CN106065640A - A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot - Google Patents
A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot Download PDFInfo
- Publication number
- CN106065640A CN106065640A CN201610470801.3A CN201610470801A CN106065640A CN 106065640 A CN106065640 A CN 106065640A CN 201610470801 A CN201610470801 A CN 201610470801A CN 106065640 A CN106065640 A CN 106065640A
- Authority
- CN
- China
- Prior art keywords
- walking
- sweep
- sweeping
- sweeps
- scratch
- 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.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 50
- 238000010408 sweeping Methods 0.000 claims abstract description 69
- 238000007790 scraping Methods 0.000 claims abstract description 16
- 238000006748 scratching Methods 0.000 claims description 25
- 230000002393 scratching effect Effects 0.000 claims description 25
- 210000000078 claw Anatomy 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 17
- 229910001220 stainless steel Inorganic materials 0.000 claims description 8
- 239000010935 stainless steel Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 238000007373 indentation Methods 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims 1
- 210000003205 muscle Anatomy 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 8
- 230000006872 improvement Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000014616 translation Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000006742 locomotor activity Effects 0.000 description 2
- 238000005086 pumping Methods 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
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 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
- 239000010865 sewage Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- 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
- E02F5/285—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with drag buckets or scraper plates
-
- 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
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Abstract
The present invention relates to a kind of hydraulic engineering water delivery ditch furrow bank and sweep robot, including crawler unit, running gear system, electrical turntable, Stewart parallel institution with scrape sweeping device, running gear system is respectively symmetrically and is arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, Stewart parallel institution is at electrical turntable and scrapes between sweeping device, and Stewart parallel institution lower end is connected with electrical turntable, Stewart parallel institution upper end is connected with scraping sweeping device.The present invention integrates walking movement, orientation regulates, furrow bank scratches and revolves, with furrow bank, several functions such as sweeping, water delivery ditch furrow bank in hydraulic engineering can be moved formula and sweep prune job, and speed is fast, position adjustments is flexible, intelligence degree is high, it is high to sweep cleaning efficiency to sweep cleaning, solves and the most manually sweep cleaning the amount of labour is big, efficiency is low and high in cost of production problem.
Description
Technical field
The present invention relates to hydraulic engineering furrow bank cleaning mechanical field, a kind of hydraulic engineering water delivery ditch furrow bank is scraped
Sweep robot.
Background technology
Along with socioeconomic development, the people's livelihood engineering such as urban construction, transport development, agricultural construction and water conservancy construction is more come
More being paid close attention to by various circles of society, government is the most increasing to the input in terms of these, and engineering construction in this respect is also everywhere
Bloom, be seen everywhere, but the people's livelihood engineerings such as urban construction, transport development, agricultural construction and water conservancy construction all can relate to
One piece, that is, the layout of water supply and sewerage system is reserved and builds, such as agricultural irrigation, Hydraulic and Hydro-Power Engineering, municipal works,
Garden Engineering, house Water and Waste Water Engineering, sewage treatment project, chemical enterprise emission engineering, urban traffic road construction project,
All can relate to water delivery escape canal in urbanite water consumption engineering etc. engineering, the effect of water delivery escape canal is mainly used in rainwater sky
The discharge of gas and at ordinary times Living Industry water and the long-distance conveying of various water；But, due to domestic water, agricultural water and
Water for industrial use all exists mineral, is therefore formed large-area through accumulation for a long time on water delivery escape canal two medial wall
Incrustation scale, in addition, due to some aquatic organism or the effect of algae in water so that the easiest shape on water delivery escape canal medial wall
Becoming the attached waters such as moss biological, the formation of incrustation scale and attached water biology is easily caused water delivery escape canal overall width and narrows, and holds
Easily cause the blocking of water delivery escape canal；Therefore, these water delivery escape canals are needed periodically to carry out the daily dimension of cleaning dredging
Protect, but, the most employings are artificial uses shovel spade or perching knife to carry out scratching loose flushing operation, due in water delivery escape canal
Sidewall is on vertical, and labor cleaning is inconvenient, occupies substantial amounts of labour force, and it is big to scratch loose quantities, and cost is high,
Efficiency is low, in addition, owing to often bending over to carry out prune job, is easily caused the arthritic conditions such as workman's lumbar vertebra cervical vertebra.Mirror
In this, the invention provides a kind of hydraulic engineering water delivery ditch furrow bank and sweep robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of hydraulic engineering water delivery ditch furrow bank and sweep robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot, including crawler unit, running gear system, electric rotating
Platform, Stewart parallel institution and scrape sweeping device；Described running gear system quantity is four, and running gear system is the most right
Claiming to be arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, and electric rotating
Platform is connected with crawler unit, and Stewart parallel institution is at electrical turntable and scrapes between sweeping device, and Stewart is in parallel
Mechanism lower end is connected with electrical turntable, and Stewart parallel institution upper end is connected with scraping sweeping device.
