CN106240672A - A kind of roof drilling robot - Google Patents
A kind of roof drilling robot Download PDFInfo
- Publication number
- CN106240672A CN106240672A CN201610845548.5A CN201610845548A CN106240672A CN 106240672 A CN106240672 A CN 106240672A CN 201610845548 A CN201610845548 A CN 201610845548A CN 106240672 A CN106240672 A CN 106240672A
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- China
- Prior art keywords
- hydraulic cylinder
- seat
- groove
- fixedly mounted
- fixed plate
- 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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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Earth Drilling (AREA)
- Manipulator (AREA)
Abstract
A kind of roof drilling robot, including base, four solid mechanical arms and borehole drill construction, it is characterized in that: four described solid mechanical arms separate two-by-two, it is separately mounted to the base left and right sides, in the hole of the motor fixed mount that the motor of described borehole drill construction is fixedly mounted on base, borehole drill construction integral installation borehole drill construction on base 1 is fixed in seat；The rear end of the cylinder block of the first described hydraulic cylinder is fixedly mounted on the first hydraulic cylinder and fixes on seat, and its piston rod end is fixing with the side of the first hydraulic cylinder fixed plate to be connected；The rear end of the cylinder block of the second described hydraulic cylinder is fixedly mounted on the left side of the second hydraulic cylinder fixed plate, and its piston rod end is fixing with the gripper shoe above expansion link to be connected；Robot drives square drive axle sleeve to rotate by motor, and then drives rotary head to rotate, and applies pressure by two the 4th hydraulic cylinders to rotary head, makes rotary head punch on roof smoothly.
Description
Technical field
The present invention relates to robot field, particularly to a kind of roof drilling robot.
Background technology
Punching problem for roof, some high roofs punchings are relatively difficult, and front need to step on due to workman's punching
Supporter, so the hole beaten has deviation and not in place, punches this problem for roof, the invention provides one full-automatic
Roof robot for punching, it is fixed on firmly on roof, by the phase on borehole drill construction by it by four solid mechanical arms
The hole of different size is got in the rotary head of the model answered.
Summary of the invention
For the problems referred to above, the present invention provides a kind of roof drilling robot, and it completes to measure by many partial cooperatives
Work.
Technical scheme used in the present invention is: a kind of roof drilling robot, including base, four solid mechanical arms and
Borehole drill construction, it is characterised in that: four described solid mechanical arms separate two-by-two, are separately mounted to the base left and right sides, described
The hole of motor fixed mount that is fixedly mounted on base of the motor of borehole drill construction in, borehole drill construction integral installation exists
Borehole drill construction on base is fixed in seat；
Described base includes base plate, two the first grooves, two the first draw-in grooves, two the second draw-in grooves, four the first hydraulic cylinders
Fix seat, two the 4th hydraulic cylinder fixes seat, borehole drill construction fixes seat, motor fixed mount, circular port, and described base plate is
One rectangular plank, centre position in the above is provided with borehole drill construction and fixes seat, fixes setting inside seat at borehole drill construction
There is circular port；The described borehole drill construction at substrate is fixed the left and right sides of seat and is respectively provided with the 4th hydraulic cylinder and fixes
Seat, fixes seat at borehole drill construction and is arranged above with a motor fixed mount；The described lower right corner at substrate is provided with lithium
Battery, is provided with input system in the lower left corner of substrate, and the input system upper side position at substrate is provided with control system；
The described top half centre position at substrate is provided with sensor fixation plate, and described is fixing on sensor fixation plate
Ultrasonic sensor and two the first photographic head are installed；The described circular port below base plate is provided around four LED,
It is provided with photographic head fixed plate in circular port lower right-hand corner, on photographic head fixed plate, is installed with two second cameras；
Described is respectively provided with first groove in the base plate left and right sides, below the first groove and the inside be respectively provided with the first draw-in groove and
