CN104015820A - Crawler belt type robot for raking salt crystals of salt pan - Google Patents
Crawler belt type robot for raking salt crystals of salt pan Download PDFInfo
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- CN104015820A CN104015820A CN201410195572.XA CN201410195572A CN104015820A CN 104015820 A CN104015820 A CN 104015820A CN 201410195572 A CN201410195572 A CN 201410195572A CN 104015820 A CN104015820 A CN 104015820A
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Abstract
The invention discloses a crawler belt type robot for raking salt crystals of a salt pan. The crawler belt type robot comprises a bearing frame, wherein bearing wheels, a driving wheel and a tension guide wheel are mounted on the bearing frame; rubber crawler belts are mounted on the bearing wheels, the driving wheel and the tension guide wheel; a diesel engine is also mounted on the bearing frame; the diesel engine is connected with a gearbox and an inflating pump mounted on the bearing frame through a V-belt in a transmission manner; the gearbox is connected with a left half shaft and a right half shaft in a transmission manner; the driving wheel is arranged on the left half shaft and the right half shaft; the driving wheel is connected with the bearing wheels and the tension guide wheel through a left crawler belt and a right crawler belt; the inflating pump is communicated with an air storage tank. The crawler belt type live cinder robot has the advantages that long-distance remote control operation is performed on equipment outside a salt pan in a remote control mode, so that automated production is achieved, production efficiency and yield are improved, and product quality is optimized.
Description
Technical field
The present invention relates to a kind of crude salt production facilities, specifically a kind of crawler type salt pan Cha robot alive, belongs to crude salt production facilities field.
Background technology
At present, existing at crude salt production process, is mainly to pull by manpower the quarrel rake of living, and by manually operating on foot, the quarrel of manually living in salt pond action need also wants many time just can complete in one hour; Also there is the equipment of some huge structure operating difficultiess, these equipment need workman to operate in salt pan, not only inefficiency but also operating difficulties, the huge turn radius of equipment volume is large, can not live in being cut to the corner in salt pan thoroughly and operate, easily the quality of crude salt is caused to very large destruction, thereby and because the large Heavy Weight of volume reduces the granularity of crude salt.
Summary of the invention
In order to address the above problem, the present invention has designed a kind of crawler type salt pan Cha robot alive, uses the mode of Remote, by equipment being carried out to long-distance remote control operation outside salt pan, realize automated production, improved production efficiency and output, optimized product design.
Technical scheme of the present invention is:
Live Cha robot of crawler type salt pan, comprises carrier, and BOGEY WHEEL, driving wheel, tensioning guide wheel are installed on described carrier, on described BOGEY WHEEL, driving wheel, tensioning guide wheel, rubber belt track is installed, symmetrical layout; Diesel engine is also installed on described carrier;
By V-type band, transmission is connected described diesel engine with inflation pump with being arranged on change speed gear box on carrier, left and right semiaxis transmitting torque is housed on described change speed gear box, described driving wheel is arranged on the semiaxis of described left and right, by left and right crawler belt, transmission is connected described driving wheel with tensioning guide wheel with described BOGEY WHEEL, drives whole robot and the device that is cut of living is advanced, falls back, turned to;
Described inflation pump is connected with storage tank, and inflation pump delivers gas in storage tank and stores, and described storage tank is provided with safety valve, automatic deflation after air pressure reaches setting air pressure.Described storage tank is also provided with compression indicator output interface, is connected with compression indicator, and described compression indicator is arranged on shell.
It is Main Control Tank that described robot is also provided with computer controller, various actions control is controlled by computer controller, described computer controller is mainly made up of signal receiving module, signal processing module, scaling signal switch, power supply voltage changing module, solenoid directional control valve and pneumatic hose, and described signal receiving module is provided with signal receiving antenna; The input end of described signal receiving module is connected with the mouth of remote controller, the mouth of described signal receiving module is connected with the input end of signal processing module, signal receiving module after remote controller sends signal in computer controller receives signal, and the signal receiving is delivered to signal processing module by connection lead; Described signal processing module mouth Fen10 road signal be connected with 1 throttle digital rudder controller with 9 scaling signal switches respectively, wherein, 7 scaling signal switches are connected with the control of 7 two-position five-way solenoid directional control valves respectively, 1 scaling signal switch is connected with the starting relay control of described diesel engine, and 1 ratio switch is connected with the control of light control relay.
