CN112057787A - Fire-fighting robot convenient to operate - Google Patents
Fire-fighting robot convenient to operate Download PDFInfo
- Publication number
- CN112057787A CN112057787A CN202010957082.4A CN202010957082A CN112057787A CN 112057787 A CN112057787 A CN 112057787A CN 202010957082 A CN202010957082 A CN 202010957082A CN 112057787 A CN112057787 A CN 112057787A
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- fire
- extinguishing agent
- fire extinguishing
- casing
- gear
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/12—Nozzles specially adapted for fire-extinguishing for delivering foam or atomised foam
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C5/00—Making of fire-extinguishing materials immediately before use
- A62C5/02—Making of fire-extinguishing materials immediately before use of foam
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/009—Methods or equipment not provided for in groups A62C99/0009 - A62C99/0081
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
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- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a fire-fighting robot convenient to operate, which comprises a crawler-type or wheel-type moving base, wherein a rotatable shell is installed at the top of the crawler-type or wheel-type moving base through a machine body rotating mechanism, a control device is installed inside the shell, a fire extinguishing agent storage and conveying mechanism is installed inside the shell and used for conveying a fire extinguishing agent to a fire monitor, a first supporting seat is installed at the top of the shell and provided with a liftable shell through a lifting and pitching mechanism, and the shell is provided with an angle-adjustable fire monitor through a fire monitor rotating and swinging mechanism. The invention has high fire extinguishing efficiency, convenient operation and convenient management.
Description
Technical Field
The invention relates to the technical field of fire-fighting robots, in particular to a fire-fighting robot convenient to operate.
Background
The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. The robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites such as inflammable, explosive, toxic, anoxic and dense smoke for data acquisition, processing and feedback, and effectively solves the problems of insufficient personal safety and data information acquisition and the like of the fire-fighting personnel in the places. The field commander can make scientific judgment on the disaster situation in time according to the feedback result and make correct and reasonable decision on the field work of the disaster accident.
However, the existing fire-fighting robot finds the following problems in the use process, 1, the adjustment is not flexible: the spraying range of the fire monitor of the robot is small, so that the fire extinguishing in a larger range cannot be realized, and the fire extinguishing is easily influenced. 2. The existing robot is only provided with simple control, and the real-time situation of the site is not enough to be known, so that misoperation is easily caused to influence the fire extinguishing efficiency.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a fire-fighting robot convenient to operate.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a fire-fighting robot of simple operation, includes crawler-type or wheeled removal base, rotatable casing is installed through organism rotary mechanism at crawler-type or wheeled removal base's top, the internally mounted of casing has controlling means, the internally mounted of casing has fire extinguishing agent to save conveying mechanism, fire extinguishing agent storage conveying mechanism is used for carrying the fire extinguishing agent to the fire gun, first supporting seat is installed at the top of casing, the casing of liftable is installed through lift every single move mechanism to first supporting seat, but install angle regulation's fire gun through the rotatory swing mechanism of fire gun on the casing.
Preferably, the four corners of the casing are all provided with obstacle avoidance devices, and each obstacle avoidance device comprises an infrared camera and an ultrasonic distance meter.
Preferably, the machine body rotating mechanism comprises a first motor, a supporting shaft, a second gear and a first gear, the first motor is installed at the bottom of the machine shell, the first gear is installed on an output shaft of the first motor, the bottom end of the supporting shaft is fixed to the top of the crawler-type or wheel-type moving base, the top end of the supporting shaft is rotatably inserted into the bottom of the machine shell, the second gear is installed on the supporting shaft, and the second gear is in meshing transmission with the first gear.
Preferably, controlling means includes emergency stop button, big dipper orientation module, PLC controller, signal transmission module, control box, the control box runs through the casing, the internally mounted of control box has big dipper orientation module, PLC controller, signal transmission module, the side of control box is provided with emergency stop button.
