CN105173445A - Center swivel fully-hydraulic bunker cleaning machine and operating method thereof - Google Patents
Center swivel fully-hydraulic bunker cleaning machine and operating method thereof Download PDFInfo
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- CN105173445A CN105173445A CN201510582328.3A CN201510582328A CN105173445A CN 105173445 A CN105173445 A CN 105173445A CN 201510582328 A CN201510582328 A CN 201510582328A CN 105173445 A CN105173445 A CN 105173445A
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- 238000004140 cleaning Methods 0.000 title abstract description 17
- 238000011017 operating method Methods 0.000 title abstract 3
- 239000000725 suspension Substances 0.000 claims abstract description 11
- 239000003245 coal Substances 0.000 claims description 70
- 241000239290 Araneae Species 0.000 claims description 28
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims description 9
- 235000011613 Pinus brutia Nutrition 0.000 claims description 9
- 241000018646 Pinus brutia Species 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 4
- 238000010030 laminating Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000003608 fece Anatomy 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012432 intermediate storage Methods 0.000 description 1
- 230000001473 noxious effect Effects 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
Abstract
The invention discloses a center swivel fully-hydraulic bunker cleaning machine and an operating method thereof. The center swivel fully-hydraulic bunker cleaning machine comprises an upper machine frame, a lower machine frame, a rotating mechanism, a rotary main shaft, a suspension device, a counterweight device, a plurality of supporting devices and a plurality of operating devices. The suspension device is fixed to the upper machine frame and suspended in a bunker. The upper machine frame is horizontally and uniformly arranged on the side wall of the bunker in a supported mode through the supporting devices. The center of the upper machine frame is perpendicularly connected with the lower machine frame through the rotary main shaft. The operating devices are arranged on the lower machine frame in the horizontal direction. The rotating mechanism is arranged on the upper machine frame or the rotary main shaft and connected with the lower machine frame in a driving mode, and the operating devices are driven by the rotating mechanism to rotate horizontally through the lower machine frame. According to the center swivel fully-hydraulic bunker cleaning machine and the operating method thereof, the structural characteristics of the bunker are fully utilized and the special environment where the bunker is located is considered, the way that a worker enters the bunker to clean the interior of the bunker is replaced, and bunker cleaning safety is guaranteed.
Description
Technical field
The present invention relates to the all-hydraulic coal bunker of a kind of center steering formula and amass coal conveyer for emptying warehouse, be mainly applicable to the cleaning work of the long-pending coal of bonding in the inner coal bunker in colliery.
Background technology
Coal bunker is as intermediate storage mean necessary in coal production transport, and raw coal is input and output coal bunker constantly.Owing to containing moisture and other impurity in raw coal, As time goes on, raw coal under high pressure can form one deck dung on bulkhead.This layer of dung makes coal bunker wall surface uneven, not only hinders the flowing of raw coal in coal bunker, but also decreases the available space of coal bunker, reduce production efficiency, so coal bunker will be cleared up regularly.
Traditional coal bunker manner of cleaning up is by labor cleaning, and this manner of cleaning up not only work efficiency is low, and there is the noxious gases such as gas in coal bunker, and level of oxygen is low, and the healthy of cleaning personnel in serious threat.Large stretch of long-pending coal is caving or the Frequent Accidents such as coal bunker wall landslide.
Underground coal bunker cleaning robot (CN200910020011.5) amasss coal cleaning although can be used in Bunker, and efficiency is lower, cannot realize long-pending coal cleaning automation.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides the all-hydraulic conveyer for emptying warehouse of a kind of center steering formula, make full use of coal bunker constructional feature and in conjunction with the particular surroundings residing for coal bunker, replace manually enter into coal bunker internal cleaning, ensure coal bunker cleaning safety.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
The all-hydraulic conveyer for emptying warehouse of a kind of center steering formula, comprise upper spider, lower bearing bracket, swing type mechanism, rotary main shaft, suspension apparatus, counter weight device, bracing or strutting arrangement and equipment, described upper spider being fixed with suspension apparatus is suspended in coal bunker, and described upper spider is supported by some bracing or strutting arrangement horizontal homogeneous and is arranged on coal bunker sidewall; Described upper spider center vertically connects lower bearing bracket by rotary main shaft, and described lower bearing bracket horizontal direction is provided with some equipments; Described upper spider or rotary main shaft are provided with swing type mechanism, and described swing type mechanism drives with lower bearing bracket and is connected, and swing type mechanism drives equipment to horizontally rotate by lower bearing bracket.
