, poisonous and harmful substance spillage risk regional extent is large, general robot is difficult to the short time and catches up withTo processing; In addition, general robot function is too single, is mostly only to possess the merit that the wounded is shiftedCan, substantially do not have for hazardous chemical article, disposal ability.
Summary of the invention:
Therefore, the object of the present invention is to provide one there is fast moving, creep, survey, collect,Bearing device safety detection robot under the burst fire-disaster of the abilities such as processing.
Bearing device safety detection robot under a kind of burst fire-disaster, comprises a crawler component, connects and be somebody's turn to doThe flight assembly on crawler component top and connect some mechanical arm assemblies of this crawler component; Described creepingAssembly comprises a pedestal, is arranged on six legs of transmission component, connection pedestal and transmission component on pedestalPortion and connect the drive unit of this transmission component, this pedestal comprises a first end, the second end, companyConnect the connecting rod of first end and the second end, described drive unit is fixed on first end; Described baseSeat also comprises some fixed parts and extension; Described transmission component comprises the driving tooth that is arranged on drive unitWheel, engage with this driving gear left gear and right gear, Left Drive axle, right power transmission shaft, be arranged on a left sideSome worm screws portion on power transmission shaft and right power transmission shaft, the worm gear of corresponding each worm screw portion and connect worm gearThe worm gear pole at center; The outboard end of described each worm gear pole connects a crank; It is right that described each shank connectsThe crank of answering and fixed part or extension, drive described shank front and back pendulum by drive unit and transmission componentMove and creep with the front and back of realizing bearing device safety detection robot under this burst fire-disaster; Wherein said eachShank comprises the huckle, calf and the foot that connect successively, and the inner side of this huckle is a link rod part,The free end pivot joint of one end of this link rod part and described crank, the other end is by a rocking bar portion and described pedestalFixed part or extension pivot joint; Described each shank also comprises a spring, and this spring connects described pinThe back of portion and the middle and lower part of described calf; Described flight assembly comprises that the first flight motor, second fliesRow motor, connect this first flight motor the first output gear, connect this second flight motor secondOutput gear, the first input gear engaging with the first output gear, engage with the second output gearIn two input gears, the interior axle that connects the first input gear, the outer shaft that connects the second input gear, connectionSecond screw wing at the middle part of first screw wing on the top of axle and connection outer shaft; Described flight assembly alsoComprise a balancing pole, described the first screw wing is connected with a balancing pole by a connector; Described manipulatorAssembly comprises one first grabbing arm, the second grabbing arm, boring arm and cutting arm; DescribedThe middle part of one grabbing arm, the second end of the second grabbing arm in pedestal, described boring arm and cuttingCut arm and be positioned at the both sides of the first grabbing arm, the second grabbing arm.
Under burst fire-disaster of the present invention, bearing device safety detection robot is by arranging crawler component, flyingRow assembly, mechanical arm assembly, have very fast flying speed, and it is reliable to creep, and greatly improves itOperating efficiency.
Brief description of the drawings:
Fig. 1 is bearing device safety detection machine under the burst fire-disaster of a preferred embodiment of the present inventionPeople's solid is shownIntention.
Fig. 2 is that under the burst fire-disaster of Fig. 1, the solid after shell is removed by bearing device safety detection robotSchematic diagram.
Fig. 3 is the signal of the crawler component of bearing device safety detection robot under the burst fire-disaster of Fig. 2Figure.
Fig. 4 is the enlarged drawing of the circle A part of Fig. 2.
Fig. 5 is that under the burst fire-disaster of Fig. 1, bearing device safety detection Robot one center vertical plane cuts openThe cutaway view of opening.
Fig. 6 is the enlarged drawing of the circle B part of Fig. 1.