Preferably, fire extinguishing agent storage conveying mechanism includes fire extinguishing agent storage jar, drawing liquid pump, hose, filling pipe, the inside at the casing is installed to the fire extinguishing agent storage jar, the side of fire extinguishing agent storage jar passes through hose and fire gun intercommunication, install the drawing liquid pump on the pipeline section of hose, the side intercommunication of fire extinguishing agent storage jar has the filling pipe, the filling pipe is equipped with two.
Preferably, lift every single move mechanism includes mounting panel, first pneumatic cylinder, slide bar, sleeve, second pneumatic cylinder, the mounting panel articulates on first supporting seat, the side of mounting panel is fixed with first pneumatic cylinder and sleeve, the piston rod of first pneumatic cylinder is fixed with the casing, the slide bar has been cup jointed in sliding in the sleeve, the one end and the casing of slide bar are fixed, the articulated second pneumatic cylinder that is connected with between sleeve and the first supporting seat.
Preferably, a U-shaped second supporting seat is fixed to the top of the machine shell, a rubber pad is arranged on the inner wall of the second supporting seat, and the sleeve is placed in the second supporting seat.
Preferably, loudspeaker are installed to the side of first supporting seat, the panoramic camera is installed at the top of second supporting seat, the alarm lamp is installed to the side of casing.
Preferably, the rotary swing mechanism of the fire monitor comprises a second motor, a rotating plate and a third hydraulic cylinder, the second motor is installed inside the shell, an output shaft of the second motor penetrates through the shell and is fixed with the rotating plate, the fire monitor is hinged to the rotating plate, and the third hydraulic cylinder is hinged between the fire monitor and the rotating plate.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the crawler-type or wheel-type mobile base runs stably, is suitable for complex terrains, ensures the adaptability of the disaster relief process to the terrains, and is convenient and flexible to operate; the infrared camera can be used for shooting the driving road condition in real time, so that the terrain of a fire rescue scene can be known more clearly, the ultrasonic distance meter can be used for detecting the distance between the robot and an obstacle, and the capability of the robot for avoiding in time is improved;
2. according to the invention, a first motor drives a first gear to rotate, and the first gear is in meshing transmission with a second gear, so that a shell can be driven to rotate above a crawler-type or wheel-type moving base; the second hydraulic cylinder can drive the sleeve to rotate so as to drive the shell to swing, and the first hydraulic cylinder can drive the shell to ascend so as to conveniently and quickly elevate the fire monitor; the second motor can drive the rotating plate to rotate, the rotating plate can drive the fire monitor to rotate, and the third hydraulic cylinder can drive the fire monitor to swing, so that the fire monitor can be conveniently adjusted to a specified fire extinguishing angle position;
3. according to the invention, the two filling pipes can be connected with the compressed air foam generating device through the water belt during operation, the fire extinguishing agent is input into the fire extinguishing agent storage tank through the filling pipes, and the fire extinguishing agent can be quickly extracted from the fire extinguishing agent storage tank through the liquid pump and the hose and sprayed out from the fire monitor to realize fire extinguishing when the fire is needed to be extinguished, so that the fire extinguishing agent is not required to be stored at ordinary times, the maintenance on the fire extinguishing agent storage tank at ordinary times is reduced, and the filling is only carried out during operation, so that the fire extinguishing agent is very convenient;
4. in the invention, the horn is used for shouting by a field firefighter, so that other field personnel can know the fire situation in time conveniently, the alarm lamp can remind the field personnel that the robot is operating, the attention needs to be improved, the accidental injury is avoided, the panoramic camera can shoot the fire scene in all directions, and the operators can know the field situation remotely and make corresponding reasonable strategies conveniently;
5. according to the invention, the electrical system of the PLC controller adopts a CAN bus control mode, so that the circuit CAN be simplified, the maintenance and repair are convenient, the emergency stop button is arranged, when an accident happens in the operation, an operator CAN be quickly powered off, the robot is prevented from continuing to move, the Beidou positioning module is used for positioning the robot, so that the action track of the robot is conveniently mastered, the signal transmission module is used for carrying out bidirectional transmission on the acquisition signal and the receiving signal of the PLC controller, so that the robot is conveniently controlled in real time and the operation requirement is met.