Further, described upper spider comprises upper plate, upper bush and upper gusset, and described upper plate is circular flat plate structure, and described upper bush is arranged on upper plate center, and it is firm that described upper bush and upper plate pass through gusset on some well-distributeds; Comprise some upper cylinder barrel permanent seats and upper hydraulic actuating cylinder flange, described upper cylinder barrel permanent seat and upper hydraulic actuating cylinder flange one_to_one corresponding are evenly fixed on upper plate face, and described upper cylinder barrel permanent seat is fixed on outside hydraulic actuating cylinder flange.
Further, described bracing or strutting arrangement comprises support hydraulic pressure oil cylinder, cylinder barrel fixed cap successively by one end to the other end and supports arm head, described support hydraulic pressure oil cylinder is connected with upper hydraulic actuating cylinder flange, described cylinder barrel fixed cap is fixedly connected with upper cylinder barrel permanent seat, the first end of described hold-down arm is connected with the piston rod of support hydraulic pressure oil cylinder, and the other end supports and is arranged on coal bunker sidewall.
Further, described swing type mechanism is fixed on upper spider, comprise motor sleeve and low speed high torque hydraulic motor, described motor sleeve is fixedly installed on upper spider, described low speed high torque hydraulic motor and motor sleeve are fixedly installed, described rotary main shaft is connected by a pair open type gear driving with between low speed high torque hydraulic motor, and described rotary main shaft is connected with lower bearing bracket.
Further, described lower bearing bracket comprises lower shoe, lower sleeve and lower web plate, and described lower shoe is circular flat plate structure, and described lower sleeve is arranged on lower shoe center, and it is firm that described lower sleeve and lower shoe pass through some well-distributed lower web plates; Comprise some lower cylinder barrel permanent seats and lower hydraulic actuating cylinder flange, described lower cylinder barrel permanent seat and lower hydraulic actuating cylinder flange one_to_one corresponding are evenly fixed on lower shoe face, and described lower cylinder barrel permanent seat is fixed on outside lower hydraulic actuating cylinder flange.
Further, described equipment comprises working hydraulic pressure oil cylinder, work cylinder barrel fixed cap and cutterhead successively by one end to the other end, described working hydraulic pressure oil cylinder is connected with lower hydraulic actuating cylinder flange, described work cylinder barrel fixed cap is fixedly connected with lower cylinder barrel permanent seat, described cutterhead one end is connected with the piston rod of working hydraulic pressure oil cylinder, and other end laminating is arranged on coal bunker sidewall.
Further, described rotary main shaft comprises rotary main shaft sleeve, described rotary main shaft sleeve is connected with the lower sleeve of lower bearing bracket, and described rotary main shaft sleeve is connected by a pair open type gear driving with between low speed high torque hydraulic motor.
A method of work for the all-hydraulic conveyer for emptying warehouse of center steering formula, step is as follows:
During operation, the all-hydraulic conveyer for emptying warehouse of center steering formula connects suspension apparatus by down-hole winch, complete machine is placed in coal bunker center, by the camera on equipment, complete machine is transferred to long-pending coal position; Then be positioned at the bracing or strutting arrangement work on upper spider 1, three hydraulic cylinder piston rods stretch out and make support arm head that complete machine is supported on coal bunker inwall; Support after fixing, equipment is started working, and two hydraulic rams stretch back and forth, by cutterhead, long-pending coal are smash pine; After long-pending coal smashes pine, swing type mechanism is started working, and is rotated by the long-pending coal smashing pine and cuts off; After long-pending coal cleans out, by the long-pending coal of camera locking, make complete machine again transfer to next long-pending coal by down-hole winch and clear up.