In figure: crawler component 10, pedestal 11, first end 12, the second end 13, connecting rod14, fixed part 15, extension 16, centre frame 19, transmission component 20, driving gear 21, left gear22, right gear 23, Left Drive axle 24, right power transmission shaft 25, worm screw portion 26, worm gear 27, worm gear pole 28,Crank 29, shank 30, huckle 31, link rod part 310, calf 32, foot 33, spring 34,Rocking bar portion 35, drive unit 40, inchworm motor 41, flight assembly 50, the first flight motor 51, theTwo flight motors 52, the first output gear 53, the second output gear 54, the first input gear 55, theTwo input gears 56, interior axle 57, the first screw wing 570, outer shaft 58, the second screw wing 580, balanceBar 59, mechanical arm assembly 80, the first grabbing arm 81, the second grabbing arm 82, boring arm 83,Bore cutter 830, cutting arm 84, cutting blade 840, housing 90.
Detailed description of the invention:
For technical scheme of the present invention can more clearly be showed, below in conjunction with accompanying drawing to thisBright being described further.
As shown in Figures 1 to 6, be bearing device safety under the burst fire-disaster of one embodiment of the inventionDetect robot, under this burst fire-disaster, bearing device safety detection robot comprises a crawler component 10, connectsConnect the flight assembly 50 on these crawler component 10 tops and connect some manipulator groups of this crawler component 10Part 80. Under this burst fire-disaster, bearing device safety detection robot is set in by a housing 90 group of creepingOn part 10.
Described crawler component 10 comprises a pedestal 11, be arranged on transmission component 20 on pedestal 11,Connect six shanks 30 of pedestal 11 and transmission component 20 and connect the driving dress of this transmission component 20Put 40.
Described pedestal 11 is rectangular frame setting in the present embodiment. This pedestal 11 comprises a first end12, the connecting rod 14 of the second end 13, connection first end 12 and the second end 13. Described driving dressPutting 40 is fixed on first end 12. Described pedestal 11 also comprises the described connecting rod 14 of some connectionsFixed part 15. Each fixed part 15 is L-type setting, after the end face of described connecting rod 14 upwards extendsSetting vertically stretches out. Described the second end 13 is provided with extension 16, this extension 16 and fixed part15 outer ledges that outwards exceed described extension connecting rod 14 extend, for described corresponding connection of shank 30.In the present embodiment, the quantity of described fixed part 15 is four, and the quantity of described extension 16 is two, shouldExtension 16 and fixed part 15 intervals arrange to ensure the distance between each shank 30. In the present embodiment,This pedestal 11 also comprises a centre frame 19, and this centre frame 19 connects first end 12 and the second end 13Medial surface middle part.
Described drive unit 40 comprises an inchworm motor 41 in the present embodiment, this inchworm motor 41Be positioned at the middle upper portion position of first end 12, and the output shaft of inchworm motor 41 is to first end 12Lateral surface extend arrange.
Described transmission component 20 comprise driving gear 21 on the output shaft that is arranged on inchworm motor 41,Left gear 22 and the right gear 23 engaging with this driving gear 21, the Left Drive axle that is connected left gear 2224, connect right gear 23 right power transmission shaft 25, be arranged on Left Drive axle 24 and right power transmission shaft 25The worm gear 27 of some worm screws portion 26, corresponding each worm screw portion 26 and connect the worm gear at worm gear 27 centersBar 28. Described driving gear 21, left gear 22 and right gear 23 are spur gear. Described Left Drive axle24 and right power transmission shaft 25 be parallel to each other interval arrange. One end of Left Drive axle 24 is through the of pedestal 11One end 12 is fixedly connected with left gear 22, the second end 13 pivot joints of the other end and pedestal 11; RightOne end of power transmission shaft 25 is fixedly connected with right gear 23 through the first end 12 of pedestal 11, the other endThe second end 13 pivot joints with pedestal 11. Described each worm gear 27 is positioned at corresponding worm screw portion 26Also engage with this worm screw portion 26 below. Described each worm gear pole 28 wears fixing corresponding worm gear 27, everyThe medial extremity of one worm gear pole 28 and 19 pivot joints of described centre frame, outboard end through described connecting rod 14 and withConnecting rod 14 pivot joints. A vertical crank 29, this crank 29 of extending of outboard end of each worm gear pole 28Free end and 30 pivot joints of described shank.