Drawings
Fig. 1 is a schematic structural diagram of a fire-fighting robot convenient and fast to operate according to the present invention.
Fig. 2 is a schematic structural view of a body rotating mechanism of a fire-fighting robot convenient to operate according to the present invention.
Fig. 3 is a schematic structural diagram of a control device of a fire-fighting robot with convenient operation according to the present invention.
Fig. 4 is a schematic structural diagram of a fire extinguishing agent storage and conveying mechanism of a fire-fighting robot with convenient operation, which is provided by the invention.
Fig. 5 is a schematic structural view of a lifting and pitching mechanism of a fire-fighting robot, which is convenient and fast to operate, according to the present invention.
Fig. 6 is a schematic structural view of a fire monitor rotating and swinging mechanism of a fire-fighting robot with convenient operation, which is provided by the invention.
In the figure: the fire monitor comprises a crawler-type or wheel-type mobile base 1, a machine body rotating mechanism 2, a first motor 21, a supporting shaft 22, a second gear 23, a first gear 24, a control device 3, an emergency stop button 31, a Beidou positioning module 32, a PLC (programmable logic controller) 33, a signal transmission module 34, a control box 35, a fire extinguishing agent storage and conveying mechanism 4, a fire extinguishing agent storage tank 41, a liquid pump 42, a hose 43, a filling pipe 44, a lifting and pitching mechanism 5, a mounting plate 51, a first hydraulic cylinder 52, a sliding rod 53, a sleeve 54, a second hydraulic cylinder 55, a fire monitor rotary swinging mechanism 6, a second motor 61, a rotating plate 62, a third hydraulic cylinder 63, a machine shell 7, an obstacle avoidance device 8, a first supporting seat 9, a loudspeaker 10, a second supporting seat 11, a panoramic camera 12, a shell 13, a warning lamp 14 and a fire monitor 15.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-6, a fire-fighting robot convenient to operate, including crawler-type or wheeled mobile base 1, crawler-type or wheeled mobile base 1 operates steadily, be fit for with complicated topography, guaranteed the adaptability of relief of disaster process to the topography, convenient operation is nimble, rotatable casing 7 is installed through organism rotary mechanism 2 at crawler-type or wheeled mobile base 1's top, the internally mounted of casing 7 has controlling means 3, the internally mounted of casing 7 has fire extinguishing agent storage conveying mechanism 4, fire extinguishing agent storage conveying mechanism 4 is used for carrying the fire extinguishing agent to fire monitor 15, first supporting seat 9 is installed at the top of casing 7, first supporting seat 9 installs liftable casing 13 through lift every single move mechanism 5, but install angle regulation's fire monitor 15 on casing 13 through fire monitor rotary swing mechanism 6.
Obstacle avoidance devices 8 are installed at four corners of the machine shell 7, each obstacle avoidance device 8 comprises an infrared camera and an ultrasonic range finder, and the road condition of driving can be shot in real time through the infrared cameras, so that the scene terrain of fire rescue can be known more clearly, the distance between a robot and an obstacle can be detected through the ultrasonic range finder, and the capability of the robot for avoiding in time is improved.