As a further improvement on the present invention, described crawler unit includes chassis, drives motor, drive shaft, OK
Walk belt wheel, tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking
Belt wheel quantity is four；Described chassis is in rectangular configuration, and rear and front end, chassis offers mounting groove respectively, drives motor solid respectively
Be scheduled on before and after chassis in the mounting groove of both sides, and drive motor to use Biaxial synchronous output motor, drive shaft one end with drive electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel
Being fixed, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle anti-skidding outside traveling crawler
Bar.
As a further improvement on the present invention, described running gear system includes walk fixed plate, walking slide rail, walking
Slide block, walking ear mount, rotating shaft, mobile roof support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motors
Frame, walking axle and walking runner；Described walking slide rail is fixed on walking fixed plate lower surface, and walking slide block is arranged on walking
On slide rail, and walking upper end of slide block is concave structure, and walking slide block lower end is the U-shape structure stood upside down, and walking ear mount is positioned at walking
Sliding rail rear end position, and walking ear mount is connected with walking fixed plate, mobile roof support upper end is by a rotating shaft and walking ear mount
Being connected, be provided with walking connecting rod at mobile roof support medium position, walking support bar one end is sliding with walking by No. two rotating shafts
Block lower end is connected, and the walking support bar other end is connected with the walking connecting rod in the middle part of mobile roof support by moving block, and row
Walking support bar is pneumatic telescopic structure, and movable motor is fixed on mobile roof support lateral wall by movable motor frame, and row
Walking electric machine main shaft to be connected with walking axle, walking axle two ends are separately fixed on the medial wall, left and right of mobile roof support lower end, walking
Runner is arranged at walking axle medium position.
When the present invention advances, when walking in flat road surface, by the motion laterally on walking slide rail of the walking slide block
Drive walking support bar stretching the most laterally, and walking support bar links with mobile roof support, thus drive walking
Frame carries out rotary motion laterally counterclockwise with rotating shaft for center of rotation, when on walking rotatable wheel contacts ground, and whole crawler belt
Running gear separates with ground, is in and is lifted dummy status, is driven the rotation of walking runner by movable motor simultaneously, it is achieved
The walking of running gear system is moved, and the speed of travel is fast, overcomes the problem that the crawler unit speed of travel is slow；Work as chance
During to hogwallow, received inside walking support bar clockwise direction by walking slide block driving to medial motion on walking slide rail
Contracting motion, and walk support bar and mobile roof support linkage, thus drive mobile roof support to carry out suitable with a rotating shaft for center of rotation
Hour hands inside side rotary motion, it is achieved that the contraction of running gear system, when runner of walking departs from ground, whole crawler travel
Device contacts with ground, by driving the rotation rotating drive treads wheel of motor, thus drives the motion of traveling crawler, carries out
It is mainly used in the walking of the present invention, movement with running gear and turns to, and crawler unit is by using track structure more
Add the walking being easy to hollow physical features ground condition so that the suitability of the present invention is higher；Filled by crawler unit and running on wheels
The cooperation conversion put, improves the locomotor activity of the present invention.
As a further improvement on the present invention, described Stewart parallel institution include fixed platform, moving platform, connection seat,
Upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are
Three, the quantity of upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge is six, and described fixed platform and moving platform are all in circle
Shape and structure, moving platform is positioned at directly over fixed platform, connects seat and is arranged on the upper surface of fixed platform, and connects seat at fixed platform
On in equilateral triangle location arrangements, Triangulum is arranged on moving platform lower surface, and connects the installation position between seat and Triangulum
Putting and interlock two-by-two, and Triangulum is equilateral triangle column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclination
Face, inclined plane offers the installation screwed hole matched with lower spherical hinge lower end external screw thread, and electric pushrod bottom is by upper ball
Hinge is connected with being connected seat, and electric pushrod top is connected with block plate seat lower end, block plate seat upper end and lower spherical hinge one end phase
Connecting, the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within electric pushrod, and limit spring one end is with electric
Dynamic push rod is connected, and the limit spring other end is connected with block plate seat；By the stretching motion up and down of electric pushrod, thus drive
Pumping of moving platform, and the stationarity of moving platform is added by limit spring, the present invention uses 6-SPS's
Stewart parallel institution, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, Stewart
Parallel institution can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and motion flexibility is good, motion sky
Between little, movement velocity is fast, kinematic dexterity good, is applied in the present invention by Stewart parallel institution, on the one hand serve scraping
Sweeping device orientation angles integrally-regulated, it is simple to the various attitude of the present invention is comprehensive sweeps cleaning to hydraulic engineering water delivery ditch furrow bank
The carrying out of operation, it is achieved that the function of flexible prune job, another aspect serves the effect of damping to scraping sweeping device so that scrape
Sweeping device is in horizontal plateau under the present invention walks jounce condition all the time, prevents that jitter is excessive to be swept scraping sweeping device
Operation produces impact.