Second draw-in groove, the first groove upper position in the base plate left and right sides is respectively provided with two the first hydraulic cylinders and fixes seat；
Described solid mechanical arm includes the first hydraulic cylinder, sucker, extension sleeve, the second hydraulic cylinder, expansion link, the 3rd hydraulic pressure
Cylinder, vacuum generator, sucker fixed plate, the first hydraulic cylinder fixed plate, the second hydraulic cylinder fixed plate, the first deck, the second deck,
12 hemispherical groove, 12 spheroids, the second grooves, described extension sleeve is rectangular structure, in the above left side
Position is provided with the first hydraulic cylinder fixed plate, and the most center-right position is provided with the second hydraulic cylinder fixed plate, to the left position
Having installed the second deck, leftward position is provided with the first deck in its lower section, is respectively provided with six hemisphere in the first deck left and right sides
Connected in star, is rotatablely equipped with spheroid in hemispherical groove, is provided with the second groove in its right positions；The first described hydraulic cylinder
Rear end of the cylinder block is fixedly mounted on the first hydraulic cylinder and fixes on seat, and the side of its piston rod end and the first hydraulic cylinder fixed plate is fixed
Connect；The rear end of the cylinder block of the second described hydraulic cylinder is fixedly mounted on the left side of the second hydraulic cylinder fixed plate, its piston rod end
Fix with the gripper shoe above expansion link and be connected；The 3rd described hydraulic cylinder body rear end is fixedly mounted on below expansion link,
Its piston rod end is fixing with above sucker fixed plate to be connected；Sucker fixed plate it is fixedly mounted on below described vacuum generator
Above；It is fixedly mounted on above described sucker below sucker fixed plate；The first described deck and the second deck are slided respectively
Move and be arranged on inside the first draw-in groove and the second draw-in groove；
Described borehole drill construction includes two the 4th hydraulic cylinders, motor, square drive axle, square drive axle sleeve, the 4th liquid
Seat, rotary head, fixed cover, two ring for fixings, the 3rd draw-in grooves, two described the 4th hydraulic cylinders are fixed in cylinder pressure top board, bearing, rotary head
Rear end of the cylinder block be respectively and fixedly installed to two the 4th hydraulic cylinders and fix in seat, its piston rod end and the 4th hydraulic cylinder top board
Bottom surface fixedly mounts；The 4th described hydraulic cylinder top board is fixedly mounted on the outer ring of bearing；The fixing peace of described bearing inner race
It is contained in the groove part of square drive axle sleeve；Described motor is placed straight down, and it is solid that it is fixedly mounted on motor
Determining in the hole of frame, its motor shaft is fixing with square drive axle upper surface to be connected；Described square drive axle is slidably mounted on square
Inside the sleeve of driving sleeve；Described rotary head is fixed inside the circular port that seat is fixedly mounted on below square drive axle sleeve；Institute
The rotary head stated is fixedly mounted on rotary head and fixes inside seat；Described fixed cover is fixedly mounted on rotary head and fixes the position of tip below seat
Put；Described expansion link right end portion is slidably mounted in the second groove of extension sleeve；Two described ring for fixings are solid respectively
Dingan County is contained in bearing two positions above and below of square drive axle sleeve.
The beneficial effect that the present invention brings: made by the first hydraulic cylinder, the second hydraulic cylinder and the 3rd hydraulic cylinder co-ordination
Solid mechanical arm can move, and is pressurizeed to sucker by vacuum generator, makes sucker be secured firmly on roof, and robot passes through
Motor drives square drive axle sleeve to rotate, and then drives rotary head to rotate, and applies pressure by two the 4th hydraulic cylinders to rotary head
Power, makes rotary head punch on roof smoothly.
Accompanying drawing explanation
Fig. 1, Fig. 2 are the structural representation after being completed of the present invention.
Fig. 3, Fig. 4 are the structural representation of the base of the present invention.
Fig. 5, Fig. 6 are the structural representation of the solid mechanical arm of the present invention.
Fig. 7, Fig. 8 are the structural representation of the extension sleeve of the present invention.
Fig. 9, Figure 10 are the structural representation of the borehole drill construction of the present invention.