Further, 7 described two-position five-way solenoid directional control valves are all electrically connected with the accumulate pond of a 2V70AH, directly by this storage powered battery; Described signal receiving module, signal processing module, scaling signal switch are all electrically connected with the voltage transformer that a 12V turns 6V3A, by this transformer-supplied; Described throttle throttle digital rudder controller is electrically connected with the voltage transformer that another 12V turns 6V10A, by this transformer-supplied; Described starting relay is electrically connected with the starter relay positive pole of described diesel engine; Described light relay is electrically connected with the positive pole in the accumulate pond of described 12V36AH.
Further, described storage tank is connected with 7 described two-position five-way solenoid directional control valves, and described two-position five-way solenoid directional control valve is controlled stretching out with shrinking of 7 cylinders by gas circuit.
Further, described carrier is provided with cylinder block, described cylinder block is provided with the two bar TN type cylinders of a clutch air cylinder, the head of the expansion link of described cylinder is connected with the nose that draws of the master clutch of change speed gear box by movable link, the flexible master clutch that pulls by cylinder draws nose that the friction lining in power-transfer clutch is separated and laminating with pressing plate, realizes the control of power-transfer clutch.
Further, the left clutch gear of the dental clutch in described change speed gear box turns to the two bar TN type cylinder control of cylinder to be connected with one respectively with right clutch gear, two turn to separation that cylinder controls respectively two gears and engage, thereby control the rotation of two semiaxis in left and right and stop by the engaged transmission of gear, realize that two crawler belts rotate simultaneously, left half axle rotates that right axle shaft stops, right axle shaft rotates that left half axle stops and left and right semiaxis stops simultaneously, walk, turn left, turn right, stop thereby realizing.
Further, the top of described change speed gear box is provided with i.e. two the two bar TN type cylinders of gear cylinder, before one of them, the shift fork connecting rod of the expansion link front portion of inlet casing connects the shift fork in described change speed gear box, and the shifting slide gear that advances that promotes to be arranged on the clutch castellated shaft of described power-transfer clutch engages with axle shaft clutch gear, by the engaged transmission of gear, robot is walked forward; Another shift fork connecting rod that retreats the expansion link front portion of cylinder connects the shift fork in described change speed gear box, promotion is arranged on and on the clutch castellated shaft of described power-transfer clutch, retreats shifting slide gear and engage with axle shaft clutch gear, by the engaged transmission of gear, robot is walked backward.Two two bar TN type cylinders are controlled respectively and are advanced and retreat.
Further, described change speed gear box is connected with the quarrel rake assembly lifting mechanism of living, the described total lifting mechanism of quarrel rake of living is provided with leading screw, realize moving up and down of the quarrel rake assembly of living by the rotation of leading screw, the described quarrel rake assembly lifting mechanism of living is arranged on lives on quarrel rake mount pad, the described quarrel rake mount pad of living is arranged on change speed gear box, the described quarrel rake assembly lifting mechanism of living is provided with the quarrel rake assembly of living, the described quarrel rake assembly of living is provided with the i.e. main lifting chain of main lifting chain mechanism, it is SC type single pole cylinder that described main lifting chain is provided with two main lift cylinders, described main lift cylinder is connected with the control of a described two-position five-way solenoid directional control valve, described main lift cylinder is connected with the described quarrel rake assembly transmission of living by described main lifting chain, two main lift cylinder simultaneous retractables are controlled described main lifting chain and are rotated, realize the rise of the quarrel rake of living and fall by main lifting chain rotation.
Further, on the side plate of the described quarrel rake lifting mechanism of living and the crossbeam of the quarrel rake of living, being connected with respectively a side lift cylinder is SC type single pole cylinder, described side lift cylinder is all connected with the control of a described two-position five-way solenoid directional control valve, control and live the folding of quarrel rake and stretch each one of the right and left by two side lift cylinders.
Further, described diesel engine be 6.3KW the single-cylinder air-cooled diesel engine of h.
The present invention is using diesel engine as propulsion source, drive inflation pump to produce source of the gas by diesel engine by V-type band, using storage tank as gas storage container, diesel engine drives change speed gear box by V-type band, use remote control technology to control the action of Pneumatic solenoid valves band dynamic air cylinder, to clutch, advance, retreat, turn to, lifting controls, realize working direction to main frame, turn direction, power-transfer clutch from close and the main lifting of the quarrel rake of living with the motion action of side lifting.Realize that Remote starts simultaneously also can hand pull starting-up, control angle that high pulling torque digital rudder controller rotates and control the throttle size of diesel engine and come the gait of march of control by the potential device in robot remote control.The control of throttle drives the accelerator rod on diesel oil by high pulling torque throttle digital rudder controller.