Described shank 30 comprises the huckle 31, calf 32 and the foot 33 that connect successively. ShouldThe inner side of huckle 31 is a link rod part 310, one end of this link rod part 310 and described crank 29 fromBy end pivot joint, the other end is fixed part 15 or the extension with described pedestal 11 by a rocking bar portion 3516 pivot joints. Therefore, described crank 29, link rod part 310, rocking bar portion 35 form a crank rocker device,While rotation by worm gear pole 28, drive shank 30 to swing by a small margin. The top of described calf 32 and thighPortion's 31 pivot joints, the bottom of described calf 32 and foot's 33 pivot joints, and pass through a spring 34 by foot33 back is connected with the middle and lower part of calf 32, to ensure the shockproof effect of foot 33.
Described crawler component 10 in the time of original state, six cranks 29 of described transmission component 20In two kinds of different angle states, the wherein crank in the middle of former and later two cranks 29 and the right side in left side29 in identical the first anglec of rotation, the crank 29 of the centre in left side and former and later two cranks of right side29 in identical the second anglec of rotation, and this second anglec of rotation and the first anglec of rotation differ 90Between 180 degree so that the height of the foot 33 of the shank 30 in the first anglec of rotation with inThe height difference of the foot 33 of the shank 30 of the second anglec of rotation makes to only have three foots 33 at every turnLand, ensured the stationarity of bearing device safety detection robot under whole burst fire-disaster. When the electricity of creepingMachine 41 forwards or while rotating backward, transmission component 20 drive turn over before shank 30 or after turn over to reach and creepEffect.
Described flight assembly 50 comprises the first flight motor 51, the second flight motor 52, connect thisOne flight motor 51 output shaft the first output gear 53, connect this second flight motor 52 outputThe second output gear 54 of axle, the first input gear 55 engaging with the first output gear 53, with secondThe second input gear 56 that output gear 54 engages, the interior axle 57 that connects the first input gear 55, connectionThe first screw wing 570 and the connection on the outer shaft 58 of the second input gear 56, the top of the interior axle 57 of connectionSecond screw wing 580 at the middle part of outer shaft 58. Described the first screw wing 570 is by a connector (figure is mark not)Be connected with a balancing pole 59. By the setting of flight assembly 50, make bearing device under this burst fire-disasterSafety detection robot has powerful flight performance, can promptly avoid the obstacle on ground, flies to calamityOn-the-spot carrying out detection and collected specimens, transmitting data and image to disaster relief command centre of the task of evil.
Described mechanical arm assembly 80 comprises one first grabbing arm 81, the second grabbing arm 82, boringArm 83 and cutting arm 84. In the present embodiment, this first grabbing arm 81, the second crawl handThe middle part of the second end 13 of arm 82 in pedestal 11,84 of described boring arm 83 and cutting armsIn the both sides of the first grabbing arm 81, the second grabbing arm 82. Described the first grabbing arm 81 is by oneMiddle screw mandrel and motor (figure is mark not) drive and carry out grasping movement. The second grabbing arm 82 is by multiple passesJoint design and micro machine control capture to stretch to more at a distance, and free-ended machine pawl is equally by silkBar (figure is mark not) draws in and opens action to capture. The end of described boring arm 83 arranges brillCutter 830, the end of described cutting arm 84 arranges cutting blade 840, is controlled and is stretched by multiple motorsContracting and rotation. This mechanical arm assembly 80 by the first above-mentioned grabbing arm 81, the second grabbing arm 82,Boring arm 83 and cutting arm 84 carry out collected specimens to disaster scene, to bring out for expertRow is analyzed.
