CN106002945B - 一种生态农业灌溉沟渠沟壁除垢智能机器人作业机械手 - Google Patents
一种生态农业灌溉沟渠沟壁除垢智能机器人作业机械手 Download PDFInfo
- Publication number
- CN106002945B CN106002945B CN201610471051.1A CN201610471051A CN106002945B CN 106002945 B CN106002945 B CN 106002945B CN 201610471051 A CN201610471051 A CN 201610471051A CN 106002945 B CN106002945 B CN 106002945B
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- CN
- China
- Prior art keywords
- sweeping
- sweep
- sliding block
- scratch
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000002262 irrigation Effects 0.000 title claims abstract description 29
- 238000003973 irrigation Methods 0.000 title claims abstract description 29
- 238000010408 sweeping Methods 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 238000007790 scraping Methods 0.000 claims abstract description 14
- 210000000078 claw Anatomy 0.000 claims description 24
- 238000006748 scratching Methods 0.000 claims description 18
- 230000002393 scratching effect Effects 0.000 claims description 18
- 239000000463 material Substances 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 9
- 229910001220 stainless steel Inorganic materials 0.000 claims description 8
- 239000010935 stainless steel Substances 0.000 claims description 8
- 230000002787 reinforcement Effects 0.000 claims description 3
- 241000282376 Panthera tigris Species 0.000 claims 1
- 210000003205 muscle Anatomy 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 28
- 238000004140 cleaning Methods 0.000 abstract description 9
- 230000033001 locomotion Effects 0.000 description 19
- 230000000694 effects Effects 0.000 description 10
- 238000010276 construction Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241000195493 Cryptophyta Species 0.000 description 1
- 208000028804 PERCHING syndrome Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000002917 arthritic effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 239000008235 industrial water Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
Abstract
Description
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201610471051.1A CN106002945B (zh) | 2016-06-23 | 2016-06-23 | 一种生态农业灌溉沟渠沟壁除垢智能机器人作业机械手 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610471051.1A CN106002945B (zh) | 2016-06-23 | 2016-06-23 | 一种生态农业灌溉沟渠沟壁除垢智能机器人作业机械手 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106002945A CN106002945A (zh) | 2016-10-12 |
CN106002945B true CN106002945B (zh) | 2017-11-24 |
Family
ID=57083806
Family Applications (1)
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---|---|---|---|
CN201610471051.1A Active CN106002945B (zh) | 2016-06-23 | 2016-06-23 | 一种生态农业灌溉沟渠沟壁除垢智能机器人作业机械手 |
Country Status (1)
Country | Link |
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CN (1) | CN106002945B (zh) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0620767B1 (en) * | 1991-08-19 | 1997-07-23 | ERIKSSON, Sven | Device for internal cleaning and/or treatment of long closed channels |
US6088865A (en) * | 1997-02-05 | 2000-07-18 | Trynex, Inc. | Vehicle mounted broom |
CN101440958A (zh) * | 2008-12-15 | 2009-05-27 | 天津大学 | 热媒炉用清灰除垢机器人 |
CN103286108A (zh) * | 2013-05-16 | 2013-09-11 | 泰安泰山工程机械股份有限公司 | 用于输送风流管道的清洁装置 |
CN105212845A (zh) * | 2015-11-10 | 2016-01-06 | 南京理工大学泰州科技学院 | 真空吸附式履带爬壁清洁机器人 |
CN105598978A (zh) * | 2016-02-03 | 2016-05-25 | 吴燕 | 一种基于混联结构的头部按摩机器人按摩执行装置 |
-
2016
- 2016-06-23 CN CN201610471051.1A patent/CN106002945B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0620767B1 (en) * | 1991-08-19 | 1997-07-23 | ERIKSSON, Sven | Device for internal cleaning and/or treatment of long closed channels |
US6088865A (en) * | 1997-02-05 | 2000-07-18 | Trynex, Inc. | Vehicle mounted broom |
CN101440958A (zh) * | 2008-12-15 | 2009-05-27 | 天津大学 | 热媒炉用清灰除垢机器人 |
CN103286108A (zh) * | 2013-05-16 | 2013-09-11 | 泰安泰山工程机械股份有限公司 | 用于输送风流管道的清洁装置 |
CN105212845A (zh) * | 2015-11-10 | 2016-01-06 | 南京理工大学泰州科技学院 | 真空吸附式履带爬壁清洁机器人 |
CN105598978A (zh) * | 2016-02-03 | 2016-05-25 | 吴燕 | 一种基于混联结构的头部按摩机器人按摩执行装置 |
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Publication number | Publication date |
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CN106002945A (zh) | 2016-10-12 |
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Inventor after: Zhu Lixiang Inventor before: Wu Yan |
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Effective date of registration: 20171024 Address after: 236800, 3, 207 crystal mansion, Qiaocheng District, Anhui, Bozhou Applicant after: Bozhou Woye Intellectual Property Service Co. Ltd. Address before: 246001, Anqing, Anhui Province, 1 South Jixian Road, Daguan building, seven floor, block C Applicant before: Anqing dandelion hydropower installation engineering Co., Ltd. |
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GR01 | Patent grant | ||
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Effective date of registration: 20190708 Address after: 402360 No. 174, Shuangta Road, Longgang Street, Dazu District, Chongqing, 2-18-18 Patentee after: Chongqing Huicheng Hengya Biotechnology Co., Ltd. Address before: 236800 3 building 207, Hai Jing building, Qiaocheng District, Bozhou, Anhui Patentee before: Bozhou Woye Intellectual Property Service Co. Ltd. |
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Effective date of registration: 20201013 Address after: 246500, Susong County, Anhui City, Anqing province Changling Town East Road Patentee after: ANHUI ZISHEN ECOLOGICAL AGRICULTURE AND FORESTRY INTEGRATION DEVELOPMENT Co.,Ltd. Address before: 402360 No. 174, Shuangta Road, Longgang Street, Dazu District, Chongqing, 2-18-18 Patentee before: Chongqing Huicheng Hengya Biotechnology Co.,Ltd. |