Remote control valid function distance of the present invention is 1000 meters, as long as operating personal is grasped the use of remote controller, just can live in being cut to crude salt on the coast operates.On work efficiency, each salt pond needs just crude salt in whole salt pond to be lived in being cut for 6 minutes to operate, and is 10 times of the artificial quarrel efficiency of living.And the granularity of crude salt is not affected, in working process, can not stir pond at the bottom of mud make crude salt its colour changed into yellow.The rake teeth of quarrel rake of living makes the crotch of rake teeth become 30 ° of angles with course row on original basis, better in work quarrel process, make the displacement of can overturning uniformly of each salt grain, thereby the output of crude salt is improved.
The invention has the advantages that: use the mode of Remote, by outside salt pan, equipment being carried out to long-distance remote control operation, realize automated production, improved production efficiency and output, optimized product design.
Below in conjunction with drawings and Examples, the invention will be further described.
Brief description of the drawings
Fig. 1 is the integral structure schematic diagram of the embodiment of the present invention;
Fig. 2 is the external structure schematic diagram of the embodiment of the present invention;
Fig. 3 is the lateral plan of Fig. 2;
Fig. 4 is the birds-eye view of Fig. 2;
In figure: 1-storage battery, 2-fuel tank, 3-diesel engine, 4-inflation pump, 5-storage tank, 6-clutch air cylinder, 7-change speed gear box input clutch, 8-receiving wire, 9-Main Control Tank, 10-gear cylinder, 11-change speed gear box, 12-turns to cylinder, 13-lives in being cut and harrows mount pad, the upper and lower slippage hinge of 14-, the main lift cylinder of 15-, the main lifting chain of 16-, 17-side lift cylinder, 18-lives in being cut and harrows, 19-driving wheel, 20-BOGEY WHEEL, 21-crawler belt, 22-tensioning guide wheel, 23-throttle digital rudder controller, 24-shell.
Detailed description of the invention
Below the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein, only for description and interpretation the present invention, is not intended to limit the present invention.
Embodiment 1
As shown in Figure 1, a kind of crawler type salt pan Cha robot alive, comprises carrier, and BOGEY WHEEL 20, driving wheel 19, tensioning guide wheel 22 are installed on described carrier, on described BOGEY WHEEL 20, driving wheel 19, tensioning guide wheel 22, rubber belt track 21 is installed, symmetrical layout; Accumulate pond 1, diesel engine 3, inflation pump 4, storage tank 5, change speed gear box 11 and shell 24 are also installed on described carrier, speed-changing mechanism, Main Control Tank 9, quarrel rake mount pad 13 alive are also installed and the quarrel degree of depth adjustment slide plate etc. of living on wherein said change speed gear box 11, the described quarrel rake mount pad 13 of living is provided with the quarrel rake assembly of living, and the quarrel of living rake assembly is provided with the quarrel rake 18 of living.
This robot is using 6.3KW diesel engine as power resources, diesel engine 3 is provided with fuel tank 2, diesel engine 3 drives inflation pump 4 to produce source of the gas by V-type band, using storage tank 5 as gas storage container, diesel engine 3 drives change speed gear box 11 by V-type band, use 2.4G remote control technology to control the action of Pneumatic solenoid valves band dynamic air cylinder, to clutch, advance, retreat, turn to, lifting controls, realize working direction to main frame, turn direction, power-transfer clutch from close and the main lifting of the quarrel rake of living with the motion action of side lifting.Also can hand pull starting-up in realizing Remote and starting, the size of controlling throttle by the potential device in robot remote control is carried out the gait of march of control.The accelerator rod that the control of throttle is driven on diesel oil by high pulling torque throttle digital rudder controller 23.
This robot is equipped with remote controller, remote controller is provided with Throttle Opening Control potential device, turns to button, clutch button, gear button, main lifting button, side lifting button, remote activation button, electric-quantity display device screen, electric weight read-out switch, headlamp switch, main supply switch, charging indicator light, charging jack, antenna, can control easily the various functions that this robot is corresponding.
This robot power comes from the single-cylinder air-cooled diesel engine of the 6.3KW h being arranged on robot carrier.Diesel engine 3 by V-type band by transmission of power to the change speed gear box 11 and the inflation pump 4 that are arranged on carrier 1, change speed gear box 11 arrives left and right semiaxis by the engagement of gear by transmission of power, then drives whole robot and quarrel device alive to advance, fall back, turn to by the driving wheel 19 being arranged on the semiaxis of left and right with the engagement of left and right crawler belt.
