CN111152185A - Automatic robot that patrols and examines crosses fire door movable rail device, rail system and robot system that patrols and examines - Google Patents
Automatic robot that patrols and examines crosses fire door movable rail device, rail system and robot system that patrols and examines Download PDFInfo
- Publication number
- CN111152185A CN111152185A CN201911346868.6A CN201911346868A CN111152185A CN 111152185 A CN111152185 A CN 111152185A CN 201911346868 A CN201911346868 A CN 201911346868A CN 111152185 A CN111152185 A CN 111152185A
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- China
- Prior art keywords
- guide rail
- fire door
- rail
- inspection robot
- movable guide
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- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- 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
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B5/00—Doors, windows, or like closures for special purposes; Border constructions therefor
- E06B5/10—Doors, windows, or like closures for special purposes; Border constructions therefor for protection against air-raid or other war-like action; for other protective purposes
- E06B5/16—Fireproof doors or similar closures; Adaptations of fixed constructions therefor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a fire door passing movable rail device of an automatic inspection robot, which comprises a movable guide rail and a driving assembly, wherein the driving assembly is connected with the movable guide rail and used for driving the movable guide rail to move so as to be butted with fixed guide rails at two ends of a fire door and driving the movable guide rail to move so as to be staggered with the fixed guide rails at two ends of the fire door and avoid and close the fire door. The invention also discloses an automatic inspection robot fire door passing rail system which comprises fixed guide rails positioned on two sides of a fire door and the automatic inspection robot fire door passing movable rail device. The invention further discloses an automatic inspection robot system which comprises an automatic inspection robot and the automatic inspection robot fireproof door passing rail system, wherein the inspection robot is slidably arranged on the fixed guide rail and the movable guide rail. Above-mentioned technical scheme all has simple structure, easy dismounting, easy maintenance, need not prevent advantages such as fire door is reformed transform.
Description
Technical Field
The invention mainly relates to the technical field of rail type inspection, in particular to a movable rail device for an automatic inspection robot to pass through a fireproof door, a rail system and an inspection robot system.
Background
With the development of economy and the progress of technology, automatic inspection robots are increasingly introduced in the fields of inspection of urban underground comprehensive pipe galleries, coal conveying trestles of power plants and coal plants, inspection of power lines and the like, which need to regularly arrange manpower to monitor the running conditions and the field environment of field equipment, and enterprises which are relevant to inspection equipment in the market also appear like spring shoots after rain. And because of the urban underground comprehensive pipe gallery, the power plant and the coal conveying trestle structural design of the coal plant have complex structural forms such as climbing and turning, when the automatic inspection robot is guided in, the ground wheel type robot is difficult to adapt to complex ground and surrounding environment, so that the rail type inspection robot is mainly adopted. However, the rail type inspection robot needs to build a rail for the robot to run on the whole inspection path.
At present in city utility tunnel, when the robot patrols and examines the track and need pass through when preventing fire door, generally adopt the self-built prevent fire door of utility tunnel on the trompil give the track and reserve the position, as shown in fig. 1, install automatic door opener additional simultaneously, control prevents closing of fire door. Although this kind of mode has solved the automatic switching of preventing fire door, nevertheless because of the trompil passes through in order to supply the robot to move the orbit on preventing fire door, has destroyed the original structure of preventing fire door, has reduced utility tunnel's fire rating, and the flame probably cluster into adjacent bin through the hole of opening on preventing fire door when making certain bin conflagration take place in the city utility tunnel, arouses that adjacent bin equipment, pipeline etc. are on fire, can not reach the effect of isolated conflagration. In the coal conveying trestle of power plants and coal plants, the track of the robot can pass through the channel needing hoisting equipment, when the hoisting equipment is not needed, the fixed track has no influence, and once the hoisting equipment is needed, the track of the robot has to give way out of the channel. Therefore, the fixed rail mode adopted in the whole course of the routing inspection path of the rail type routing inspection robot has certain disadvantages, and the requirements of customers cannot be well met.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the movable rail device, the rail system and the inspection robot system for the automatic inspection robot to pass through the fireproof door, which have the advantages of simple structure, simplicity and convenience in disassembly and assembly, simplicity in operation and no change of the fireproof door.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the utility model provides an automatic it crosses fire door movable rail set to patrol and examine robot, includes movable guide and drive assembly, drive assembly with movable guide links to each other for the drive movable guide moves and docks with the fixed guide who prevents fire door both ends mutually, and is used for the drive movable guide moves and staggers and dodges the fire door of closing with the fixed guide who prevents fire door both ends.