Drawing reference numeral: 1-base, 2-solid mechanical arm, 3-borehole drill construction, 4-sensor fixation plate, 5-supersonic sensing
Device, 6-the first photographic head, 7-input system, 8-lithium battery, 9-control system, 10-photographic head fixed plate, 11-second camera,
12-LED lamp, 101-base plate, 102-the first groove, 103-the first draw-in groove, 104-the second draw-in groove, 105-the first hydraulic cylinder are fixed
Seat, 106-the 4th hydraulic cylinder fixes seat, 107-borehole drill construction fixes seat, 108-motor fixed mount, 109-circular port, 201-
First hydraulic cylinder, 202-sucker, 203-extension sleeve, 204-the second hydraulic cylinder, 205-expansion link, 206-the 3rd hydraulic cylinder,
207-vacuum generator, 208-sucker fixed plate, 209-the first hydraulic cylinder fixed plate, 210-the second hydraulic cylinder fixed plate, 211-
First deck, 212-the second deck, 213-hemispherical groove, 214-spheroid, 215-the second groove, 301-the 4th hydraulic cylinder,
302-motor, 303-square drive axle, 304-square drive axle sleeve, 305-the 4th hydraulic cylinder top board, 306-bearing, 307-
Seat, 308-rotary head, 309-fixed cover, 310-ring for fixing, 311-the 3rd draw-in groove are fixed in rotary head.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, technical scheme is described in further detail.
Embodiment as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, a kind of roof drilling machine
People, including 1, four solid mechanical arms 2 of base and borehole drill construction 3, it is characterised in that: four described solid mechanical arms 2 are two-by-two
Separately, being separately mounted to base 1 left and right sides, the motor 302 of described borehole drill construction 3 is fixedly mounted on base 1
In the hole of motor fixed mount 108, borehole drill construction 3 integral installation borehole drill construction on base 1 is fixed in seat 107；
Described base includes 101, two the first grooves of base plate, 103, two the second draw-in grooves 104, four of 102, two the first draw-in grooves
Individual first hydraulic cylinder fixes that 105, two the 4th hydraulic cylinders of seat fix seat 106, borehole drill construction fixes seat 107, motor is fixed
Frame 108, circular port 109, described base plate 101 is a rectangular plank, and centre position in the above is provided with boring machine
Structure fixes seat 107, fixes being provided with circular port 109 inside seat 107 at borehole drill construction；The described boring machine on base plate 101
Structure is fixed the left and right sides of seat 107 and is respectively provided with the 4th hydraulic cylinder and fixes seat 106, fixes setting above seat 107 at borehole drill construction
There is a motor fixed mount 108；The described lower right corner on base plate 101 is provided with lithium battery 8, on base plate 101
The lower left corner be provided with input system 7, input system 7 upper side position on base plate 101 is provided with control system 9；Described
Base plate 101 top half centre position above is provided with sensor fixation plate 4, described fixing peace on sensor fixation plate 4
Equipped with ultrasonic sensor 5 and two the first photographic head 6；The described circular port 109 below base plate 101 is provided around four
LED 12, is provided with photographic head fixed plate 10 in circular port 109 lower right-hand corner, is installed with on photographic head fixed plate 10
Two second cameras 11；Described is respectively provided with first groove 102, at the first groove 102 in base plate 101 left and right sides
The first draw-in groove 103 and the second draw-in groove 104, position on the first groove 102 of base plate 101 left and right sides it is respectively provided with below with the inside
Put and be respectively provided with two the first hydraulic cylinders and fix seat 105；
Described solid mechanical arm includes the first hydraulic cylinder 201, sucker 202, extension sleeve the 203, second hydraulic cylinder 204, stretches
Bar the 205, the 3rd hydraulic cylinder 206, vacuum generator 207, sucker fixed plate the 208, first hydraulic cylinder fixed plate the 209, second hydraulic pressure
Cylinder fixed plate the 210, first deck the 211, second deck 213,12 spheroids 214, second of 212,12 hemispherical groove are recessed
Groove 215, described extension sleeve 203 is rectangular structure, and leftward position is provided with the first hydraulic cylinder fixed plate 209 in the above,
The most center-right position is provided with the second hydraulic cylinder fixed plate 210, and position is provided with the second deck 212 to the left, at it
