CN114407048A - Positive pressure crawler-type full-autonomous inspection robot - Google Patents
Positive pressure crawler-type full-autonomous inspection robot Download PDFInfo
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- CN114407048A CN114407048A CN202210203192.0A CN202210203192A CN114407048A CN 114407048 A CN114407048 A CN 114407048A CN 202210203192 A CN202210203192 A CN 202210203192A CN 114407048 A CN114407048 A CN 114407048A
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- 238000007689 inspection Methods 0.000 title claims abstract description 40
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000011835 investigation Methods 0.000 claims abstract description 7
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 238000001931 thermography Methods 0.000 claims description 6
- 210000000245 forearm Anatomy 0.000 claims description 5
- 239000007789 gas Substances 0.000 abstract description 18
- 231100001261 hazardous Toxicity 0.000 abstract description 3
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 abstract description 2
- 229910000037 hydrogen sulfide Inorganic materials 0.000 abstract description 2
- 239000003345 natural gas Substances 0.000 abstract description 2
- 239000003208 petroleum Substances 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000004907 gland Anatomy 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a positive pressure crawler-type full-autonomous inspection robot which comprises a crawler chassis module and a foldable cloud platform arm arranged on the crawler chassis module, wherein the cloud platform arm is provided with an investigation detection instrument module, a navigation obstacle avoidance module and a visual identification module, the crawler chassis module comprises a chassis, a crawler traveling module, a power battery module, a positive pressure gas generation module and an electric control module, the electric control module comprises a first electric cabinet and a second electric cabinet which are arranged on the chassis, and a chassis driving motor, a driver, a navigation industrial personal computer and a cloud platform arm controller are integrated in the second electric cabinet. The positive pressure crawler-type full-autonomous inspection robot is used for robot inspection systems of offshore platforms, other offshore facilities, land petroleum and petrochemical plants and natural gas plants, integrates positive pressure functions, hazardous gas detection functions of methane, hydrogen sulfide and the like, autonomous navigation and positioning functions, and realizes intelligent autonomous instrument reading identification, hazardous gas concentration identification, noise identification and the like in high-risk special places.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a positive pressure crawler-type full-autonomous inspection robot.
Background
At present, the safety inspection robot applied to power inspection robots and public places of power stations or the robots which are developed in recent years and used for replacing manual inspection operation in special operation occasions such as petrifaction, nuclear power and mines have single functions and are limited by more factors in the using process, so that the usability of the robot is greatly reduced, such as the influences of terrain conditions, inspection space, illumination conditions and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a positive pressure type crawler-type full-autonomous inspection robot.
The purpose of the invention can be realized by the following technical scheme: a positive pressure crawler type inspection robot comprises a crawler chassis module and a foldable cloud platform arm arranged on the crawler chassis module, wherein the cloud platform arm is provided with an investigation and detection instrument module, a navigation and obstacle avoidance module and a visual identification module, the crawler chassis module comprises a chassis, a crawler traveling module, a power battery module, a positive pressure gas generation module and an electric control module, the crawler traveling module comprises a main crawler beam, install main track of marcing on the main track roof beam, leading swing arm and install the swing arm track on leading swing arm, main track roof beam installs in the chassis both sides, and leading swing arm is installed in main track roof beam front side, and electric control module is including setting up electric cabinet one and the electric cabinet two on the chassis, and the integration is provided with scram switch and alarm indicator in the electric cabinet one, and the integration is provided with chassis driving motor, driver, navigation industrial computer and cloud platform arm controller in the electric cabinet two.
Preferably, the navigation obstacle avoidance module comprises an explosion-proof laser radar arranged at the base of the holder arm and an ultrasonic obstacle avoidance radar arranged in the electric cabinet II.
Preferably, the vision recognition module comprises a first camera mounted at the tail end of the cloud platform arm and a second camera mounted at the base of the cloud platform arm, and the first camera and the second camera can rotate by 360 degrees.