As a further improvement of the above technical solution:
the driving assembly comprises a first moving assembly and a second moving assembly, and the first moving assembly is mounted on the second moving assembly; the first moving assembly is connected with the movable guide rail and used for driving the movable guide rail to move along the direction vertical to the arrangement direction of the movable guide rail and to be staggered with the fixed guide rail; the second motion assembly is used for driving the first motion assembly and the movable guide rail to move along the arrangement direction of the movable guide rail so as to avoid the closed fireproof door.
The first motion assembly comprises a first mounting plate, a first guide rail, a first sliding block, a first connecting assembly and a first driving motor; the first mounting plate is connected with the second moving assembly; the first guide rail is arranged on the first mounting plate and is perpendicular to the arrangement direction of the movable guide rail; the first sliding block is slidably mounted on the first guide rail and is connected with the movable guide rail through a first connecting assembly; the first driving motor is connected with the first sliding block and used for driving the first sliding block to slide on the first guide rail so as to realize butt joint and dislocation between the movable guide rail and the fixed guide rail.
The second motion assembly comprises a second mounting plate, a second guide rail, a second sliding block, a second connecting piece and a second driving motor; the second guide rail is mounted on the second mounting plate and is arranged along the arrangement direction of the movable guide rail; the second sliding block is slidably mounted on the second guide rail, and the second sliding block and the second connecting piece are fixedly connected with the first mounting plate; the second driving motor is connected with the second sliding block and used for driving the second sliding block to slide on the second guide rail so that the first moving assembly and the movable guide rail move along the arrangement direction of the movable guide rail to avoid the closed fireproof door.
And the second mounting plate is provided with a hoisting piece for fastening the top of the fireproof door bin.
An adjusting screw rod is arranged between the hoisting piece and the second mounting plate.
The invention also discloses an automatic inspection robot fire door passing rail system which comprises fixed guide rails positioned on two sides of a fire door and the automatic inspection robot fire door passing movable rail device.
The invention further discloses an automatic inspection robot system which comprises an automatic inspection robot and the automatic inspection robot fireproof door passing rail system, wherein the inspection robot is slidably arranged on the fixed guide rail and the movable guide rail.
As a further improvement of the above technical solution:
the driving assembly is correspondingly provided with a standby power supply.
The fireproof door is characterized by further comprising a temperature detection unit or a smoke detection unit, wherein the temperature detection unit or the smoke detection unit is used for controlling the preparation power supply to be started when the detected temperature or the detected smoke concentration exceeds the corresponding preset threshold value, so that the driving assembly moves to avoid the closed fireproof door.
Compared with the prior art, the invention has the advantages that:
(1) according to the movable rail device, the rail system and the inspection robot system for the automatic inspection robot to cross the fireproof door, the movable guide rails are adopted to realize butt joint with the fixed guide rails, so that the automatic inspection robot can normally pass through the fireproof door to realize normal inspection operation; when preventing fire door and need closing, simultaneously through drive assembly with the movable guide motion and with each fixed guide dislocation and dodge prevent fire door to make prevent that fire door can normally close, do not influence the fire prevention effect after preventing fire door closes.
(2) The automatic inspection robot movable track device for passing through the fireproof door is modular in overall structure, simple in structure, simple and convenient to disassemble and assemble, simple to maintain, suitable for refitting of a fixed track and few in refitting.