Gas source is in diesel engine 3 by the inflation pump 4 of V-type band transferring power, and inflation pump 4 delivers gas in storage tank 5 and stores, and storage tank 5 is provided with safety valve, automatic deflation after air pressure reaches setting air pressure.Storage tank 5 is provided with compression indicator output interface, is connected to the compression indicator being located in robot shells.
The various actions control of robot is that Main Control Tank 9 is controlled by computer controller.Computer controller is made up of signal receiving module, signal processing module, scaling signal switch, power supply voltage changing module, solenoid directional control valve, connection lead, pneumatic hose, and described signal receiving module is provided with receiving wire 8.
Receiver module after remote controller sends signal in computer controller receives signal, and the signal receiving is delivered to signal processing module by connection lead, and then Fen10 road signal passes to 9 scaling signal switches and 1 throttle digital rudder controller 23.Wherein, 7 scaling signal switches connect control that 7 two-position five-way solenoid directional control valves carry out can control action, 1 road signal directly connects described throttle digital rudder controller 23 by signal processing module; 1 scaling signal switch connects controls diesel engine starting relay, 1 ratio switch connecting lamp light guide relay.
Powered by the accumulate pond 1 of 12V70AH for electrical connection, two-position five-way solenoid directional control valve directly connects accumulate pond 1, signal processing module, signal receiving module, scaling signal switch are turned the transformer-supplied of 6V3A by a 12V, throttle throttle digital rudder controller 23 is turned the transformer-supplied of 6V10A by an independent 12V.Starting relay connects starter of diesel engine electromagnetic switch positive pole.Light relay connects the positive pole in 12V70AH accumulate pond.
Air operated control is connected to 7 two-position five-way solenoid directional control valves by storage tank 5.Solenoid directional control valve is controlled stretching out with shrinking of 7 cylinders by receiving signal instruction by gas circuit.
Clutch control, by the two bar TN type cylinder control of a clutch air cylinder 6, is arranged on the cylinder block on carrier 1, and it is drawing on nose of change speed gear box input clutch 7 that the expansion link head of clutch air cylinder 6 is connected to change speed gear box master clutch by movable link.The flexible power-transfer clutch that pulls by clutch air cylinder 6 draws nose that power-transfer clutch inner attrition piece is separated and laminating with pressing plate.
Turn to control cylinder to turn to the two bar TN type cylinder control of cylinder 12 by two, the left clutch gear of the dental clutch of a cylinder control change speed gear box 11, another controls the right clutch gear of change speed gear box inner teeth power-transfer clutch, the separation of controlling respectively two gears with engage, thereby the rotation of controlling two semiaxis in left and right by the engaged transmission of gear with stop.Rotate simultaneously and rotate with left half axle that right axle shaft stops, right axle shaft rotates left half axle and stops and left and right semiaxis stops simultaneously thereby realize two crawler belts, walk, turn left, turn right, stop thereby realizing.
Gear control is advanced and is retreated, that the two bar TN type cylinders of two gear cylinders 10 are controlled respectively, D Drive is to connect the shift fork in change speed gear box by the shift fork connecting rod that is arranged on expansion link front portion on two bar cylinders at change speed gear box top, promotion is arranged on the shifting slide gear that advances on clutch castellated shaft and engages with axle shaft clutch gear, by the matching transmission of series of gears, this robot is walked forward.Retreat shelves and be by the shift fork being arranged in the shift fork connecting rod connection change speed gear box of expansion link front portion on two bar cylinders at change speed gear box top, promotion is arranged on and on clutch castellated shaft, retreats shifting slide gear and engage with axle shaft clutch gear, by the matching transmission of series of gears, this robot is walked backward.
Described change speed gear box is connected with the quarrel rake assembly lifting mechanism of living, and the described total lifting mechanism of quarrel rake of living is provided with leading screw, realizes moving up and down of the quarrel rake assembly of living by the rotation of leading screw, the described quarrel rake assembly lifting mechanism of living is arranged on lives on quarrel rake mount pad 13, the described quarrel rake mount pad 13 of living is arranged on described change speed gear box 11, the described quarrel rake assembly lifting mechanism of living is provided with the quarrel rake assembly of living, the described quarrel rake assembly of living is provided with the i.e. main lifting chain 16 of main lifting chain mechanism, it is SC type single pole cylinder that described main lifting chain 16 is provided with two main lift cylinders 15, described main lift cylinder 15 is connected with the control of a described two-position five-way solenoid directional control valve, described main lift cylinder 15 is connected with the described quarrel rake assembly transmission of living by described main lifting chain 16, two main lift cylinder 15 simultaneous retractables are controlled described main lifting chain 16 and are rotated, realize the rise of the quarrel rake of living and fall by main lifting chain rotation.