Under described burst fire-disaster, bearing device safety detection robot also comprises robot main control chip, inspectionSurvey device, wireless module, power module; This checkout gear is established for detection of pressure-bearing under described burst fire-disasterDestination object in standby safety detection robot environment of living in, and produce corresponding detection signal, and will produceRaw detection signal offers robot main control chip, this checkout gear can be harmful gas detector,Cuclear density detector, camera and other non-destructive detecting device; Described robot main control chip is for comprehensiveControl crawler component, flight assembly, mechanical arm assembly, checkout gear, wireless module, ancillary equipmentWork, inchworm motor 41 forwards of for example accessory drive 40 or rotate backward, control and detect dressPut and start to detect and stop detection etc., described robot main control chip also produces according to the detection signal receivingDetect data, and detection data are offered to wireless module; This wireless module will be for detecting data wirelessSend it back to peripheral control personnel, and accept control personnel's remote control command, and by the control receivingSystem order offers described robot main control chip, so that described robot main control chip is according to control commandControl the crawler component in bearing device safety detection robot under burst fire-disaster, flight assembly, manipulatorAssembly, checkout gear, wireless module, ancillary equipment work; Power module is used to described burst fire-disasterThe each parts of lower bearing device safety detection robot provide electric energy. Bearing device safety under described burst fire-disasterDetect robot and also comprise ancillary equipment, described ancillary equipment can be for illuminating under described burst fire-disasterThe lighting apparatus of bearing device safety detection robot environment of living in, for described burst fire-disaster under pressure-bearingDevice security detects the audio player of the personnel transfer in robot environment of living in, described prominent for assistingSend out the infrared obstacle avoidance sensing that under disaster, bearing device safety detection robot moves smoothly in environment of living inDevice. Above-mentioned robot main control chip, checkout gear, wireless module, ancillary equipment are arranged on crawler componentOn 10, and be positioned at housing 90.
Under burst fire-disaster of the present invention, bearing device safety detection robot is by arranging crawler component10, flight assembly 50, mechanical arm assembly 80, have very high front line speed, and it is reliable to creep,Greatly improve its operating efficiency; And the inspection that under this burst fire-disaster, bearing device safety detection robot hasSurvey, information gathering, take the several functions such as sample, blast and nuclear power plant at chemical plant pressure vesselWhen the sudden accidents such as core bearing device generation nuclear leakage accident, be with a wide range of applications.
Claims (3)
1. a bearing device safety detection robot under burst fire-disaster, is characterized in that: comprise the group of creepingPart, connect the flight assembly on this crawler component top and connect some mechanical arm assemblies of this crawler component;Described crawler component comprises a pedestal, is arranged on transmission component, connection pedestal and transmission component on pedestalSix shanks and connect the drive unit of this transmission component, this pedestal comprises a first end, secondThe connecting rod of end, connection first end and the second end, described drive unit is fixed on first end;Described pedestal also comprises some fixed parts and extension; Described transmission component comprises and is arranged on drive unitDriving gear, the left gear engaging with this driving gear and right gear, Left Drive axle, right power transmission shaft, peaceBe contained in the worm gear of the some worm screws portion on Left Drive axle and right power transmission shaft, corresponding each worm screw portion and connectConnect the worm gear pole at worm gear center; The outboard end of described each worm gear pole connects a crank; Described each shankConnect corresponding crank and fixed part or extension, drive described shank by drive unit and transmission componentSwing is creeped with the front and back of realizing bearing device safety detection robot under this burst fire-disaster; Wherein,Described each shank comprises the huckle, calf and the foot that connect successively, and the inner side of this huckle isOne link rod part, the free end pivot joint of one end of this link rod part and described crank, the other end is by a rocking bar portionWith fixed part or the extension pivot joint of described pedestal, described each shank also comprises a spring, this springConnect the back of described foot and the middle and lower part of described calf; Wherein, described flight assembly comprises firstFlight motor, the second flight motor, connect this first flight motor the first output gear, connect thisSecond output gear, the first input gear engaging with the first output gear of two flight motors, and secondThe second input gear of output gear engagement, the interior axle that connects the first input gear, connection the second input toothSecond screw wing at first screw wing on the outer shaft of wheel, the top of the interior axle of connection and the middle part of connection outer shaft,Described flight assembly also comprises a balancing pole, and described the first screw wing connects by a connector and a balancing poleConnect; Wherein, described mechanical arm assembly comprise one first grabbing arm, the second grabbing arm, boring arm,And cutting arm; The middle part of described the first grabbing arm, the second end of the second grabbing arm in pedestal,Described boring arm and cutting arm are positioned at the both sides of the first grabbing arm, the second grabbing arm.