Leftward position is provided with the first deck 211 below, is respectively provided with six hemispherical groove 213 in first deck 211 left and right sides, half
Ball recess 213 is rotatablely equipped with spheroid 214, is provided with the second groove 215 in its right positions；The first described hydraulic cylinder 201
Rear end of the cylinder block be fixedly mounted on the first hydraulic cylinder and fix on seat 105, its piston rod end and the first hydraulic cylinder fixed plate 209
Side is fixing to be connected；The rear end of the cylinder block of the second described hydraulic cylinder 204 is fixedly mounted on a left side for the second hydraulic cylinder fixed plate 210
Side, its piston rod end is fixing with expansion link 205 gripper shoe above to be connected；The 3rd described hydraulic cylinder 206 rear end of the cylinder block is solid
Dingan County is contained in below expansion link 205, and its piston rod end is the most fixing with sucker fixed plate 208 to be connected；Described vacuum is sent out
It is fixedly mounted on above sucker fixed plate 208 below raw device 207；It is fixedly mounted on sucker fixed plate above described sucker 202
Below 208；The first described deck 211 and the second deck 212 are slidably mounted on the first draw-in groove 103 and the second draw-in groove respectively
Inside 104；
Described borehole drill construction includes two the 4th hydraulic cylinders 301, motor 302, square drive axle 303, square drive axles
Seat 307, rotary head 308,309, two ring for fixings of fixed cover are fixed in set the 304, the 4th hydraulic cylinder top board 305, bearing 306, rotary head
310, the 3rd draw-in groove 311, the rear end of the cylinder block of two described the 4th hydraulic cylinders 301 is respectively and fixedly installed to two the 4th hydraulic cylinders
In fixing seat 106, its piston rod end fixedly mounts with the bottom surface of the 4th hydraulic cylinder top board 305；The 4th described hydraulic cylinder top
Plate 305 is fixedly mounted on the outer ring of bearing 306；Described bearing 306 inner ring is fixedly mounted on the recessed of square drive axle sleeve 304
Slot part；Described motor 302 is placed straight down, and it is fixedly mounted in the hole of motor fixed mount 108, its electricity
Arbor is fixing with square drive axle 303 upper surface to be connected；Described square drive axle 303 is slidably mounted on square drive axle sleeve
Inside the sleeve of 304；Described rotary head is fixed seat 307 and is fixedly mounted on inside square drive axle sleeve 304 circular port below；Institute
The rotary head 308 stated is fixedly mounted on rotary head and fixes inside seat 307；Described fixed cover 309 is fixedly mounted on rotary head and fixes seat 307
The position of tip below；Described expansion link 205 right end portion is slidably mounted in the second groove 215 of extension sleeve 203；Institute
Two ring for fixings 310 stated are respectively and fixedly installed to bearing 306 two positions above and below of square drive axle sleeve 304.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Operation principle of the present invention: the present invention passes through input system 7 Output Control Program, sends instruction by control system 9
Control robot, detect road ahead by ultrasonic sensor 5 and the first photographic head 6, pass to control system 9, pass through
Control system 9 is dealt into each position, by the first hydraulic cylinder the 201, second hydraulic cylinder 204 and the 3rd hydraulic cylinder 206 after processing
Control sucker 202 and arrive suitable position, make sucker 202 be secured firmly on roof by vacuum generator 207；Take the photograph by second
As 11 detect punch position in detail, drive square drive axle sleeve 304 to rotate by motor 302, and then drive rotary head
308 rotate, and apply pressure to rotary head 308 by the 4th hydraulic cylinder 301 and make rotary head 308 have openning hole to roof.
In describing the invention, it should be noted that term " on ", D score, "front", "rear", "left", "right" etc. refer to
The orientation shown or position relationship are based on orientation shown in the drawings or position relationship, or usually put when this invention product uses
The orientation put or position relationship, be for only for ease of and describe the present invention and simplify description rather than instruction or the dress of hint indication
Put or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit to the present invention
System.Describe additionally, term " first ", " second ", " the 3rd " etc. are only used for distinguishing, and it is not intended that indicate or imply relatively heavy
The property wanted.