The control device 3 comprises an emergency stop button 31, a Beidou positioning module 32, a PLC (programmable logic controller) 33, a signal transmission module 34 and a control box 35, the control box 35 penetrates through the machine shell 7, the Beidou positioning module 32, the PLC 33 and the signal transmission module 34 are installed inside the control box 35, the emergency stop button 31 is arranged on the side edge of the control box 35, the electrical system of the PLC 33 adopts a CAN (controller area network) bus control mode, the line can be simplified, maintenance and repair can be facilitated, and the emergency stop button 31 can be provided to prevent the emergency stop operation from being performed when an accident occurs in the operation, can make the operator cut off the power supply rapidly, avoid the robot to continue to move, big dipper orientation module 32 is used for fixing a position the robot, and the action orbit of the palm of being convenient for control the robot, signal transmission module 3 are used for carrying out bidirectional transmission to PLC controller 33's acquisition signal and received signal, are convenient for control the robot in real time and satisfy the demand of operation.
The fire extinguishing agent storage and conveying mechanism 4 comprises a fire extinguishing agent storage tank 41, a liquid pump 42, a hose 43 and filling pipes 44, wherein the fire extinguishing agent storage tank 41 is arranged inside the machine shell 7, the side edge of the fire extinguishing agent storage tank 41 is communicated with the fire monitor 15 through the hose 43, the liquid pump 42 is arranged on the pipe section of the hose 43, the side edge of the fire extinguishing agent storage tank 41 is communicated with the filling pipes 44, the number of the filling pipes 44 is two, the two filling pipes 44 are arranged and can be connected with a compressed air foam generating device through a water belt during operation, the fire extinguishing agent is input into the fire extinguishing agent storage tank 41 through the filling pipes 44, when fire is needed, the fire extinguishing agent can be quickly pumped from the fire extinguishing agent storage tank 41 by the liquid pump 42 and the hose 43 and sprayed out from the fire monitor 15 to extinguish the fire, therefore, fire extinguishing agent does not need to be stored at ordinary times, maintenance on the fire extinguishing agent storage tank 41 at ordinary times is reduced, filling is only carried out during operation, and the fire extinguishing agent storage tank is very convenient to use.
Lift every single move mechanism 5 includes mounting panel 51, first pneumatic cylinder 52, slide bar 53, sleeve 54, second pneumatic cylinder 55, mounting panel 51 articulates on first supporting seat 9, mounting panel 51's side is fixed with first pneumatic cylinder 52 and sleeve 54, first pneumatic cylinder 52's piston rod is fixed with casing 13, slide bar 53 has been cup jointed in the sleeve 54, slide bar 53's one end is fixed with casing 13, it is connected with second pneumatic cylinder 55 to articulate between sleeve 54 and the first supporting seat 9, second pneumatic cylinder 55 can drive sleeve 54 and rotate, thereby drive casing 13 swing, first pneumatic cylinder 52 can drive casing 13 and rise, conveniently lift high fire gun 15 fast.
A U-shaped second support 11 is fixed on the top of the housing 7, a rubber pad is disposed on the inner wall of the second support 11, and the sleeve 54 is disposed in the second support 11.
Loudspeaker 10 is installed to the side of first supporting seat 9, panoramic camera 12 is installed at the top of second supporting seat 11, alarm lamp 14 is installed to casing 13's side, loudspeaker 10 is used for on-the-spot fire fighter to call, other personnel of the scene of being convenient for in time know the condition of a fire, alarm lamp 14 can remind on-the-spot personnel robot to be operating, need improve and notice, avoid the accidental injury, panoramic camera 12 can all-roundly shoot the scene of a fire, the remote understanding of operating personnel site conditions of being convenient for and make corresponding reasonable tactics.
The working principle is as follows:
the crawler-type or wheel-type mobile base 1 runs stably, is suitable for complex terrains, ensures the adaptability of the disaster relief process to the terrains, and is convenient and flexible to operate; the infrared camera can be used for shooting the road condition of running in real time, so that the fire rescue site terrain can be known more clearly, the distance between the robot and the barrier can be detected by the ultrasonic range finder, and the capability of the robot for avoiding in time is improved.