Preferably, the positive pressure gas generation module comprises a compressed gas generation source arranged on the chassis, the cloud platform arm and the shell of the electric control module are all arranged into airtight explosion-proof cavities, each explosion-proof cavity is provided with a gland head connecting air pipe and an electric wire, and the compressed gas generation source is used for introducing safe air into each explosion-proof cavity through the gland head connecting air pipe.
Preferably, a methane detection sensor and a pressure sensor are mounted in each explosion-proof cavity.
Preferably, the cloud platform arm comprises a cloud platform arm rotating joint arranged on the chassis, a large arm pitching joint, a cloud platform arm large arm, an auxiliary arm pitching joint, a cloud platform arm auxiliary arm, a small arm pitching joint, a cloud platform arm small arm and a cloud platform pitching joint are sequentially connected onto the cloud platform arm rotating joint, and a cloud platform arm tail end power module is arranged at the tail end of the cloud platform pitching joint.
Preferably, the joint axes of the upper arm pitch joint and the lower arm pitch joint are parallel to each other.
Preferably, the holder arm auxiliary arm is provided with a thermal imaging module and a laser methane detection module.
Preferably, the power battery module is arranged in the middle of the main crawler beam and is close to the second electric cabinet.
Preferably, a wireless charging module 1 is arranged on a tail beam of the chassis.
Compared with the prior art, the invention has the beneficial effects that:
1. the inspection robot adopts the crawler chassis module with stronger trafficability and obstacle crossing performance, and through the combined design of the main traveling crawler and the swing arm crawler, the robot has the capability of crossing larger obstacles under different terrain conditions, the width and the length of the robot body are compact and proper, and the trafficability of the robot in operation in a narrow area is ensured.
2. The inspection robot can perform inspection operation in the environment of an explosion-proof area, a positive pressure explosion-proof technology is innovatively adopted on the mobile robot, the robot carries a compressed gas generation source, clean air is provided for a closed explosion-proof cavity, and air can be supplied in time according to the leakage condition. The positive pressure explosion-proof design greatly reduces the volume and the weight of the robot, has a compact and portable design structure, and can greatly improve the inspection coverage area of the robot.
3. The inspection robot organically integrates mechanical, electrical control, motor transmission, sensing detection and positive pressure explosion-proof technologies, has a modular structure, and is convenient to combine, so that each module of the robot can be flexibly adjusted in position and quantity, and the requirement of daily inspection is met.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a positive pressure type crawler type inspection robot according to an embodiment of the invention.
Fig. 2 is a top view of a positive pressure type crawler type inspection robot according to an embodiment of the invention.
Fig. 3 is a perspective view of a positive pressure type crawler type inspection robot according to an embodiment of the invention.
The reference numbers shown in the figures denote: 1. a wireless charging module; 2. a thermal imaging module; 3. a first camera; 4. a cloud platform arm; 5. an explosion-proof laser radar; 6. a power battery module; 7. a laser methane detection module; 8. a second camera; 9. a crawler chassis module; 10. a first electric cabinet; 11. a second electric cabinet; 12. a positive pressure gas generation module; 13. a cloud platform arm swivel joint; 14. a boom pitch joint; 15. a cloud platform arm big arm; 16. a forearm pitch joint; 17. a pan-tilt arm forearm; 18. a pan-tilt joint; 19. a power module at the tail end of the cloud platform arm; 20. an auxiliary arm pitch joint; 21. a pan-tilt arm auxiliary arm; 22. a main traveling crawler; 23. leading swing arm track.