Claims (1)
1. a roof drilling robot, including base (1), four solid mechanical arms (2) and borehole drill construction (3), its feature exists
In: four described solid mechanical arms (2) are separated two-by-two, are separately mounted to base (1) left and right sides；Described base includes the end
Plate (101), two the first grooves (102), two the first draw-in grooves (103), two the second draw-in grooves (104), four the first hydraulic cylinders
Fixing seat (105), two the 4th hydraulic cylinders fix seat (106), borehole drill construction fixes seat (107), motor fixed mount
(108), circular port (109), described base plate (101) is a rectangular plank, and centre position in the above is provided with brill
Holes mechanism fixes seat (107), fixes seat (107) the inside at borehole drill construction and is provided with circular port (109)；Described in base plate (101)
Borehole drill construction above is fixed the left and right sides of seat (107) and is respectively provided with the 4th hydraulic cylinder and fixes seat (106), at borehole drill construction
Fixing seat (107) is arranged above with a motor fixed mount (108)；Described it is provided with in the above lower right corner of base plate (101)
Lithium battery (8), is provided with input system (7) in base plate (101) lower left corner above, at base plate (101) input system (7) above
Upper side position is provided with control system (9)；Described it be provided with sensor in the above top half centre position of base plate (101) and fix
Plate (4), described is installed with ultrasonic sensor (5) and two the first photographic head (6) on sensor fixation plate (4)；
Described it is provided around four LED (12), in circular port (109) lower right-hand corner at the following circular port (109) of base plate (101)
It is provided with photographic head fixed plate (10), on photographic head fixed plate (10), is installed with two second cameras (11)；Described
Be respectively provided with first groove (102) in base plate (101) left and right sides, below the first groove (102) and the inside respectively set
Having the first draw-in groove (103) and the second draw-in groove (104), the first groove (102) upper position in base plate (101) left and right sides respectively sets
Two the first hydraulic cylinders are had to fix seat (105)；
Described solid mechanical arm includes the first hydraulic cylinder (201), sucker (202), extension sleeve (203), the second hydraulic cylinder
(204), expansion link (205), the 3rd hydraulic cylinder (206), vacuum generator (207), sucker fixed plate (208), the first hydraulic cylinder
Fixed plate (209), the second hydraulic cylinder fixed plate (210), the first deck (211), the second deck (212), 12 hemisphericals are recessed
Groove (213), 12 spheroids (214), the second grooves (215), described extension sleeve (203) is rectangular structure, thereon
Left side of face position is provided with the first hydraulic cylinder fixed plate (209), and the most center-right position is provided with the second hydraulic cylinder fixed plate
(210), position is provided with the second deck (212) to the left, and leftward position is provided with the first deck (211) in its lower section, first
Deck (211) left and right sides is respectively provided with six hemispherical groove (213), is rotatablely equipped with spheroid in hemispherical groove (213)
(214), it is provided with the second groove (215) in its right positions；The rear end of the cylinder block of described the first hydraulic cylinder (201) is fixedly mounted on
First hydraulic cylinder is fixed on seat (105), and its piston rod end is fixing with the side of the first hydraulic cylinder fixed plate (209) to be connected；Institute
The rear end of the cylinder block of the second hydraulic cylinder (204) stated is fixedly mounted on the left side of the second hydraulic cylinder fixed plate (210), its tailpiece of the piston rod
Portion is fixing with expansion link (205) gripper shoe above to be connected；The 3rd described hydraulic cylinder (206) rear end of the cylinder block is fixedly mounted on to be stretched
Below contracting bar (205), its piston rod end is fixing above with sucker fixed plate (208) to be connected；Described vacuum generator
(207) sucker fixed plate (208) it is fixedly mounted on below above；It is fixedly mounted on sucker above described sucker (202) to fix