2. bearing device safety detection robot under burst fire-disaster as claimed in claim 1, is characterized in that:Under described burst fire-disaster bearing device safety detection robot also comprise robot main control chip, checkout gear,Wireless module; This checkout gear is for detection of institute of bearing device safety detection robot under described burst fire-disasterDestination object in place's environment, and produce corresponding detection signal, and the detection signal of generation is offeredRobot main control chip; Described robot main control chip for Comprehensive Control crawler component, flight assembly,The work of mechanical arm assembly, checkout gear, wireless module, ancillary equipment, described robot main control chipAlso produce and detect data according to the detection signal receiving, and detection data are offered to wireless module; This nothingWire module is used for sending it back to peripheral control personnel detecting data wireless, and accepts the far away of control personnelProcess control order, and the control command of reception is offered to described robot main control chip, so that described machineDevice people main control chip is according to climbing in bearing device safety detection robot under control command control burst fire-disasterRow assembly, flight assembly, mechanical arm assembly, checkout gear, wireless module, ancillary equipment work.
3. bearing device safety detection robot under burst fire-disaster as claimed in claim 1, is characterized in that:Described crawler component is in the time of original state, and six cranks of described transmission component are in two kinds of different anglesDegree state, wherein the crank in the middle of former and later two cranks and the right side in left side is in identical the first rotationAngle, former and later two cranks of the crank of the centre in left side and right side are in identical the second anglec of rotation,This second anglec of rotation and the first anglec of rotation differ between 90 to 180 degree, so that in the firstThe height of the foot of the height of the foot of the shank of the anglec of rotation and the shank in the second anglec of rotation is notWith, make to only have three foots to land, to ensure bearing device safety detection under whole burst fire-disaster at every turnThe stationarity of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410249600.1A CN104044422B (en) | 2014-06-09 | 2014-06-09 | Bearing device safety detection robot under burst fire-disaster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410249600.1A CN104044422B (en) | 2014-06-09 | 2014-06-09 | Bearing device safety detection robot under burst fire-disaster |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104044422A CN104044422A (en) | 2014-09-17 |
| CN104044422B true CN104044422B (en) | 2016-05-11 |
Family
ID=51497997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410249600.1A Expired - Fee Related CN104044422B (en) | 2014-06-09 | 2014-06-09 | Bearing device safety detection robot under burst fire-disaster |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104044422B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966618A (en) * | 2016-06-17 | 2016-09-28 | 深圳市元征科技股份有限公司 | Unmanned plane |
| CN106625580A (en) * | 2016-11-23 | 2017-05-10 | 华南理工大学 | Single-motor-driven robot walking mechanism |
| CN106737596A (en) * | 2017-01-11 | 2017-05-31 | 西华大学 | A kind of robot running gear |
| CN109848963A (en) * | 2019-01-10 | 2019-06-07 | 武汉职业技术学院 | A kind of toxic gas detection robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1464454A1 (en) * | 2001-11-09 | 2004-10-06 | Honda Giken Kogyo Kabushiki Kaisha | Leg joint assist device for leg type movable robot |