Detailed Description
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The technical solutions of the present invention will be described clearly and completely with reference to specific embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the structure of the present invention is: a positive pressure type crawler type inspection robot comprises a crawler chassis module 9 and a foldable cloud platform arm 4 arranged on the crawler chassis module 9, wherein an investigation detection instrument module, a navigation obstacle avoidance module and a visual identification module are arranged on the cloud platform arm 4, the investigation detection instrument module is used for realizing the intelligent investigation detection function of a detection area, the crawler chassis module 9 comprises a chassis, a crawler traveling module, a power battery module 6, a positive pressure gas generation module 12 and an electric control module, the crawler traveling module comprises a main crawler beam, a main traveling crawler 22 arranged on the main crawler beam, a front swing arm and a swing arm crawler 23 arranged on the front swing arm, the main crawler beam is arranged on two sides of the chassis, the front swing arm is arranged on the front side of the main crawler beam, the electric control module comprises a first electric cabinet 10 and a second electric cabinet 11 which are arranged on the chassis, and an emergency stop switch and an alarm indicator lamp are integrated in the first electric cabinet 10, the emergency stop switch and the alarm indicator lamp are used for achieving power failure and warning functions in case of emergency, a chassis driving motor, a driver, a navigation industrial personal computer and a cloud platform arm controller are integrally arranged in the electric cabinet II 11, the chassis driving motor is used for driving a main traveling crawler 22 and a swing arm crawler 23 to travel, the driver and the cloud platform arm controller are used for controlling the cloud platform arm 4 to move, and the navigation industrial personal computer is used for achieving autonomous navigation and positioning functions of the inspection robot. The inspection robot has the capability of crossing larger obstacles under different terrain conditions, is compact and appropriate in body width and length and ensures the trafficability of the robot in operation in narrow areas by matching the navigation obstacle avoidance module with the visual identification module, adopting the crawler chassis module with higher trafficability and obstacle crossing performance and adopting the combined design of the main traveling crawler and the swing arm crawler.
Further, the navigation is kept away the barrier module and is kept away the barrier radar including installing in the explosion-proof laser radar 5 of cloud platform arm 4 base department and arranging in the supersound of electric cabinet two 11, and the supersound is kept away the barrier radar and is used for scanning the topography condition that detects on the way of marcing to make scanning area and scope wider through explosion-proof laser radar 5, improve the obstacle-avoiding ability of patrolling and examining the robot.
Furthermore, the vision recognition module comprises a first camera 3 installed at the tail end of the cloud platform arm 4 and a second camera 8 installed at the base of the cloud platform arm 4, the first camera 3 is used for detecting and recognizing a detected target object in the patrol inspection operation process, the second camera 8 is used for assisting chassis navigation, the two cameras can both rotate by 360 degrees, and particularly the first camera 3 can realize full coverage of a three-dimensional space by means of the cloud platform arm 4 with multiple degrees of freedom.
Further, the positive pressure gas generation module 12 includes a compressed gas generation source installed on the chassis, the cradle head arm 4 and the housing of the electric control module are all set to be airtight explosion-proof cavities, each explosion-proof cavity is provided with a glan head connecting air pipe and an electric wire, and the compressed gas generation source is connected with the air pipe through the glan head and introduces safe air into each explosion-proof cavity. In order to realize a relatively compact overall design, the positive pressure compensation type technology is adopted, part of devices adopt an intrinsically safe circuit, a chassis, a cradle head arm 4 and a shell of an electric control module are designed into a closed explosion-proof cavity, and safe air is introduced inwards through a compressed gas generation source.
Further, a methane detection sensor and a pressure sensor are mounted in each explosion-proof cavity. In order to ensure the normal work of the explosion-proof system and reduce the explosion risk, a methane detection sensor is arranged in a closed space such as a chassis, a cloud platform arm, two electric cabinets and the like for real-time monitoring; and a pressure sensor is arranged to monitor the change of the internal pressure in real time, and when the internal pressure is reduced to be close to the vicinity of the positive pressure explosion-proof standard line, the robot automatically drives to a safety area to supplement air and ventilate. And install methane sensor in the room that charges, when inside hazardous gas concentration is great automatic shutdown all with the work of electrical apparatus. In addition, the surrounding environment of the robot is remotely monitored in a specific period by means of video monitoring.