The quarrel of living rake side lifting mechanism is to be that SC type single pole cylinder is controlled folding and stretches by two side plates 18 that are arranged on the quarrel rake main hoist of living on the quarrel rake lifting mechanism alive being connected with change speed gear box 11 with the side lift cylinders 17 of living on quarrel rake crossbeam 19, each one of the right and left is used the control of a two-position five-way solenoid directional control valve simultaneously.
Claims (10)
1. live Cha robot of crawler type salt pan, is characterized in that: comprise carrier, BOGEY WHEEL, driving wheel, tensioning guide wheel are installed on described carrier, on described BOGEY WHEEL, driving wheel, tensioning guide wheel, rubber belt track is installed; Diesel engine is also installed on described carrier;
By V-type band, transmission is connected described diesel engine with inflation pump with being arranged on change speed gear box on carrier, described change speed gear box is connected with left and right half shaft drive, described driving wheel is arranged on the semiaxis of described left and right, and by left and right crawler belt, transmission is connected described driving wheel with tensioning guide wheel with described BOGEY WHEEL; Described inflation pump is connected with storage tank.
2. crawler type according to claim 1 salt pan Cha robot alive, it is characterized in that: described robot is also provided with computer controller, described computer controller is mainly made up of signal receiving module, signal processing module, scaling signal switch, power supply voltage changing module, solenoid directional control valve and pneumatic hose; The input end of described signal receiving module is connected with the mouth of remote controller, the mouth of described signal receiving module is connected with the input end of signal processing module, signal receiving module after remote controller sends signal in computer controller receives signal, and the signal receiving is delivered to signal processing module by connection lead; Described signal processing module mouth Fen10 road signal be connected with 1 throttle digital rudder controller with 9 scaling signal switches respectively, wherein, 7 scaling signal switches are connected with the control of 7 two-position five-way solenoid directional control valves respectively, 1 scaling signal switch is connected with the starting relay control of described diesel engine, and 1 ratio switch is connected with the control of light control relay.
3. crawler type according to claim 2 salt pan Cha robot alive, is characterized in that: 7 described two-position five-way solenoid directional control valves are all electrically connected with the accumulate pond of a 2V36AH; Described signal receiving module, signal processing module, scaling signal switch are all electrically connected with the voltage transformer that a 12V turns 6V10AH; Described throttle throttle digital rudder controller is electrically connected with the voltage transformer that another 12V turns 6V3AH; Described starting relay is electrically connected with the starter relay positive pole of described diesel engine; Described light relay is electrically connected with the positive pole in the accumulate pond of described 12V36AH.
4. crawler type according to claim 2 salt pan Cha robot alive, is characterized in that: described storage tank is provided with safety valve, and described storage tank is also provided with compression indicator output interface, is connected with compression indicator, and described compression indicator is arranged on shell.
5. crawler type according to claim 4 salt pan Cha robot alive, is characterized in that: described storage tank is connected with 7 described two-position five-way solenoid directional control valves, and described two-position five-way solenoid directional control valve is controlled stretching out with shrinking of 7 cylinders by gas circuit.
6. crawler type according to claim 1 salt pan Cha robot alive, it is characterized in that: described carrier is provided with cylinder block, described cylinder block is provided with the two bar TN type cylinders of a clutch air cylinder, and the head of the expansion link of described cylinder is connected with the nose that draws of the master clutch of change speed gear box by movable link.
7. crawler type according to claim 1 salt pan Cha robot alive, is characterized in that: the left clutch gear of the dental clutch of described change speed gear box turns to the two bar TN type cylinder control of cylinder to be connected with one respectively with right clutch gear.
8. crawler type according to claim 1 salt pan Cha robot alive, it is characterized in that: the top of described change speed gear box is provided with i.e. two the two bar TN type cylinders of advance and retreat cylinder, before one of them, the shift fork connecting rod of the expansion link front portion of inlet casing connects the shift fork in described change speed gear box, and the shifting slide gear that advances that promotes to be arranged on the clutch castellated shaft of described power-transfer clutch engages with axle shaft clutch gear, by the engaged transmission of gear, robot is walked forward; Another shift fork connecting rod that retreats the expansion link front portion of cylinder connects the shift fork in described change speed gear box, promotion is arranged on and on the clutch castellated shaft of described power-transfer clutch, retreats shifting slide gear and engage with axle shaft clutch gear, by the engaged transmission of gear, robot is walked backward.