As a further improvement on the present invention, described sweeping device of scraping includes sweeping turntable, sweeps bearing, sweeps hydraulic pressure
Cylinder, mobile scraper, sweep guide cylinder, sweep expansion link, sweep lock, stretch spring, scratch device and rotation sweeping device；Described
Sweep bearing to be positioned at and sweep directly over turntable, and sweep bearing and sweep turntable and be connected, sweep bearing in the T-type structure stood upside down,
Sweep and be provided with reinforcement at bearing medium position, sweep hydraulic cylinder and lay respectively at and sweep the bearing left and right sides, and sweep hydraulic pressure
Cylinder is linearly equally spaced along the longitudinal center's axis sweeping bearing, sweeps hydraulic cylinder rear end and is connected with sweeping bearing, scrapes
Sweep hydraulic cylinder front end and mobile scraper is installed, sweep hydraulic cylinder and use two grades of telescopic hydraulic cylinders, sweep and be fixed in the middle part of guide cylinder
Sweep on hydraulic cylinder, sweep expansion link one end and be fixed on and sweep hydraulic cylinder rear end, sweep the expansion link other end and be fixed on mobile scraping
On plate rear end face, stretching spring is sweeping between bearing and mobile scraper, and stretching spring one end is by sweeping lock and scraping
Sweep bearing to be connected, be connected by sweeping lock between the stretching spring other end and mobile scraper rear end face, scratch device position
In mobile scraper outside front ends position, rotation sweeping device is positioned at and scratches device dead astern；During operation, first clear away reason according to be doctored
The furrow width of hydraulic engineering water delivery ditch regulate the present invention sweep diameter, come particular by the stretching motion sweeping hydraulic cylinder
Drive mobile scraper shrink to inner side and uphold laterally, thus change the present invention sweep diameter, it is simple to the present invention is applicable to
The hydraulic engineering water delivery ditch of different in width sweep operation, and by sweep guide cylinder and sweep expansion link with the use of to scraping
Sweeping hydraulic cylinder extension motion and serve certain supporting role, stretching spring serves support to the stretching motion sweeping hydraulic cylinder
With spacing effect.
As a further improvement on the present invention, the described device that scratches includes scratching slide rail, scratching slide block and scratch cutter claw；
The described slide rail quantity that scratches is two, and scratches slide rail and be respectively symmetrically along longitudinal center's axis of mobile scraper and be arranged in mobile scraping
Upper and lower two ends outside plate, scratch slide rail rear and front end and are respectively arranged with and scratch block, and the cross section transverse scratching slide block is I shape
Structure, scratches slide block and is arranged on and scratches on slide rail, scratches cutter claw quantity no less than five, scratches cutter claw along the longitudinal direction side scratching slide block
To being evenly arranged, scratch cutter claw bottom and be fixed on and scratch on slide block, and scratch cutter claw rear end and be provided with and scratch tool rest, scratch tool rest
Trapezoidal structure, scratching cutter claw front end and being provided with scraper, scraper indentation structure, and scraper material is stainless steel material；Logical
Cross scratch slide block scratch on slide rail moving back and forth drive scratch moving back and forth back and forth of cutter claw, scratch cutter claw and water conservancy
Produce mobile friction between engineering water delivery ditch furrow bank, thus carry out the foreign material dirt on water delivery ditch furrow bank scratching loose and breaking
Broken, and use jagged scratch cutter claw improve scratch device scratch cleaning furrow bank performance capacity.
As a further improvement on the present invention, described rotation sweeping device includes that rotating disk and rotation brush are swept in rotation；Described rotation is swept
Rotating disk rear end is fixed in mobile scraper end face outside, and rotation is swept rotating disk front end and is provided with rotation brush, and rotation brush rear end is provided with rotation
Brush seat, rotation brush front end is provided with brush, and brush is equidistantly evenly arranged along rotation brush seat, and brush top end is provided with point
Head, brush material is stainless steel material；Swept the rotation rotating drive rotation brush of rotating disk by rotation, the brush of rotation brush uses point
The stainless steel material of head is made, and has good sharpness, revolves the water delivery ditch ditch after sweeping device can scratch to scratching device
Wall carries out secondary rotation and sweeps prune job so that it is more clean thorough that water delivery ditch furrow bank is cleared up.
Compared with prior art, the invention have the advantages that
(1) present invention integrates walking movement, orientation regulates, furrow bank scratches and revolves, with furrow bank, several functions such as sweeping, can be right
Water delivery ditch furrow bank in hydraulic engineering moves formula and sweeps prune job, and sweep that cleaning speed is fast, position adjustments flexibly, intelligence
Can change that degree is high, it is high to sweep cleaning efficiency, solve and the most manually sweep cleaning the amount of labour is big, efficiency is low and high in cost of production is asked
Topic.
(2) crawler unit and the running gear system of the present invention coordinates conversion to use, and changes convenient and swift, can fit
The walking of Ying Yu differently condition, crawler unit is mainly used in the walking of hogwallow, and running gear system is mainly used in putting down
The walking on smooth ground, the speed of travel is fast.
(3) present invention uses the Stewart parallel institution of 6-SPS, big with serial mechanism phase specific stiffness, and Stability Analysis of Structures is held
Loading capability is strong and fine motion precision is high, and Stewart parallel institution can carry out three translations three in space and rotate six-freedom degree side altogether
To motion, on the one hand serve sweeping the integrally-regulated of tool face azimuth angle, it is simple to the various attitude of the present invention is comprehensive right
Hydraulic engineering water delivery ditch furrow bank sweeps the carrying out of prune job, it is achieved that the function of flexible prune job, on the other hand to sweeping
Device serves the effect of damping so that scrapes sweeping device and is in horizontal plateau under the present invention walks jounce condition all the time,
Prevent jitter excessive on scrape sweeping device sweep operation produce impact.