Further, the pan-tilt arm 4 comprises a pan-tilt arm rotating joint 13 mounted on the chassis, the pan-tilt arm rotating joint 13 is sequentially connected with a large arm pitching joint 14, a pan-tilt arm large arm 15, an auxiliary arm pitching joint 20, a pan-tilt arm auxiliary arm 21, a small arm pitching joint 16, a pan-tilt arm small arm 17 and a pan-tilt arm pitching joint 18, and a pan-tilt arm end power module 19 is mounted at the tail end of the pan-tilt arm pitching joint 18. The cloud platform arm on the inspection robot is a robot operating arm, a chassis of the robot operating arm can flexibly change the operation position of the robot relative to a target object, and the operation position is equivalent to one rotational degree of freedom of the operating arm, and meanwhile, the inspection robot does not need to reach industrial precision and standard, so the cloud platform arm adopts a 4+2 degree of freedom configuration, namely four cloud platform arm motion degrees of freedom and two tail end cloud platform degrees of freedom, and joints corresponding to the four cloud platform arm motion degrees of freedom are respectively as follows: a shaft, a pan-tilt arm rotation joint 13; two-axis, large arm pitch joint 14; a three-axis, secondary arm pitch joint 20; four-axis, forearm every single move joint 16, the degree of freedom of two terminal cloud platforms is: the tripod head pitching joint 18 and the tripod head arm tail end power module 19, the configuration not only retains the flexibility of the operation arm to a great extent, but also controls the dead weight to a certain extent, and reduces the complexity of the mechanism.
Furthermore, joint axes of the large arm pitching joint 14 and the small arm pitching joint 16 are parallel to each other, and the design forms a redundant degree of freedom, so that the mechanism flexibility can be effectively increased, and the obstacle avoidance capability of the operating arm is improved.
Further, a thermal imaging module 2 and a laser methane detection module 7 are installed on the holder arm auxiliary arm 21, and the thermal imaging module 2 and the laser methane detection module 7 are integrated on an independent installation module of the fixed pipe clamp and are installed on the holder arm auxiliary arm 21 together.
Further, the power battery module 6 is installed in the middle of the main crawler beam and is close to the second electric cabinet 11, and on the premise of design of fully utilizing the space, the power battery module 6 is distributed in the middle of the main crawler beam and is close to the second electric cabinet 11, so that wiring is facilitated.
Further, be provided with wireless module 1 that charges on the afterbody crossbeam on chassis, realize the wireless function of charging of robot through wireless module 1 that charges.
When the positive pressure type crawler-type inspection robot is used in a robot inspection system of offshore platforms, other offshore facilities, land petroleum petrochemical industry and natural gas factories, the positive pressure function, the methane, hydrogen sulfide and other dangerous gas detection function and the autonomous navigation and positioning function are integrated, the functions of intelligent autonomous instrument reading identification, dangerous gas concentration identification, noise identification and the like in high-risk special places are realized, the whole robot is composed of a crawler chassis module 9, a foldable cradle head arm 4, a power battery module 6, a positive pressure gas generation module 12, an investigation detection instrument module, a navigation obstacle avoidance module, a vision identification module, an electric control module, a wireless charging module 1, a thermal imaging module 2 and a laser methane detection module 7, and the mechanical structure, the electric control loop and an execution mechanism in the system are completely independent. The system organically integrates mechanical, electrical control, motor transmission, sensing detection and positive pressure technologies, is modular in structure and convenient to combine, can flexibly adjust the position and the number of each module of the robot, meets the inspection requirements of dangerous occasions such as petrochemical, offshore production platforms and nuclear power, and can be applied to inspection requirements of conventional public occasions.
The present invention has been further described with reference to specific embodiments, but it should be understood that the detailed description should not be construed as limiting the spirit and scope of the present invention, and various modifications made to the above-described embodiments by those of ordinary skill in the art after reading this specification are within the scope of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined to positive pressure type crawler-type which characterized in that: the device comprises a track chassis module (9) and a foldable cloud platform arm (4) arranged on the track chassis module (9), wherein an investigation detection instrument module, a navigation obstacle avoidance module and a visual identification module are arranged on the cloud platform arm (4), the track chassis module (9) comprises a chassis, a track advancing module, a power battery module (6), a positive pressure gas generation module (12) and an electric control module, the track advancing module comprises a main track beam, a main advancing track (22) arranged on the main track beam, a front swing arm and a swing arm track (23) arranged on the front swing arm, the main track beam is arranged on two sides of the chassis, the front swing arm is arranged on the front side of the main track beam, the electric control module comprises a first electric cabinet (10) and a second electric cabinet (11) arranged on the chassis, and an emergency stop switch and an alarm indicator lamp are integrated in the first electric cabinet (10), and a chassis driving motor, a driver, a navigation industrial personal computer and a holder arm controller are integrated in the electric cabinet II (11).