(3) According to the automatic inspection robot system, when the temperature or the smoke concentration is detected to exceed the corresponding preset threshold value (namely, the dangerous case is caused by default), the standby power supply is controlled to be started, the driving assembly is made to move to avoid the closed fireproof door, and therefore the automatic inspection robot system can automatically move to ensure the normal closing of the fireproof door under the condition that a communication system and a power supply circuit in a comprehensive pipe rack are damaged.
Drawings
Fig. 1 is a schematic view of the overall structure of a fixed rail crossing fire door in the prior art.
Fig. 2 is a schematic structural diagram of an embodiment of the apparatus of the present invention.
Fig. 3 is a schematic structural diagram of a track system according to an embodiment of the present invention.
Fig. 4 is a partially enlarged view of fig. 3.
Fig. 5 is a schematic structural diagram of an inspection robot system according to an embodiment of the present invention.
The reference numbers in the figures denote: 1. a movable guide rail; 2. a drive assembly; 21. a first motion assembly; 211. a first mounting plate; 212. a first guide rail; 213. a first slider; 214. a first connection assembly; 215. a first drive motor; 216. a first lead screw; 22. a second motion assembly; 221. a second mounting plate; 222. a second guide rail; 223. a second slider; 224. a second connecting member; 225. a second drive motor; 226. a second lead screw; 3. hoisting a piece; 4. adjusting the screw rod; 5. fixing the guide rail; 6. a patrol robot; 7. a fire door.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 2, the automatic inspection robot of this embodiment crosses fire door movable rail device, including movable guide 1 and drive assembly 2, drive assembly 2 links to each other with movable guide 1 for drive movable guide 1 moves and dock with the fixed guide 5 who prevents fire door 7 both ends, and be used for driving movable guide 1 to move and stagger and dodge the fire door 7 of closing with the fixed guide 5 who prevents fire door 7 both ends. According to the automatic inspection robot fireproof door passing movable rail device, the movable guide rail 1 is adopted to realize butt joint with each fixed guide rail 5, so that the automatic inspection robot 6 can normally pass through the fireproof door 7 to realize normal inspection operation; when preventing fire door 7 and need closing, prevent fire door 7 through drive assembly 2 with the motion of movable guide 1 and with each fixed guide 5 dislocation to make prevent that fire door 7 can normally close, do not influence the fire prevention effect after preventing fire door 7 and close, simple structure, easy and simple to handle.
As shown in fig. 2, in the present embodiment, the driving assembly 2 includes a first moving assembly 21 and a second moving assembly 22, and the first moving assembly 21 is mounted on the second moving assembly 22; the first moving assembly 21 is connected with the movable guide rail 1 and is used for driving the movable guide rail 1 to move along the direction (such as the Y direction in figure 2) which is vertical to the arrangement direction of the movable guide rail 1 so as to be dislocated with the fixed guide rail 5; the second moving member 22 is used to drive the first moving member 21 and the movable rail 1 to move along the arrangement direction (X direction in fig. 2) of the movable rail 1 to avoid the closed fire door 7. Specifically, the movement direction of the first moving member 21 described above is performed in a horizontal plane, such as in the Y direction in fig. 2. In other embodiments, the first moving assembly 21 can also move the movable rail 1 upwards or downwards in a vertical plane (e.g. in a Z direction perpendicular to the XY plane) to achieve the misalignment with the fixed rail 5.