Beneficial effect: 1) structure is simple, and complete machine overall weight is less, is beneficial to the operation of underground coal mine small space, makes full use of the handling of down-hole car hauler, saves design and manufacture cost.2) replace labor cleaning's coal bunker, improve the safety of coal production, alleviate the labour intensity of workman.3) coal is amassed in mechanical chipping, greatly increases the work efficiency of coal bunker cleaning.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the present invention.
Fig. 2 is the plan structure schematic diagram of Fig. 1.
Fig. 3 is upper spider master of the present invention, structural representation of bowing.
Fig. 4 is lower bearing bracket master of the present invention, structural representation of bowing.
Fig. 5 is swing type mechanism structural representation of the present invention.
Fig. 6 is support device structure schematic diagram of the present invention.
Fig. 7 is equipment structural representation of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
Be the all-hydraulic conveyer for emptying warehouse of a kind of center steering formula as shown in Figure 1, 2, comprise upper spider 1, lower bearing bracket 11, swing type mechanism 2, rotary main shaft 2-5, suspension apparatus 3, counter weight device 4, bracing or strutting arrangement 5 and equipment 6, described upper spider 1 is fixed with suspension apparatus 3 to be suspended in coal bunker, described upper spider 1 is supported by some bracing or strutting arrangement 5 horizontal homogeneous and is arranged on coal bunker sidewall, in the present invention, comprise three bracing or strutting arrangements 5 in a plane, and 120 °, uniform interval.Described upper spider 1 center vertically connects lower bearing bracket 11 by rotary main shaft 2-5, be parallel to each other between described upper spider 1 and lower bearing bracket 11, described lower bearing bracket 11 horizontal direction is provided with some equipments 6, in the present invention, comprise two equipments 6 in a plane, and 180 °, uniform interval.Described upper spider 1 or rotary main shaft 2-5 are provided with swing type mechanism 2, and described swing type mechanism 2 drives with lower bearing bracket 11 and is connected, and swing type mechanism 2 drives equipment 6 to horizontally rotate by lower bearing bracket 11.
As Fig. 3, described upper spider 1 comprises upper plate 1-1, upper bush 1-2 and upper gusset 1-4, described upper plate 1-1 is circular flat plate structure, described upper bush 1-2 is arranged on upper plate 1-1 center, described upper bush 1-2 and upper plate 1-1 is firm by gusset 1-4 on some well-distributeds, in the present invention, upper gusset 1-4 is three, and is uniformly distributed; Comprise some upper cylinder barrel permanent seat 1-3 and upper hydraulic actuating cylinder flange 1-5, described upper cylinder barrel permanent seat 1-3 and upper hydraulic actuating cylinder flange 1-5 one_to_one corresponding are evenly fixed on upper plate 1-1 face, described upper cylinder barrel permanent seat 1-3 is fixed on outside hydraulic actuating cylinder flange 1-5, in the present invention, upper cylinder barrel permanent seat 1-3 and upper hydraulic actuating cylinder flange 1-5 is three, and is uniformly distributed.
As Fig. 6, described bracing or strutting arrangement 5 comprises support hydraulic pressure oil cylinder 5-1, cylinder barrel fixed cap 5-2 successively by one end to the other end and supports arm head 5-3, described support hydraulic pressure oil cylinder 5-1 one end is connected with upper hydraulic actuating cylinder flange 1-5, described cylinder barrel fixed cap 5-2 and upper cylinder barrel permanent seat 1-3 is connected and fixed support hydraulic pressure oil cylinder 5-1, described support arm head 5-3 one end is connected with the other end piston rod of support hydraulic pressure oil cylinder 5-1, and the other end supports and is arranged on coal bunker sidewall.