Below plate (208)；Described the first deck (211) and the second deck (212) be slidably mounted on respectively the first draw-in groove (103) and
Second draw-in groove (104) the inside；
Described borehole drill construction includes two the 4th hydraulic cylinders (301), motor (302), square drive axle (303), square
Seat (307), rotary head (308), fixed cover are fixed in driving sleeve (304), the 4th hydraulic cylinder top board (305), bearing (306), rotary head
(309), two ring for fixings (310), the 3rd draw-in grooves (311), the rear end of the cylinder block of two described the 4th hydraulic cylinders (301) is solid respectively
Dingan County is contained in two the 4th hydraulic cylinders, and to fix seat (106) inner, and its piston rod end is solid with the bottom surface of the 4th hydraulic cylinder top board (305)
Dingan County fills；The 4th described hydraulic cylinder top board (305) is fixedly mounted on the outer ring of bearing (306)；In described bearing (306)
Circle is fixedly mounted on the groove part of square drive axle sleeve (304)；Described motor (302) is placed straight down, and it is solid
Dingan County is contained in the hole of motor fixed mount (108), and its motor shaft is fixing with square drive axle (303) upper surface to be connected；Institute
The square drive axle (303) stated is slidably mounted on inside the sleeve of square drive axle sleeve (304)；Seat is fixed in described rotary head
(307) it is fixedly mounted on inside square drive axle sleeve (304) circular port below；Described rotary head (308) is fixedly mounted on and turns
Fixing seat (307) the inside；Described fixed cover (309) is fixedly mounted on rotary head and fixes the position of seat (307) tip below；Institute
The second groove (215) that expansion link (205) right end portion stated is slidably mounted on extension sleeve (203) is inner；Described two are solid
Fixed circle (310) is respectively and fixedly installed to bearing (306) two positions above and below of square drive axle sleeve (304).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845548.5A CN106240672B (en) | 2016-09-25 | 2016-09-25 | A kind of roof drilling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845548.5A CN106240672B (en) | 2016-09-25 | 2016-09-25 | A kind of roof drilling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106240672A true CN106240672A (en) | 2016-12-21 |
| CN106240672B CN106240672B (en) | 2019-02-22 |
Family
ID=57611978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610845548.5A Expired - Fee Related CN106240672B (en) | 2016-09-25 | 2016-09-25 | A kind of roof drilling robot |
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| CN (1) | CN106240672B (en) |
Cited By (9)
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| CN107196239A (en) * | 2017-07-24 | 2017-09-22 | 孟庆仕 | A kind of high-tension line lays car |
| CN107322607A (en) * | 2017-07-14 | 2017-11-07 | 河南科技学院 | A kind of watermelon picking robot |
| CN107963461A (en) * | 2017-11-23 | 2018-04-27 | 袁奥 | A kind of approach facility and method for bad working environments |
| CN108340982A (en) * | 2018-02-11 | 2018-07-31 | 哈尔滨工业大学 | A kind of climbing robot guide rail sucking disc mechanism, system and control method |
| CN108674510A (en) * | 2018-05-18 | 2018-10-19 | 安徽商贸职业技术学院 | A kind of Y humanoid robots |
| CN108856802A (en) * | 2018-08-02 | 2018-11-23 | 苏州谊佳润机电制造有限公司 | Drilling equipment is used in a kind of processing of high-precision elevator accessory |
| CN108860355A (en) * | 2018-05-18 | 2018-11-23 | 安徽商贸职业技术学院 | A kind of Y humanoid robot control method |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN110454096A (en) * | 2019-06-22 | 2019-11-15 | 中建深业建设发展有限公司 | A kind of construction site cooling drilling machine of intelligence |
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| CN108860355A (en) * | 2018-05-18 | 2018-11-23 | 安徽商贸职业技术学院 | A kind of Y humanoid robot control method |
| CN108860355B (en) * | 2018-05-18 | 2020-09-01 | 安徽商贸职业技术学院 | Y-shaped robot control method |
| CN108856802A (en) * | 2018-08-02 | 2018-11-23 | 苏州谊佳润机电制造有限公司 | Drilling equipment is used in a kind of processing of high-precision elevator accessory |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN110454096A (en) * | 2019-06-22 | 2019-11-15 | 中建深业建设发展有限公司 | A kind of construction site cooling drilling machine of intelligence |
| CN110454096B (en) * | 2019-06-22 | 2021-09-17 | 中建深业建设发展有限公司 | Building site is with intelligent cooling rig |
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