2. The positive pressure type crawler type inspection robot according to claim 1, wherein: the navigation obstacle avoidance module comprises an explosion-proof laser radar (5) arranged at the base of the cloud platform arm (4) and an ultrasonic obstacle avoidance radar arranged in the electric cabinet II (11).
3. The positive pressure type crawler type inspection robot according to claim 1, wherein: the vision recognition module comprises a first camera (3) installed at the tail end of the cloud platform arm (4) and a second camera (8) installed at the base of the cloud platform arm (4), and the first camera (3) and the second camera (8) can rotate for 360 degrees.
4. The positive pressure type crawler type inspection robot according to claim 1, wherein: the positive pressure gas generation module (12) comprises a compressed gas generation source installed on the chassis, the cloud platform arm (4) and the shell of the electric control module are all set to be airtight explosion-proof cavities, each explosion-proof cavity is provided with a Glan head connecting air pipe and an electric wire, and the compressed gas generation source is communicated with safe air into each explosion-proof cavity through the Glan head connecting air pipe.
5. The positive pressure type crawler type inspection robot according to claim 4, wherein: and a methane detection sensor and a pressure sensor are arranged in each explosion-proof cavity.
6. The positive pressure type crawler type inspection robot according to claim 1, wherein: cloud platform arm (4) including install in cloud platform arm rotary joint (13) on the chassis, connect gradually big arm pitch joint (14), cloud platform arm big arm (15), auxiliary arm pitch joint (20), cloud platform arm auxiliary arm (21), forearm pitch joint (16), cloud platform arm forearm (17), cloud platform pitch joint (18) on cloud platform arm rotary joint (13), cloud platform arm end power module (19) are installed to cloud platform pitch joint (18) end.
7. The positive pressure type crawler type inspection robot according to claim 6, wherein: the joint axes of the upper arm pitching joint (14) and the lower arm pitching joint (16) are parallel to each other.
8. The positive pressure type crawler type inspection robot according to claim 6, wherein: and a thermal imaging module (2) and a laser methane detection module (7) are mounted on the cloud platform arm auxiliary arm (21).
9. The positive pressure type crawler type inspection robot according to claim 1, wherein: the power battery module (6) is arranged in the middle of the main crawler beam and is close to the second electric cabinet (11).
10. The positive pressure type crawler type inspection robot according to claim 1, wherein: and a wireless charging module (1) is arranged on the tail cross beam of the chassis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210203192.0A CN114407048A (en) | 2022-03-02 | 2022-03-02 | Positive pressure crawler-type full-autonomous inspection robot |
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| CN202210203192.0A CN114407048A (en) | 2022-03-02 | 2022-03-02 | Positive pressure crawler-type full-autonomous inspection robot |
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Cited By (2)
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| CN117021050A (en) * | 2023-10-10 | 2023-11-10 | 北京炎凌嘉业机电设备有限公司 | Positive pressure composite explosion-proof robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116968053A (en) * | 2023-09-07 | 2023-10-31 | 湖南鑫彧智能科技有限公司 | Explosion-proof mobile cooperative robot and control method thereof |
| CN116968053B (en) * | 2023-09-07 | 2024-01-30 | 湖南鑫彧智能科技有限公司 | Explosion-proof mobile cooperative robot and control method thereof |
| CN117021050A (en) * | 2023-10-10 | 2023-11-10 | 北京炎凌嘉业机电设备有限公司 | Positive pressure composite explosion-proof robot |
| CN117021050B (en) * | 2023-10-10 | 2024-04-02 | 北京炎凌嘉业机电设备有限公司 | Positive pressure composite explosion-proof robot |
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