9. crawler type according to claim 1 salt pan Cha robot alive, is characterized in that: described change speed gear box is connected with the quarrel rake assembly lifting mechanism of living, and the described total lifting mechanism of rake that is cut alive is provided with leading screw; The described quarrel rake assembly lifting mechanism of living is arranged on lives on quarrel rake mount pad, the described quarrel rake mount pad of living is arranged on described change speed gear box, the described quarrel rake assembly lifting mechanism of living is provided with the quarrel rake assembly of living, the described quarrel rake assembly of living is provided with the i.e. main lifting chain of main lifting chain mechanism, described main lifting chain is provided with two main lift cylinders, described main lift cylinder is connected with the control of a described two-position five-way solenoid directional control valve, and described main lift cylinder is connected with the described quarrel rake assembly transmission of living by described main lifting chain.
10. crawler type according to claim 9 salt pan Cha robot alive, is characterized in that:
On the side plate of the described quarrel rake lifting mechanism of living and the crossbeam of the quarrel rake of living, be connected with respectively a side lift cylinder, described side lift cylinder is all connected with the control of a described two-position five-way solenoid directional control valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410195572.XA CN104015820B (en) | 2014-05-12 | 2014-05-12 | Cha robot lives in crawler type salt pan |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410195572.XA CN104015820B (en) | 2014-05-12 | 2014-05-12 | Cha robot lives in crawler type salt pan |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104015820A true CN104015820A (en) | 2014-09-03 |
| CN104015820B CN104015820B (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410195572.XA Expired - Fee Related CN104015820B (en) | 2014-05-12 | 2014-05-12 | Cha robot lives in crawler type salt pan |
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| CN (1) | CN104015820B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110007667A (en) * | 2018-01-04 | 2019-07-12 | 中国农业机械化科学研究院 | A kind of crawler tractor and its path tracking control method and system |
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| US20020022415A1 (en) * | 2000-08-10 | 2002-02-21 | Choi Youn Sang | Method and device for providing improved additional buoyance and water speed to amphibious vehicle |
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| CN201080435Y (en) * | 2007-08-06 | 2008-07-02 | 山东海化集团瑞源实业有限公司 | Salt-field raking machine |
| CN202045634U (en) * | 2011-03-15 | 2011-11-23 | 北京诚志北分机电技术有限公司 | Anti-explosion robot |
| CN102794758A (en) * | 2012-07-16 | 2012-11-28 | 西安交通大学 | Multifunctional household service robot |
| CN203854760U (en) * | 2014-05-12 | 2014-10-01 | 高超 | Tracked salt pan raking robot |
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2014
- 2014-05-12 CN CN201410195572.XA patent/CN104015820B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020022415A1 (en) * | 2000-08-10 | 2002-02-21 | Choi Youn Sang | Method and device for providing improved additional buoyance and water speed to amphibious vehicle |
| CN2552905Y (en) * | 2002-05-31 | 2003-05-28 | 定州市瑞星机械制造公司 | Working machine for salt field |
| CN201080435Y (en) * | 2007-08-06 | 2008-07-02 | 山东海化集团瑞源实业有限公司 | Salt-field raking machine |
| CN202045634U (en) * | 2011-03-15 | 2011-11-23 | 北京诚志北分机电技术有限公司 | Anti-explosion robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110007667A (en) * | 2018-01-04 | 2019-07-12 | 中国农业机械化科学研究院 | A kind of crawler tractor and its path tracking control method and system |
| CN110007667B (en) * | 2018-01-04 | 2021-06-11 | 中国农业机械化科学研究院 | Crawler tractor and path tracking control method and system thereof |
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| CN104015820B (en) | 2016-05-11 |
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Effective date of registration: 20201023 Address after: No.301, zhangjiayuan village, Hanting street, Hanting District, Weifang City, Shandong Province Patentee after: Shandong Litai Jingchuang Environmental Protection Technology Co.,Ltd. Address before: Huaiyin District of Ji'nan City, Shandong province 250000 ten Road No. 388 Patentee before: Gao Chao Patentee before: Ma Yaofu |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160511 |