(4) the scraping sweeping device and can carry out a translation one in space and rotate the motion in totally two degree of freedom directions of the present invention,
And it is adjustable to sweep overall operation diameter, it is simple to what the present invention was applicable to the hydraulic engineering water delivery ditch of different in width sweeps operation, suitable
Wide with object, performance capacity is strong；Foreign material dirt on furrow bank can once be scratched loose and broken by scratching device by it
Broken, the furrow bank after can being scratched scratching device by rotation sweeping device is carried out secondary rotation and sweeps prune job so that furrow bank is cleared up more
Add clean thorough.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is perspective view when crawler unit of the present invention and running gear system cooperation；
Fig. 3 is the perspective view of running gear system of the present invention；
Fig. 4 is perspective view when Stewart parallel institution of the present invention and cleaning plant cooperation；
Fig. 5 is the perspective view of Stewart parallel institution of the present invention；
Fig. 6 is the perspective view that the present invention scrapes sweeping device；
Fig. 7 is the perspective view that the present invention scratches when device, rotation sweeping device and mobile scraper coordinate.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 7, a kind of hydraulic engineering water delivery ditch furrow bank sweeps robot, including crawler unit, wheeled
Running gear, electrical turntable, Stewart parallel institution and scrape sweeping device；Described running gear system quantity is four, and wheeled
Running gear is respectively symmetrically and is arranged in the crawler unit left and right sides, and electrical turntable is positioned at crawler unit upper end center position
Putting place, and electrical turntable is connected with crawler unit, Stewart parallel institution is at electrical turntable and scrapes between sweeping device,
And Stewart parallel institution lower end is connected with electrical turntable, Stewart parallel institution upper end is connected with scraping sweeping device.
As in figure 2 it is shown, described crawler unit 1 includes chassis 11, drives motor 12, drive shaft 13, walking belt wheel
14, tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be two, drive shaft
13 and walking belt wheel 14 quantity be four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 offers mounting groove respectively,
Drive motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and drive motor 12 to use Biaxial synchronous output electricity
Machine, drive shaft 13 one end is connected with driving motor 12 output shaft, and drive shaft 13 other end is connected with walking belt wheel 14, and drives
Being fixed by tight locking button 15 between moving axis 13 and walking belt wheel 14, traveling crawler 16 two ends are rotating around being enclosed within walking belt wheel 14
On, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, described running gear system 2 includes that walking fixed plate 21, walking slide rail 22, walking are slided
Block 23, walking 24, rotating shaft 25 of ear mount, 26, No. two rotating shafts 27 of mobile roof support, walking support bar 28, moving block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；Described walking slide rail 22 is fixed on walking fixed plate 21
On lower surface, walking slide block 23 is arranged on walking slide rail 22, and walking slide block 23 upper end is concave structure, walking slide block 23 times
The U-shape structure for standing upside down, walking ear mount 24 is held to be positioned at walking slide rail 22 back-end location, and walk ear mount 24 and walking fixed plate
21 are connected, and mobile roof support 26 upper end is connected with walking ear mount 24 by a rotating shaft 25, sets at mobile roof support 26 medium position
Being equipped with walking connecting rod, walking support bar 28 one end is connected with walking slide block 23 lower end by No. two rotating shafts 27, and walking supports
Bar 28 other end is connected with the walking connecting rod in the middle part of mobile roof support 26 by moving block 29, and walking support bar 28 is pneumatic
Telescopic structure, movable motor 210 is fixed on mobile roof support 26 lateral wall by movable motor frame 211, and movable motor
210 main shafts are connected with walking axle 212, and walking axle 212 two ends are separately fixed on the medial wall, left and right of mobile roof support 26 lower end,
Walking runner 213 is arranged at walking axle 212 medium position.