In this embodiment, the first moving assembly 21 includes a first mounting plate 211, a first guide rail 212, a first slider 213, a first connecting assembly 214, and a first driving motor 215; the first mounting plate 211 is connected to the second moving assembly 22; the first rail 212 is mounted on the first mounting plate 211 and is perpendicular to the arrangement direction (Y direction) of the movable rail 1; the first sliding block 213 is slidably mounted on the first guide rail 212, and the first sliding block 213 is connected to the movable guide rail 1 through a first connecting assembly 214; the first driving motor 215 is connected to the first sliding block 213 through the first lead screw 216, and is used for driving the first sliding block 213 to slide on the first guide rail 212 to realize the butt joint and the dislocation between the movable guide rail 1 and the fixed guide rail 5. Specifically, the first guide rail 212 includes two linear guide rails, the linear guide rails are respectively located at two sides of the first driving motor 215, an output shaft of the first driving motor 215 is connected with the first lead screw 216, and a moving nut on the first lead screw 216 is connected with the first slider 213 through a workpiece. When the first driving motor 215 moves, the movable guide rail 1 is driven to move along the Y direction, so that the movable guide rail 1 and the fixed guide rail 5 with two ends butted with each other are staggered, and a space is created for the movable guide rail 1 to move in the X direction. Of course, in other embodiments, an electric cylinder and an electric cylinder push rod may be used instead of the first driving motor 215 and the first lead screw 216, or other moving components may be used.
In this embodiment, the second moving assembly 22 has a structure similar to that of the first moving assembly 21, and specifically includes a second mounting plate 221, a second guide rail 222, a second slider 223, a second connecting member 224, and a second driving motor 225; the second guide rail 222 is mounted on the second mounting plate 221 and arranged along the arrangement direction of the movable guide rail 1; the second sliding block 223 is slidably mounted on the second guide rail 222, and the second sliding block 223 and the second connecting piece 224 are fixedly connected with the first mounting plate 211; the second driving motor 225 is connected to the second sliding block 223 through a second lead screw 226, and is used for driving the second sliding block 223 to slide on the second guide rail 222 so as to move the first moving assembly 21 and the movable guide rail 1 along the arrangement direction of the movable guide rail 1 to avoid the closed fireproof door 7. Specifically, the second guide rail 222 also includes two linear guide rails, the linear guide rails are respectively located at two sides of the second driving motor 225, an output shaft of the second driving motor 225 is connected with the second lead screw 226, and a moving nut on the second lead screw 226 is connected with the second slider 223 through a workpiece. When the second driving motor 225 moves, the first mounting plate 211 (and the first guide rail 212 and other components on the first mounting plate 211) and the movable guide rail 1 are driven to move along the X direction, so that the movable guide rail 1 does not interfere with the closed fireproof door 7, the purpose of avoiding is achieved, and the normal closing of the fireproof door 7 is ensured. Of course, in other embodiments, an electric cylinder and an electric cylinder push rod may be used instead of the second driving motor 225 and the second screw 226, or a rotating assembly may be used to rotate the misaligned movable rail 1, so as to avoid the fire door 7.
In this embodiment, the second mounting plate 221 is provided with the lifting piece 3 fastened to the top of the chamber of the fire door 7, and the lifting piece 3 is locked to the top of the chamber on one side of the fire door 7 through the expansion bolt, so that the whole structure is firmly mounted and fixed. In addition, an adjusting screw rod 4 is arranged between the hoisting piece 3 and the second mounting plate 221, so that the adjustment of the whole structure in the vertical direction can be realized, and the accurate butt joint between the movable guide rail 1 and the fixed guide rail 5 is ensured.
Of course, the movable track device is not only suitable for track type automatic inspection of urban underground comprehensive pipe galleries, but also can be applied to the occasions that power lines, coal conveying trestles and the like use track type automatic inspection robots to perform regular inspection, and the occasions that operation tracks of the robots are required to be avoided in certain specific positions due to certain practical situations.
The whole action flow is as follows:
under the normal condition, prevent fire door 7 for normally open state in the city utility tunnel. The movable guide rail 1 is in butt joint with fixed guide rails 5 which are hoisted in bins on the front side and the rear side of a fireproof door 7, and an inspection robot 6 can normally pass through the fireproof door 7 for inspection;
when detecting that there is the conflagration to take place in the city utility tunnel, need close fire door 7. At the moment, the monitoring background sends out an instruction, the movable guide rail 1 is controlled to carry out dislocation and avoidance actions through the driving assembly 2, and the movable guide rail 1 is separated from the fireproof door 7.
The fire door 7 is controlled to close, isolating the fire source.