As Fig. 4, described lower bearing bracket 11 comprises lower shoe 11-1, lower sleeve 11-2 and lower web plate 11-4, described lower shoe 11-1 is circular flat plate structure, described lower sleeve 11-2 is arranged on lower shoe 11-1 center, described lower sleeve 11-2 and lower shoe 11-1 is firm by some well-distributed lower web plate 11-4, in the present invention, lower web plate 11-4 is three, and is uniformly distributed; Comprise some lower cylinder barrel permanent seat 11-3 and lower hydraulic actuating cylinder flange 11-5, described lower cylinder barrel permanent seat 11-3 and lower hydraulic actuating cylinder flange 11-5 one_to_one corresponding are evenly fixed on lower shoe 11-1 face, described lower cylinder barrel permanent seat 11-3 is fixed on outside lower hydraulic actuating cylinder flange 11-5, in the present invention, lower cylinder barrel permanent seat 11-3 and lower hydraulic actuating cylinder flange 11-5 is three, and is uniformly distributed.
As Fig. 5, embodiment, described swing type mechanism 2 is fixed on upper spider 1, comprise motor sleeve 2-1 and low speed high torque hydraulic motor 2-2, described motor sleeve 2-1 is fixedly installed on upper spider 1, described low speed high torque hydraulic motor 2-2 and motor sleeve 2-1 is fixedly installed, and described rotary main shaft 2-5 is connected by a pair open type gear driving with between low speed high torque hydraulic motor 2-2.Concrete, described rotary main shaft 2-5 comprises rotary main shaft sleeve 2-4, described rotary main shaft sleeve 2-4 is connected with the lower sleeve 11-2 of lower bearing bracket 11, and described rotary main shaft sleeve 2-4 is connected by a pair open type gear driving with between low speed high torque hydraulic motor 2-2.This open type gear driving: comprise miniature gears 2-7 and big gear wheel 2-3, described miniature gears 2-7 is arranged on the output shaft of low speed high torque hydraulic motor 2-2, and described big gear wheel 2-7 is set on rotary main shaft sleeve 2-4.
As Fig. 7, described equipment 6 comprises working hydraulic pressure oil cylinder 6-1, work cylinder barrel fixed cap 6-2 and cutterhead 6-4 successively by one end to the other end, described working hydraulic pressure oil cylinder 6-1 one end is connected with lower hydraulic actuating cylinder flange 11-5, described work cylinder barrel fixed cap 6-2 and lower cylinder barrel permanent seat 11-3 is connected and fixed working hydraulic pressure oil cylinder 6-1, described cutterhead 6-4 one end is connected with the other end piston rod of working hydraulic pressure oil cylinder 6-1 by spring cotter 6-5, and the laminating of the cutterhead 6-4 other end is arranged on coal bunker sidewall.Described slide rail 6-3 is hinged on lower bearing bracket 11.
A method of work for the all-hydraulic conveyer for emptying warehouse of center steering formula, step is as follows:
During operation, the all-hydraulic conveyer for emptying warehouse of center steering formula connects suspension apparatus 3 by down-hole winch, complete machine is placed in coal bunker center, by the camera on equipment 6, complete machine is transferred to long-pending coal position; Then the bracing or strutting arrangement 5 be positioned on upper spider 1 works, and three hydraulic cylinder piston rods stretch out and make support arm head 5-3 that complete machine is supported on coal bunker inwall; Support after fixing, equipment 6 is started working, and two hydraulic rams stretch back and forth, by cutterhead 6-4, long-pending coal are smash pine; After long-pending coal smashes pine, swing type mechanism 2 is started working, and is rotated by the long-pending coal smashing pine and cuts off; After long-pending coal cleans out, by the long-pending coal of camera locking, make complete machine again transfer to next long-pending coal by down-hole winch and clear up.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1. the all-hydraulic conveyer for emptying warehouse of center steering formula, it is characterized in that: comprise upper spider (1), lower bearing bracket (11), swing type mechanism (2), rotary main shaft (2-5), suspension apparatus (3), counter weight device (4), bracing or strutting arrangement (5) and equipment (6), described upper spider (1) being fixed with suspension apparatus (3) is suspended in coal bunker, and described upper spider (1) is supported by some bracing or strutting arrangements (5) horizontal homogeneous and is arranged on coal bunker sidewall; Described upper spider (1) center vertically connects lower bearing bracket (11) by rotary main shaft (2-5), and described lower bearing bracket (11) horizontal direction is provided with some equipments (6); Described upper spider (1) or rotary main shaft (2-5) are provided with swing type mechanism (2), described swing type mechanism (2) drives with lower bearing bracket (11) and is connected, and swing type mechanism (2) drives equipment (6) to horizontally rotate by lower bearing bracket (11).