As shown in Figure 1 to Figure 3, when the present invention advances, when walking in flat road surface, sliding in walking by walking slide block 23
Motion laterally on rail 22 drives walking support bar 28 stretching the most laterally, and walk support bar 28 and walking
Frame 26 links, thus drives mobile roof support 26 to carry out rotary motion laterally counterclockwise with a rotating shaft 25 for center of rotation, when
Walking runner 213 contacts on ground, and whole crawler unit 1 separates with ground, is in and is lifted dummy status, passes through simultaneously
Movable motor 210 drives the rotation of walking runner 213, it is achieved that the walking of running gear system 2 is moved, and the speed of travel is fast,
Overcome the problem that crawler unit 1 speed of travel is slow；When running into hogwallow, by walking slide block 23 at walking slide rail
Contractile motion inside medial motion drive walking support bar 28 clockwise direction on 22, and walk support bar 28 and mobile roof support
26 linkages, thus drive mobile roof support 26 to carry out rotary motion inside clockwise direction with a rotating shaft 25 for center of rotation, it is achieved
The contraction of running gear system 2, when runner 213 of walking departs from ground, whole crawler unit 1 contacts with ground, leads to
That overdrives motor 12 rotates the rotation driving treads wheel 14, thus drives the motion of traveling crawler 16, crawler unit 1
It is mainly used in the walking of the present invention, movement and turns to, and crawler unit 1 is by using track structure to easily facilitate hollow
The walking of physical features ground condition so that the suitability of the present invention is higher；By crawler unit 1 and the cooperation of running gear system 2
Conversion, improves the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, described Stewart parallel institution 4 include fixed platform 41, moving platform 42, connect seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；Described connection seat 43
Being three with Triangulum 48 quantity, the quantity of upper spherical hinge 44, electric pushrod 45, block plate seat 46 and lower spherical hinge 47 is six, institute
The fixed platform 41 stated and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at directly over fixed platform 41, connects seat 43 and installs
On the upper surface of fixed platform 41, and connecting seat 43 on fixed platform 41 in equilateral triangle location arrangements, Triangulum 48 is arranged on
On moving platform 42 lower surface, and the installation site connected between seat 43 and Triangulum 48 is interlocked two-by-two, and Triangulum 48 is in positive three
Dihedral column structure, Triangulum 48 is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and lower ball
The installation screwed hole that hinge 47 lower end external screw thread matches, electric pushrod 45 bottom is connected with being connected seat 43 by upper spherical hinge 44
Connecing, electric pushrod 45 top is connected with block plate seat 46 lower end, and block plate seat 46 upper end is connected with lower spherical hinge 47 one end, lower ball
Hinge 47 other end is arranged on Triangulum 48, limit spring 49 around being enclosed within electric pushrod 45, and limit spring 49 one end with
Electric pushrod 45 is connected, and limit spring 49 other end is connected with block plate seat 46；By the flexible up and down fortune of electric pushrod 45
Dynamic, thus drive pumping of moving platform 42, and the stationarity of moving platform 42 is added by limit spring 49, this
The Stewart parallel institution 4 of bright employing 6-SPS, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion
Precision is high, and Stewart parallel institution 4 can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and fortune
Dynamic flexible, space is little, movement velocity is fast, kinematic dexterity is good, Stewart parallel institution 4 is applied in the present invention,
On the one hand serve scraping the integrally-regulated of sweeping device 5 orientation angles, it is simple to the various attitude of the present invention is comprehensive to hydraulic engineering
Water delivery ditch furrow bank sweeps the carrying out of prune job, it is achieved that the function of flexible prune job, on the other hand plays scraping sweeping device 5
The effect of damping so that scrape sweeping device 5 and be in horizontal plateau under the present invention walks jounce condition all the time, prevents shake
Property excessive on scrape sweeping device 5 sweep operation produce impact.
As shown in Figure 6 and Figure 7, described scrape sweeping device 5 include sweeping turntable 51, sweep bearing 52, sweep hydraulic cylinder 53,
Mobile scraper 54, sweep guide cylinder 55, sweep expansion link 56, sweep lock 57, stretching spring 58, scratch device 59 and dress is swept in rotation
Put 510；The described bearing 52 that sweeps is positioned at and sweeps directly over turntable 51, and sweeps bearing 52 and sweep turntable and 51 be connected, and sweeps
Bearing 52, in the T-type structure stood upside down, sweeps and is provided with reinforcement at bearing 52 medium position, sweeps hydraulic cylinder 53 and lays respectively at and scrape
Sweep bearing 52 left and right sides, and sweep hydraulic cylinder 53 and be linearly equally spaced along the longitudinal center's axis sweeping bearing 52, scrape
Sweep hydraulic cylinder 53 rear end to be connected with sweeping bearing 52, sweep hydraulic cylinder 53 front end and mobile scraper 54 is installed, sweep hydraulic cylinder
53 use two grades of telescopic hydraulic cylinders, sweep to be fixed in the middle part of guide cylinder 55 and sweep on hydraulic cylinder 53, sweep expansion link 56 one end solid
It is scheduled on and sweeps hydraulic cylinder 53 rear end, sweep expansion link 56 other end and be fixed on mobile scraper 54 rear end face, stretch 58, spring
In sweeping between bearing 52 and mobile scraper 54, and stretching spring 58 one end is by sweeping lock 57 and sweeping bearing and 52 be connected
Connect, be connected by sweeping lock 57 between stretching spring 58 other end and mobile scraper 54 rear end face, scratch device 59 and be positioned at
Mobile scraper 54 outside front ends position, rotation sweeping device 510 is positioned at and scratches device 59 dead astern；During operation, first according to be doctored
The furrow width of the hydraulic engineering water delivery ditch clearing away reason sweeps diameter, particular by sweeping stretching of hydraulic cylinder 53 to regulate the present invention
Contracting campaign drives mobile scraper 54 shrink to inner side and uphold laterally, thus change the present invention sweep diameter, it is simple to this
Invention is applicable to the operation that sweeps of the hydraulic engineering water delivery ditch of different in width, and by sweeping guide cylinder 55 and sweeping expansion link 56
With the use of serving certain supporting role to sweeping hydraulic cylinder 53 stretching motion, stretching spring 58 is to sweeping hydraulic cylinder 53
Stretching motion serve and support and spacing effect.