The first motor 21 drives the first gear 24 to rotate, and the first gear is in meshing transmission with the second gear 23 so as to drive the machine shell 7 to rotate above the crawler-type or wheel-type moving base 1; the second hydraulic cylinder 55 can drive the sleeve 54 to rotate, so as to drive the shell 13 to swing, and the first hydraulic cylinder 52 can drive the shell 13 to ascend, so that the fire monitor 15 can be conveniently and quickly elevated; the second motor 61 can drive the rotating plate 62 to rotate, the rotating plate 62 can drive the fire monitor 15 to rotate, and the third hydraulic cylinder 63 can drive the fire monitor 15 to swing, so that the fire monitor can be conveniently adjusted to a specified fire extinguishing angle position.
Two filler pipes 44 that set up can be connected with compressed air foam production device through the hosepipe when the operation, fire extinguishing agent passes through filler pipe 44 and inputs in fire extinguishing agent storage jar 41, accessible drawing liquid pump 42 and hose 43 draw fire extinguishing agent and realize putting out a fire from fire monitor 15 blowout in fire extinguishing agent storage jar 41 fast when needing to put out a fire, need not to save fire extinguishing agent when flat like this, reduced the maintenance to fire extinguishing agent storage jar 41 at ordinary times, only fill when the operation, it is very convenient.
Loudspeaker 10 is used for on-the-spot fire fighter to call, and other personnel of the scene of being convenient for in time know the condition of a fire, and alarm lamp 14 can remind on-the-spot personnel robot to be operating, need improve to pay attention to, avoids the accidental injury, and panoramic camera 12 can all-roundly shoot the scene of a fire, and the operating personnel of being convenient for remotely knows the site conditions and makes corresponding reasonable tactics.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides a fire-fighting robot of simple operation, includes crawler-type or wheeled removal base (1), its characterized in that, rotatable casing (7) are installed through organism rotary mechanism (2) at the top of crawler-type or wheeled removal base (1), the internally mounted of casing (7) has controlling means (3), the internally mounted of casing (7) has fire extinguishing agent to save conveying mechanism (4), fire extinguishing agent storage conveying mechanism (4) are used for carrying the fire extinguishing agent to fire gun (15), first supporting seat (9) are installed at the top of casing (7), casing (13) of liftable are installed through lift every single move mechanism (5) in first supporting seat (9), but install angle regulation's fire gun (15) through fire gun rotation swing mechanism (6) on casing (13).
2. A fire-fighting robot convenient to operate according to claim 1, characterized in that obstacle avoidance devices (8) are mounted at four corners of the machine case (7), and each obstacle avoidance device (8) comprises an infrared camera and an ultrasonic distance meter.
3. A fire-fighting robot convenient to operate according to claim 1, wherein the body rotating mechanism (2) comprises a first motor (21), a supporting shaft (22), a second gear (23) and a first gear (24), the first motor (21) is installed at the bottom of the machine shell (7), the first gear (24) is installed on an output shaft of the first motor (21), the bottom end of the supporting shaft (22) is fixed at the top of the crawler-type or wheel-type moving base (1), the top end of the supporting shaft (22) is rotatably inserted into the bottom of the machine shell (7), the second gear (23) is installed on the supporting shaft (22), and the second gear (23) is in meshing transmission with the first gear (24).
4. A fire-fighting robot convenient to operate according to claim 1, characterized in that the control device (3) comprises an emergency stop button (31), a Beidou positioning module (32), a PLC (programmable logic controller) controller (33), a signal transmission module (34) and a control box (35), the control box (35) penetrates through the machine shell (7), the Beidou positioning module (32), the PLC controller (33) and the signal transmission module (34) are installed inside the control box (35), and the emergency stop button (31) is arranged on the side edge of the control box (35).