| CN102267510A (en) * | 2011-06-23 | 2011-12-07 | 闫大春 | Multi-leg traveling mechanism |
| CN202622809U (en) * | 2012-05-07 | 2012-12-26 | 北京华康诚信医疗科技有限公司 | Mechanical arm for taking drawer out |
| CN202863601U (en) * | 2012-10-29 | 2013-04-10 | 哈尔滨理工大学 | Four-footed walking robot transmission device |
| CN103522854A (en) * | 2013-10-25 | 2014-01-22 | 天津大学 | Wheeled-like movable robot with capacities of flying and water passing |
| CN203438241U (en) * | 2013-08-28 | 2014-02-19 | 深圳市海目星激光科技有限公司 | Rapidly switching device for mechanical arm tool |
-
2014
- 2014-06-09 CN CN201410249600.1A patent/CN104044422B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1464454A1 (en) * | 2001-11-09 | 2004-10-06 | Honda Giken Kogyo Kabushiki Kaisha | Leg joint assist device for leg type movable robot |
| CN102267510A (en) * | 2011-06-23 | 2011-12-07 | 闫大春 | Multi-leg traveling mechanism |
| CN202622809U (en) * | 2012-05-07 | 2012-12-26 | 北京华康诚信医疗科技有限公司 | Mechanical arm for taking drawer out |
| CN202863601U (en) * | 2012-10-29 | 2013-04-10 | 哈尔滨理工大学 | Four-footed walking robot transmission device |
| CN203438241U (en) * | 2013-08-28 | 2014-02-19 | 深圳市海目星激光科技有限公司 | Rapidly switching device for mechanical arm tool |
| CN103522854A (en) * | 2013-10-25 | 2014-01-22 | 天津大学 | Wheeled-like movable robot with capacities of flying and water passing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104044422A (en) | 2014-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104044422B (en) | Bearing device safety detection robot under burst fire-disaster | |
| CN207359084U (en) | A kind of oil gas field fire-fighting is remotely controlled crusing robot system | |
| CN205394516U (en) | Patrol and examine robot under hazardous environment | |
| CN105150206B (en) | A kind of six sufficient both arms combined mobile robot system | |
| WO2015100899A1 (en) | Intelligent cruise robot based on wireless charging odd-shaft aircraft | |
| CN205149428U (en) | Empty amphibious emergency rescue investigation robot in land | |
| CN105252980B (en) | A kind of air-ground amphibious emergency management and rescue Detecting Robot and application thereof | |
| CN106476544B (en) | A kind of air-ground amphibious four-footed emergency management and rescue Detecting Robot | |
| CN108298084A (en) | A kind of armed unmanned plane of autonomous crawl object | |
| CN104773267B (en) | Adaptive pick-up boat | |
| CN105015645A (en) | Multifunctional unmanned detection robot | |
| CN206235475U (en) | A kind of detection dolly of crawler type | |
| CN108183423A (en) | A kind of mobile inspection tour system and method for Electric Power Patrol | |
| CN107065921A (en) | Method offline on inspection robot is realized using the unmanned plane with magnechuck | |
| CN109015591A (en) | A kind of digitlization security protection Detecting Robot | |
| CN108389353A (en) | Three-dimensional forest fireproofing early warning system | |
| CN203573152U (en) | Emergency monitoring device and system | |
| CN209408473U (en) | A kind of probe vehicles | |
| CN107238408A (en) | A kind of safety monitoring system based on Beidou navigation satellite | |
| CN206840060U (en) | It is a kind of can remote control joint type rescue robot | |
| CN204296907U (en) | Multifunctional rescue detection gathers robot | |
| CN206217527U (en) | A kind of air-ground amphibious four-footed emergency management and rescue Detecting Robot | |
| CN206224894U (en) | A kind of industrial robot training system | |
| CN211207134U (en) | Mixed reality motor monitoring system based on 5G | |
| CN205545663U (en) | Modularization disaster relief system based on many rotor crafts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160511 Termination date: 20170609 |