As shown in Figure 6 and Figure 7, the described device 59 that scratches includes scratching slide rail 591, scratching slide block 592 and scratch cutter claw
593；Described slide rail 591 quantity that scratches is two, and scratches slide rail 501 and be respectively symmetrically along longitudinal center's axis of mobile scraper 54
It is arranged in upper and lower two ends outside mobile scraper 54, scratches slide rail 591 rear and front end and be respectively arranged with and scratch block, scratch slide block
The cross section transverse of 592 is I-shaped structure, scratches slide block 592 and is arranged on and scratches on slide rail 591, scratches cutter claw 593 quantity many
In five, scratch cutter claw 593 and be evenly arranged along the longitudinal direction scratching slide block 592, scratch cutter claw 593 bottom and be fixed on and scratch slide block
On 592, and scratch cutter claw 593 rear end and be provided with and scratch tool rest, scratch the trapezoidal structure of tool rest, scratch cutter claw 593 front end and arrange
Having scraper, scraper indentation structure, and scraper material is stainless steel material；Scratching on slide rail 591 by scratching slide block 592
The drive that moves back and forth scratch moving back and forth back and forth of cutter claw 593, scratch cutter claw 593 and hydraulic engineering water delivery ditch furrow bank it
Between produce mobile friction, thus carry out the foreign material dirt on water delivery ditch furrow bank scratching loose and broken, and use zigzag
Scratch cutter claw 593 improve scratch device 59 scratch cleaning furrow bank performance capacity.
As shown in Figure 6 and Figure 7, described rotation sweeping device 510 includes that rotating disk 5101 and rotation brush 5102 are swept in rotation；Described rotation
Sweeping rotating disk 5101 rear end to be fixed in mobile scraper 52 end face outside, rotation is swept rotating disk 5101 front end and is provided with rotation brush 5102, rotation
Brush 5102 rear end is provided with rotation brush seat, and rotation brush 5102 front end is provided with brush, and brush is the most equal along rotation brush seat
Even layout, brush top end is provided with tip, and brush material is stainless steel material；The rotation being swept rotating disk 5101 by rotation drives rotation
The rotation of brush 5102, the brush of rotation brush 5102 uses the stainless steel material of cusp-shaped to make, has good sharpness,
Rotation sweeping device 510 can scratch scratching device 59 after water delivery ditch furrow bank carry out secondary rotation sweep prune job so that water delivery ditch ditch
It is more clean thorough that wall is cleared up.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (3)
1. a hydraulic engineering water delivery ditch furrow bank sweeps robot, it is characterised in that: include that crawler unit, running on wheels fill
Put, electrical turntable, Stewart parallel institution and scrape sweeping device；Described running gear system quantity is four, and running on wheels dress
Putting to be respectively symmetrically and be arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position,
And electrical turntable is connected with crawler unit, Stewart parallel institution is at electrical turntable and scrapes between sweeping device, and
Stewart parallel institution lower end is connected with electrical turntable, and Stewart parallel institution upper end is connected with scraping sweeping device；Wherein:
Described running gear system includes walk fixed plate, walking slide rail, walking slide block, walking ear mount, rotating shaft, a walking
Support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motor frame, walk axle and walking runners；Described row
Walking slide rail to be fixed on walking fixed plate lower surface, walking slide block is arranged on walking slide rail, and walking upper end of slide block is matrix
Structure, walking slide block lower end be stand upside down U-shape structure, walking ear mount be positioned at walking sliding rail rear end position, and walking ear mount with
Walking fixed plate is connected, and mobile roof support upper end is connected with walking ear mount by a rotating shaft, sets at mobile roof support medium position
Being equipped with walking connecting rod, walking support bar one end is connected with slide block lower end of walking by No. two rotating shafts, walk support bar another
End is connected with the walking connecting rod in the middle part of mobile roof support by moving block, and walking support bar is pneumatic telescopic structure,
Movable motor is fixed on mobile roof support lateral wall by movable motor frame, and movable motor main shaft is connected, OK with walking axle
Walking axle two ends to be separately fixed on the medial wall, left and right of mobile roof support lower end, walking runner is arranged at walking axle medium position；
Described Stewart parallel institution include fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat, under
Spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, block plate seat
Being six with the quantity of lower spherical hinge, described fixed platform and moving platform the most rounded shape structure, moving platform is just being positioned at fixed platform
Top, connects seat and is arranged on the upper surface of fixed platform, and connects seat on fixed platform in equilateral triangle location arrangements, Triangulum
It is arranged on moving platform lower surface, and the installation site connected between seat and Triangulum is interlocked two-by-two, and Triangulum is positive triangle
Shape column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and lower spherical hinge
The installation screwed hole that lower end external screw thread matches, electric pushrod bottom is connected with being connected seat by upper spherical hinge, electric pushrod