2. the all-hydraulic conveyer for emptying warehouse of a kind of center steering formula according to claim 1, it is characterized in that: described upper spider (1) comprises upper plate (1-1), upper bush (1-2) and upper gusset (1-4), described upper plate (1-1) is circular flat plate structure, described upper bush (1-2) is arranged on upper plate (1-1) center, and described upper bush (1-2) is firm by gusset (1-4) on some well-distributeds with upper plate (1-1); Comprise some upper cylinder barrel permanent seats (1-3) and upper hydraulic actuating cylinder flange (1-5), described upper cylinder barrel permanent seat (1-3) and upper hydraulic actuating cylinder flange (1-5) one_to_one corresponding are evenly fixed on upper plate (1-1) face, and described upper cylinder barrel permanent seat (1-3) is fixed on hydraulic actuating cylinder flange (1-5) outside.
3. the all-hydraulic conveyer for emptying warehouse of a kind of center steering formula according to claim 2, it is characterized in that: described bracing or strutting arrangement (5) comprises support hydraulic pressure oil cylinder (5-1) successively by one end to the other end, cylinder barrel fixed cap (5-2) and support arm head (5-3), described support hydraulic pressure oil cylinder (5-1) is connected with upper hydraulic actuating cylinder flange (1-5), described cylinder barrel fixed cap (5-2) is fixedly connected with upper cylinder barrel permanent seat (1-3), described support arm head (5-3) one end is connected with the piston rod of support hydraulic pressure oil cylinder (5-1), the other end supports and is arranged on coal bunker sidewall.
4. the all-hydraulic conveyer for emptying warehouse of a kind of center steering formula according to claim 1, it is characterized in that: described swing type mechanism (2) is fixed on upper spider (1), comprise motor sleeve (2-1) and low speed high torque hydraulic motor (2-2), described motor sleeve (2-1) is fixedly installed on upper spider (1), described low speed high torque hydraulic motor (2-2) and motor sleeve (2-1) are fixedly installed, be connected by a pair open type gear driving between described rotary main shaft (2-5) with low speed high torque hydraulic motor (2-2), described rotary main shaft (2-5) is connected with lower bearing bracket (11).
5. the all-hydraulic conveyer for emptying warehouse of a kind of center steering formula according to claim 1, it is characterized in that: described lower bearing bracket (11) comprises lower shoe (11-1), lower sleeve (11-2) and lower web plate (11-4), described lower shoe (11-1) is circular flat plate structure, described lower sleeve (11-2) is arranged on lower shoe (11-1) center, and described lower sleeve (11-2) is firm by some well-distributed lower web plates (11-4) with lower shoe (11-1); Comprise some lower cylinder barrel permanent seats (11-3) and lower hydraulic actuating cylinder flange (11-5), described lower cylinder barrel permanent seat (11-3) and lower hydraulic actuating cylinder flange (11-5) one_to_one corresponding are evenly fixed on lower shoe (11-1) face, and described lower cylinder barrel permanent seat (11-3) is fixed on lower hydraulic actuating cylinder flange (11-5) outside.
6. the all-hydraulic conveyer for emptying warehouse of a kind of center steering formula according to claim 5, it is characterized in that: described equipment (6) comprises working hydraulic pressure oil cylinder (6-1) successively by one end to the other end, work cylinder barrel fixed cap (6-2) and cutterhead (6-4), described working hydraulic pressure oil cylinder (6-1) is connected with lower hydraulic actuating cylinder flange (11-5), described work cylinder barrel fixed cap (6-2) is fixedly connected with lower cylinder barrel permanent seat (11-3), described cutterhead (6-4) one end is connected with the piston rod of working hydraulic pressure oil cylinder (6-1), other end laminating is arranged on coal bunker sidewall.