As shown in fig. 3 and 4, the invention also discloses an automatic inspection robot fire door passing rail system, which comprises fixed guide rails 5 positioned at two sides of a fire door 7 and the automatic inspection robot fire door passing rail device, wherein the movable guide rails 1 are butted with the fixed guide rails 5 at two sides of the fire door 7; the whole structure is simple and the operation is simple and convenient. Meanwhile, when the existing fixed track structure is modified, the whole track system is less modified, only the guide rail passing through the fireproof door 7 needs to be sawn off, and the driving assembly 2 is arranged on the sawn off guide rail. The track system has the advantages of the track device, and is simple in overall structure and suitable for refitting the existing fixed track.
As shown in fig. 5, the invention also discloses an automatic inspection robot system, which comprises an automatic inspection robot 6 and the automatic inspection robot fireproof door rail system, wherein the automatic inspection robot 6 is slidably mounted on the fixed guide rail 5 and the movable guide rail 1 to perform automatic inspection. The automatic inspection robot system also has the advantages of the track system and is simple in structure.
In this embodiment, the driving assembly 2 is correspondingly provided with a standby power supply, and the driving assembly 2 can be controlled to be automatically moved away under a certain condition without a special power supply. Specifically, an environment detection unit, such as a temperature detection unit and a smoke detection unit (not shown in the figure), is further arranged on the rail system, and is used for controlling the standby power supply to start when the detected temperature or the detected smoke concentration exceeds a corresponding preset threshold (i.e., a dangerous situation occurs by default), so that the driving assembly 2 moves to avoid the closed fireproof door 7, and therefore the driving assembly can automatically move to ensure that the fireproof door 7 is normally closed under the condition that a communication system and a power supply circuit in the comprehensive pipe rack are damaged. Of course, the motion of the movable guide rail 1 can be remotely controlled manually or automatically butted and avoided by detecting the position of the automatic inspection robot 6 system.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. The utility model provides an automatic it crosses fire door movable rail set to patrol and examine robot, a serial communication port, including movable guide (1) and drive assembly (2), drive assembly (2) with movable guide (1) links to each other, is used for the drive movable guide (1) move with dock with fixed guide (5) with preventing fire door (7) both ends, and be used for the drive movable guide (1) move with stagger and dodge fire door (7) of closing with fixed guide (5) with preventing fire door (7) both ends.
2. The automatic inspection robot fire door moving rail apparatus according to claim 1, wherein the driving assembly (2) includes a first moving assembly (21) and a second moving assembly (22), the first moving assembly (21) being mounted on the second moving assembly (22); the first moving assembly (21) is connected with the movable guide rail (1) and is used for driving the movable guide rail (1) to move along the direction vertical to the arrangement direction of the movable guide rail (1) and to be staggered with the fixed guide rail (5); the second moving assembly (22) is used for driving the first moving assembly (21) and the movable guide rail (1) to move along the arrangement direction of the movable guide rail (1) so as to avoid the closed fireproof door (7).
3. The automatic inspection robot fire door moving rail apparatus according to claim 2, wherein the first moving assembly (21) includes a first mounting plate (211), a first guide rail (212), a first slider (213), a first connecting assembly (214), and a first driving motor (215); the first mounting plate (211) is connected with the second motion assembly (22); the first guide rail (212) is mounted on the first mounting plate (211) and is perpendicular to the arrangement direction of the movable guide rail (1); the first sliding block (213) is slidably mounted on the first guide rail (212), and the first sliding block (213) is connected with the movable guide rail (1) through a first connecting assembly (214); the first driving motor (215) is connected with the first sliding block (213) and used for driving the first sliding block (213) to slide on the first guide rail (212) so as to realize butt joint and dislocation between the movable guide rail (1) and the fixed guide rail (5).