Top is connected with block plate seat lower end, and block plate seat upper end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on three
In angled seat, limit spring is around being enclosed within electric pushrod, and limit spring one end is connected with electric pushrod, the limit spring other end
It is connected with block plate seat；
Described sweeping device of scraping includes sweeping turntable, sweeps bearing, sweeps hydraulic cylinder, mobile scraper, sweeps guide cylinder, sweeps and stretch
Contracting bar, sweep lock, stretch spring, scratch device and rotation sweeping device；The described bearing that sweeps is positioned at and sweeps directly over turntable, and
Sweep bearing with sweep turntable be connected, sweep bearing in stand upside down T-type structure, sweep and be provided with reinforcement at bearing medium position
Muscle, sweeps hydraulic cylinder and lays respectively at and sweep the bearing left and right sides, and sweep hydraulic cylinder along sweep longitudinal center's axis of bearing in
Straight line is equally spaced, and sweeps hydraulic cylinder rear end and is connected with sweeping bearing, sweeps hydraulic cylinder front end and is provided with mobile scraper, scrapes
Sweep hydraulic cylinder and use two grades of telescopic hydraulic cylinders, sweep to be fixed in the middle part of guide cylinder and sweep on hydraulic cylinder, sweep expansion link one end solid
Being scheduled on and sweep hydraulic cylinder rear end, sweep the expansion link other end and be fixed on mobile scraper rear end face, stretching spring is positioned to sweep and props up
Seat and mobile scraper between, and stretching spring one end be connected with sweeping bearing by sweeping lock, stretching the spring other end with
Being connected by sweeping lock between mobile scraper rear end face, scratch device and be positioned at mobile scraper outside front ends position, rotation is swept
Device is positioned at and scratches device dead astern；
The described device that scratches includes scratching slide rail, scratching slide block and scratch cutter claw；The described slide rail quantity that scratches is two, and scrapes
Draw slide rail to be respectively symmetrically along longitudinal center's axis of mobile scraper and be arranged in upper and lower two ends outside mobile scraper, before and after scratching slide rail
Two ends are respectively arranged with and scratch block, and the cross section transverse scratching slide block is I-shaped structure, scratch slide block and are arranged on and scratch slide rail
On, scratch cutter claw quantity and be no less than five, scratch cutter claw and be evenly arranged along the longitudinal direction scratching slide block, scratch cutter claw bottom and fix
Scratching on slide block, and scratching cutter claw rear end and be provided with and scratch tool rest, scratching the trapezoidal structure of tool rest, scratch cutter claw front end and arrange
Having scraper, scraper indentation structure, and scraper material is stainless steel material.
A kind of hydraulic engineering water delivery ditch furrow bank the most according to claim 1 sweeps robot, it is characterised in that: described shoe
Band running gear includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives motor, locking
The quantity of button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；Described chassis is in rectangular configuration, before chassis
Rear two ends offer mounting groove respectively, drive motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor to adopt
Biaxial synchronous output motor, drive shaft one end is used to be connected with driving motor output shaft, the drive shaft other end and walking belt wheel phase
Connecting, and be fixed by tight locking button between drive shaft and walking belt wheel, traveling crawler two ends are rotating around being enclosed within walking belt wheel
On, and outside traveling crawler, it is evenly arranged with semicircle tread plate.
A kind of hydraulic engineering water delivery ditch furrow bank the most according to claim 1 sweeps robot, it is characterised in that: described rotation
Sweeping device includes that rotating disk and rotation brush are swept in rotation；Described rotation is swept rotating disk rear end and is fixed in mobile scraper end face outside, and rotation is swept and turned
Dish front end is provided with rotation brush, and rotation brush rear end is provided with rotation brush seat, and rotation brush front end is provided with brush, and brush is swept along rotation
Brush holder is equidistantly evenly arranged, and brush top end is provided with tip, and brush material is stainless steel material.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470801.3A CN106065640B (en) | 2016-06-23 | 2016-06-23 | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot |
| CN201810045549.0A CN107938744B (en) | 2016-06-23 | 2016-06-23 | Scraping and sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610470801.3A CN106065640B (en) | 2016-06-23 | 2016-06-23 | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810045549.0A Division CN107938744B (en) | 2016-06-23 | 2016-06-23 | Scraping and sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106065640A true CN106065640A (en) | 2016-11-02 |
| CN106065640B CN106065640B (en) | 2017-12-19 |
Family
ID=57420576
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610470801.3A Active CN106065640B (en) | 2016-06-23 | 2016-06-23 | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot |
| CN201810045549.0A Active CN107938744B (en) | 2016-06-23 | 2016-06-23 | Scraping and sweeping robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810045549.0A Active CN107938744B (en) | 2016-06-23 | 2016-06-23 | Scraping and sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN106065640B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585759A (en) * | 2016-12-26 | 2017-04-26 | 徐州乐泰机电科技有限公司 | Novel mobile type double-arm robot |