5. A fire-fighting robot convenient and fast to operate according to claim 1, characterized in that the fire extinguishing agent storage and delivery mechanism (4) comprises a fire extinguishing agent storage tank (41), a liquid pump (42), a hose (43) and a filling pipe (44), the fire extinguishing agent storage tank (41) is installed inside the machine shell (7), the side of the fire extinguishing agent storage tank (41) is communicated with the fire monitor (15) through the hose (43), the liquid pump (42) is installed on the pipe section of the hose (43), the filling pipe (44) is communicated with the side of the fire extinguishing agent storage tank (41), and the number of the filling pipe (44) is two.
6. The firefighting robot convenient to operate according to claim 1, wherein the elevation and elevation mechanism (5) comprises a mounting plate (51), a first hydraulic cylinder (52), a sliding rod (53), a sleeve (54) and a second hydraulic cylinder (55), the mounting plate (51) is hinged to the first support base (9), the first hydraulic cylinder (52) and the sleeve (54) are fixed to the side of the mounting plate (51), a piston rod of the first hydraulic cylinder (52) is fixed to the housing (13), the sliding rod (53) is sleeved in the sleeve (54) in a sliding mode, one end of the sliding rod (53) is fixed to the housing (13), and the second hydraulic cylinder (55) is hinged between the sleeve (54) and the first support base (9).
7. A fire fighting robot as recited in claim 6, characterized in that a U-shaped second support (11) is fixed to the top of the housing (7), a rubber pad is disposed on the inner wall of the second support (11), and the sleeve (54) is placed in the second support (11).
8. A fire fighting robot as claimed in claim 7, characterized in that a speaker (10) is mounted at the side of the first support seat (9), a panoramic camera (12) is mounted at the top of the second support seat (11), and an alarm lamp (14) is mounted at the side of the housing (13).
9. A fire fighting robot with convenient operation according to claim 1, characterized in that the fire fighting monitor rotary swing mechanism (6) comprises a second motor (61), a rotating plate (62) and a third hydraulic cylinder (63), the second motor (61) is installed inside the housing (13), the output shaft of the second motor (61) penetrates through the housing (13) and is fixed with the rotating plate (62), the fire fighting monitor (15) is hinged on the rotating plate (62), and the third hydraulic cylinder (63) is hinged between the fire fighting monitor (15) and the rotating plate (62).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010957082.4A CN112057787A (en) | 2020-09-12 | 2020-09-12 | Fire-fighting robot convenient to operate |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010957082.4A CN112057787A (en) | 2020-09-12 | 2020-09-12 | Fire-fighting robot convenient to operate |
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| CN112057787A true CN112057787A (en) | 2020-12-11 |
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| CN202010957082.4A Pending CN112057787A (en) | 2020-09-12 | 2020-09-12 | Fire-fighting robot convenient to operate |
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Cited By (4)
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| CN112587840A (en) * | 2020-12-29 | 2021-04-02 | 曹小爱 | Remote control fire-fighting robot |
| CN112642080A (en) * | 2020-12-24 | 2021-04-13 | 丁翠芳 | Fire rescue robot |
| CN114216035A (en) * | 2021-12-29 | 2022-03-22 | 河南昊东科贸有限公司 | Mobilizable intelligent security patrol device |
| CN115445127A (en) * | 2022-09-20 | 2022-12-09 | 国网安徽省电力有限公司电力科学研究院 | Fire-fighting robot |
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| CN112587840A (en) * | 2020-12-29 | 2021-04-02 | 曹小爱 | Remote control fire-fighting robot |
| CN112587840B (en) * | 2020-12-29 | 2021-11-30 | 湖南威平科技发展有限公司 | Remote control fire-fighting robot |
| CN114216035A (en) * | 2021-12-29 | 2022-03-22 | 河南昊东科贸有限公司 | Mobilizable intelligent security patrol device |
| CN115445127A (en) * | 2022-09-20 | 2022-12-09 | 国网安徽省电力有限公司电力科学研究院 | Fire-fighting robot |
| CN115445127B (en) * | 2022-09-20 | 2023-08-22 | 国网安徽省电力有限公司电力科学研究院 | Fire-fighting robot |
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