4. The automatic inspection robot fire door moving rail apparatus according to claim 3, wherein the second moving assembly (22) includes a second mounting plate (221), a second guide rail (222), a second slider (223), a second connector (224), and a second driving motor (225); the second guide rail (222) is mounted on the second mounting plate (221) and arranged along the arrangement direction of the movable guide rail (1); the second sliding block (223) is slidably mounted on the second guide rail (222), and the second sliding block (223) and the second connecting piece (224) are fixedly connected with the first mounting plate (211); the second driving motor (225) is connected with the second sliding block (223) and used for driving the second sliding block (223) to slide on the second guide rail (222) so that the first moving assembly (21) and the movable guide rail (1) move along the arrangement direction of the movable guide rail (1) to avoid the closed fireproof door (7).
5. The automatic inspection robot fire door moving rail device according to claim 4, wherein the second mounting plate (221) is provided with a sling (3) for fastening to the top of the chamber of the fire door (7).
6. The automatic inspection robot fireproof door movable rail device according to claim 5, wherein an adjusting screw (4) is arranged between the hoisting piece (3) and the second mounting plate (221).
7. The automatic inspection robot fire door rail system is characterized by comprising fixed guide rails (5) positioned at two sides of a fire door (7) and the automatic inspection robot fire door movable rail device according to any one of claims 1 to 6.
8. An automatic inspection robot system comprises an automatic inspection robot (6) and is characterized by further comprising the automatic inspection robot fireproof door rail system according to claim 7, wherein the inspection robot (6) is slidably mounted on the fixed guide rail (5) and the movable guide rail (1).
9. The automatic inspection robot system according to claim 8, wherein the drive assemblies (2) are correspondingly provided with a standby power supply.
10. The automatic inspection robot system according to claim 9, further comprising a temperature detection unit or a smoke detection unit for controlling the preparation power supply to be activated when detecting that the temperature or the smoke concentration exceeds a corresponding preset threshold value, so that the driving assembly (2) is moved to avoid the closed fire door (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911346868.6A CN111152185A (en) | 2019-12-24 | 2019-12-24 | Automatic robot that patrols and examines crosses fire door movable rail device, rail system and robot system that patrols and examines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911346868.6A CN111152185A (en) | 2019-12-24 | 2019-12-24 | Automatic robot that patrols and examines crosses fire door movable rail device, rail system and robot system that patrols and examines |
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| Publication Number | Publication Date |
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| CN111152185A true CN111152185A (en) | 2020-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911346868.6A Pending CN111152185A (en) | 2019-12-24 | 2019-12-24 | Automatic robot that patrols and examines crosses fire door movable rail device, rail system and robot system that patrols and examines |
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Cited By (6)
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| CN111874553A (en) * | 2020-06-19 | 2020-11-03 | 中航工程集成设备有限公司 | Door garage system for test run and operation method |
| CN111994823A (en) * | 2020-08-13 | 2020-11-27 | 深圳市朗驰欣创科技股份有限公司 | Prevent fire door and control system convenient to rail mounted patrols and examines robot and passes through |
| CN114336399A (en) * | 2021-11-17 | 2022-04-12 | 三泽(山东)电气技术有限公司 | Electric power tunnel inspection equipment based on intelligent data management platform |
| CN114523483A (en) * | 2022-03-21 | 2022-05-24 | 安徽理工大学 | Track inspection robot passes through and prevents fire door device of becoming rail |
| CN118024210A (en) * | 2024-04-11 | 2024-05-14 | 齐鲁工业大学(山东省科学院) | Fireproof door auxiliary traversing system and method based on link mechanism |
| CN118081806A (en) * | 2024-04-29 | 2024-05-28 | 齐鲁工业大学(山东省科学院) | Firewall traversing system and method for rail-mounted robot and pipe gallery |
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| CN114523483A (en) * | 2022-03-21 | 2022-05-24 | 安徽理工大学 | Track inspection robot passes through and prevents fire door device of becoming rail |
| CN118024210A (en) * | 2024-04-11 | 2024-05-14 | 齐鲁工业大学(山东省科学院) | Fireproof door auxiliary traversing system and method based on link mechanism |
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