| CN113731976A (en) * | 2021-08-20 | 2021-12-03 | 李鹏燕 | Effluent water sump cleaning device |
| CN115573416A (en) * | 2022-09-19 | 2023-01-06 | 江苏四通路桥工程有限公司 | Automatic cleaning equipment for highway drainage side ditch |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112758200B (en) * | 2021-02-04 | 2022-09-09 | 深圳市壹通道科技有限公司 | 5G message intelligent robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3545003B2 (en) * | 1993-02-15 | 2004-07-21 | 日立建機株式会社 | Electronic control unit for hydraulic circuit |
| CN1603528A (en) * | 2003-10-03 | 2005-04-06 | 日立建机株式会社 | Display apparatus of construction machinery |
| CN101806080A (en) * | 2009-02-12 | 2010-08-18 | 沃尔沃建造设备控股（瑞典）有限公司 | The construction equipment that comprises rear view camera |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4102865B2 (en) * | 1997-08-19 | 2008-06-18 | ヤンマー建機株式会社 | Self-propelled transport vehicle |
| CN203487575U (en) * | 2013-09-27 | 2014-03-19 | 昆山市玉山镇仕龙设计工作室 | River bottom sludge remover |
| CN104921671B (en) * | 2015-07-03 | 2017-05-03 | 珠海横琴新区维思港机器人科技有限公司 | Rotary sweeping type indoor skirting line cleaning robot |
| CN105690362B (en) * | 2016-04-14 | 2018-02-23 | 广东天机工业智能系统有限公司 | A kind of multi-functional robot palletizer based on Stewart parallel connection platforms |
-
2016
- 2016-06-23 CN CN201610470801.3A patent/CN106065640B/en active Active
- 2016-06-23 CN CN201810045549.0A patent/CN107938744B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3545003B2 (en) * | 1993-02-15 | 2004-07-21 | 日立建機株式会社 | Electronic control unit for hydraulic circuit |
| CN1603528A (en) * | 2003-10-03 | 2005-04-06 | 日立建机株式会社 | Display apparatus of construction machinery |
| CN101806080A (en) * | 2009-02-12 | 2010-08-18 | 沃尔沃建造设备控股（瑞典）有限公司 | The construction equipment that comprises rear view camera |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585759A (en) * | 2016-12-26 | 2017-04-26 | 徐州乐泰机电科技有限公司 | Novel mobile type double-arm robot |
| CN113731976A (en) * | 2021-08-20 | 2021-12-03 | 李鹏燕 | Effluent water sump cleaning device |
| CN115573416A (en) * | 2022-09-19 | 2023-01-06 | 江苏四通路桥工程有限公司 | Automatic cleaning equipment for highway drainage side ditch |
| CN115573416B (en) * | 2022-09-19 | 2023-10-20 | 江苏四通路桥工程有限公司 | Automatic cleaning equipment for highway drainage side ditch |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107938744B (en) | 2020-12-11 |
| CN107938744A (en) | 2018-04-20 |
| CN106065640B (en) | 2017-12-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105926702B (en) | A kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine | |
| CN106013300B (en) | A kind of high speed roadside ditch cleaning dredging intelligence equipment | |
| CN106065640B (en) | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot | |
| CN106088196B (en) | A kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one | |
| CN106120934B (en) | A kind of highway ditch clears up intelligent robot manipulator | |
| CN206706525U (en) | A kind of cleaning of pressure roller of road roller and scrape wheel-plate mechanism | |
| CN106149860B (en) | A kind of Municipal pavement irrigation canals and ditches upkeep operation robot | |
| CN106121024B (en) | A kind of Construction of Urban Garden Landscape engineering irrigation canals and ditches operation is intelligently equipped | |
| CN214831723U (en) | Road water knot rubble paving device for sponge city | |
| CN106088197B (en) | A kind of highway ditch clears up intelligent robot | |
| CN106088307A (en) | A kind of chemical engineering sewage processes irrigation canals and ditches furrow bank apparatus for eliminating sludge | |
| CN105926517B (en) | A kind of ecological agriculture irrigation ditch furrow bank scale removal intelligent robot | |
| CN105951914B (en) | A kind of road side Bilge automated processing equipment | |
| CN108118739A (en) | A kind of irrigation canals and ditches conserve all-in-one machine executive device | |
| CN106120617B (en) | A kind of garden landscape engineering irrigation canals and ditches operation intelligence equipment flexible manipulator | |
| CN105926518B (en) | A kind of house house water supply and drainage irrigation canals and ditches furrow bank clears up automation equipment | |
| CN106120935B (en) | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot actuator | |
| CN106076897B (en) | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot with sweeping machine | |
| CN106013298B (en) | A kind of house house water supply and drainage irrigation canals and ditches furrow bank clears up automation equipment descaling machine | |
| CN106002945B (en) | A kind of ecological agriculture irrigation ditch furrow bank scale removal intelligent robot manipulator | |
| CN106012946B (en) | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot with scraping sweeping device | |
| CN105951913A (en) | Sewage removal device for roadside sewage ditch automatic treatment equipment | |
| CN212086872U (en) | Chinese-medicinal material is planted with device that loosens soil | |
| CN216689548U (en) | Channel desilting device for irrigation and water conservancy project | |
| CN217974189U (en) | Garden road construction equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Hongbo Inventor after: Li Jianying Inventor after: Liu Pingfan Inventor before: Wu Yan |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20171121 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: Hagongda robot group (Harbin) Asset Management 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. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190705 Address after: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee after: Beijing hi tech robot Co., Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191018 Address after: Room 501, entrepreneurial service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Harbin University of technology robot group (Shandong) Co., Ltd. Address before: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee before: Beijing hi tech robot Co., Ltd. |