7. the all-hydraulic conveyer for emptying warehouse of a kind of center steering formula according to claim 4 or 5, it is characterized in that: described rotary main shaft (2-5) comprises rotary main shaft sleeve (2-4), described rotary main shaft sleeve (2-4) is connected with the lower sleeve (11-2) of lower bearing bracket (11), and described rotary main shaft sleeve (2-4) is connected by a pair open type gear driving with between low speed high torque hydraulic motor (2-2).
8. a method of work for the all-hydraulic conveyer for emptying warehouse of center steering formula, it is characterized in that, step is as follows:
During operation, the all-hydraulic conveyer for emptying warehouse of center steering formula connects suspension apparatus (3) by down-hole winch, complete machine is placed in coal bunker center, by the camera on equipment (6), complete machine is transferred to long-pending coal position;
Then be positioned at bracing or strutting arrangement (5) work on upper spider 1, three hydraulic cylinder piston rods stretch out and make support arm head (5-3) that complete machine is supported on coal bunker inwall;
Support after fixing, equipment (6) is started working, and two hydraulic rams stretch back and forth, by cutterhead (6-4), long-pending coal is smash pine;
After long-pending coal smashes pine, swing type mechanism (2) is started working, and is rotated by the long-pending coal smashing pine and cuts off;
After long-pending coal cleans out, by the long-pending coal of camera locking, make complete machine again transfer to next long-pending coal by down-hole winch and clear up.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510582328.3A CN105173445B (en) | 2015-09-14 | 2015-09-14 | A kind of all-hydraulic conveyer for emptying warehouse of center steering formula and its method of work |
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| CN201510582328.3A CN105173445B (en) | 2015-09-14 | 2015-09-14 | A kind of all-hydraulic conveyer for emptying warehouse of center steering formula and its method of work |
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| CN105173445B CN105173445B (en) | 2017-10-24 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108438957A (en) * | 2018-03-23 | 2018-08-24 | 福建工程学院 | A kind of unmanned cement library clearing machine of automatic intelligent |
| CN110589265A (en) * | 2019-10-30 | 2019-12-20 | 浙江量大智能科技有限公司 | Intelligent foot type walking coal bunker cleaning robot |
| CN110626646A (en) * | 2019-10-23 | 2019-12-31 | 石河子大学 | Hydraulic coal bunker cleaning device |
| CN110695011A (en) * | 2019-09-30 | 2020-01-17 | 太原科技大学 | Silo inner wall adhesion material cleaning device and cleaning method thereof |
| CN116532452A (en) * | 2023-07-06 | 2023-08-04 | 唐山冀东装备工程股份有限公司 | Warehouse cleaning robot |
| CN110626646B (en) * | 2019-10-23 | 2024-04-26 | 石河子大学 | Hydraulic coal bunker cleaning device |
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| CN103047866A (en) * | 2012-12-15 | 2013-04-17 | 大连华锐重工集团股份有限公司 | Slag removing machine for ore-smelting furnace |
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| US3599871A (en) * | 1969-07-08 | 1971-08-17 | Goodrich Co B F | Jet spray tank cleaner |
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| CN110695011A (en) * | 2019-09-30 | 2020-01-17 | 太原科技大学 | Silo inner wall adhesion material cleaning device and cleaning method thereof |
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| CN110626646B (en) * | 2019-10-23 | 2024-04-26 | 石河子大学 | Hydraulic coal bunker cleaning device |
| CN110589265A (en) * | 2019-10-30 | 2019-12-20 | 浙江量大智能科技有限公司 | Intelligent foot type walking coal bunker cleaning robot |
| CN116532452A (en) * | 2023-07-06 | 2023-08-04 | 唐山冀东装备工程股份有限公司 | Warehouse cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105173445B (en) | 2017-10-24 |
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