CN106240672B - A kind of roof drilling robot - Google Patents
A kind of roof drilling robot Download PDFInfo
- Publication number
- CN106240672B CN106240672B CN201610845548.5A CN201610845548A CN106240672B CN 106240672 B CN106240672 B CN 106240672B CN 201610845548 A CN201610845548 A CN 201610845548A CN 106240672 B CN106240672 B CN 106240672B
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- fixing seat
- fixedly mounted
- plate
- 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.)
- Expired - Fee Related
Links
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
Abstract
A kind of roof drilling robot, including pedestal, four solid mechanical arms and borehole drill construction, it is characterized by: four solid mechanical arms separate two-by-two, it is separately mounted at left and right sides of pedestal, the stepper motor of the borehole drill construction is fixedly mounted in the hole of the stepper motor fixed frame on pedestal, and borehole drill construction integral installation is in the borehole drill construction fixing seat on pedestal (1)；The rear end of the cylinder block of the first hydraulic cylinder is fixedly mounted in first hydraulic cylinder fixing seat, and piston rod end is fixedly connected with the side of first hydraulic cylinder fixed plate；The rear end of the cylinder block of the second hydraulic cylinder is fixedly mounted on the left side of second hydraulic cylinder fixed plate, and piston rod end is fixedly connected with the support plate above telescopic rod；Robot drives the rotation of square drive axle sleeve by stepper motor, and then drives rotary head rotation, applies pressure to rotary head by two the 4th hydraulic cylinders, punches rotary head smoothly on roof.
Description
Technical field
The present invention relates to robot field, in particular to a kind of roof drilling robot.
Background technique
Problem is punched for roof, some high roof punchings are relatively difficult, and preceding since worker's punching needs to step on
Supporter punches this problem for roof so the hole beaten has deviation and not in place, full-automatic the present invention provides one
It is firmly fixed on roof by four solid mechanical arms, passes through the phase on borehole drill construction by roof robot for punching
The hole of different size is got in the rotary head for the model answered.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of roof drilling robot, complete to measure by more partial cooperatives
Work.
Technical solution used in the present invention is: a kind of roof drilling robot, including pedestal, four solid mechanical arms and
Borehole drill construction, it is characterised in that: four solid mechanical arms separate two-by-two, are separately mounted at left and right sides of pedestal, described
The stepper motor of borehole drill construction be fixedly mounted in the hole of the stepper motor fixed frame on pedestal, borehole drill construction integral installation exists
In borehole drill construction fixing seat on pedestal；
The pedestal includes bottom plate, two the first grooves, two the first card slots, two the second card slots, four the first liquid
Cylinder pressure fixing seat, two the 4th hydraulic cylinder fixing seats, borehole drill construction fixing seat, stepper motor fixed frames, round hole, the bottom
Plate is a rectangular plank, and middle position above it is equipped with borehole drill construction fixing seat, in borehole drill construction fixing seat
Face is equipped with round hole；Described the 4th hydraulic cylinder that is respectively provided at left and right sides of the borehole drill construction fixing seat of substrate is consolidated
Reservation is equipped with a stepper motor fixed frame on borehole drill construction fixing seat；The lower right corner in substrate is equipped with
Lithium battery is equipped with input system in the lower left corner of substrate, is equipped with control system in the input system upper side position of substrate
System；The top half middle position in substrate is equipped with sensor fixation plate, described on sensor fixation plate
It is fixedly installed with ultrasonic sensor and two the first cameras；It is described set around the round hole below bottom plate there are four
LED light is equipped with camera fixed plate in round hole lower right-hand corner, is fixedly mounted on camera fixed plate and takes the photograph there are two second
As head；Described is respectively provided with first groove at left and right sides of bottom plate, and below the first groove and the inside is respectively provided with first
Card slot and the second card slot, the first groove upper position at left and right sides of bottom plate are respectively provided with two first hydraulic cylinder fixing seats；
The solid mechanical arm includes first hydraulic cylinder, sucker, extension sleeve, second hydraulic cylinder, telescopic rod, third liquid
Cylinder pressure, vacuum generator, sucker fixed plate, first hydraulic cylinder fixed plate, second hydraulic cylinder fixed plate, the first deck, the second card
Seat, 12 hemispherical grooves, 12 spheres, the second groove, the extension sleeve is rectangular parallelepiped structure, left above it
Side position is equipped with first hydraulic cylinder fixed plate, and center-right position is equipped with second hydraulic cylinder fixed plate above it, to the left
Position is equipped with the second deck, and leftward position is equipped with the first deck in its lower section, is respectively provided with six and half at left and right sides of the first deck
Spherical groove is rotatably equipped with sphere in hemispherical groove, is equipped with the second groove in its right positions；The first hydraulic cylinder
Rear end of the cylinder block be fixedly mounted in first hydraulic cylinder fixing seat, the side of piston rod end and first hydraulic cylinder fixed plate is solid
Fixed connection；The rear end of the cylinder block of the second hydraulic cylinder is fixedly mounted on the left side of second hydraulic cylinder fixed plate, tailpiece of the piston rod
Portion is fixedly connected with the support plate above telescopic rod；The third hydraulic cylinder body rear end is fixedly mounted under telescopic rod
It is fixedly connected above face, piston rod end and sucker fixed plate；It is solid that sucker is fixedly mounted below the vacuum generator
Above fixed board；It is fixedly mounted on above the sucker below sucker fixed plate；First deck and the second deck point
It is not slidably mounted on inside the first card slot and the second card slot；
The borehole drill construction includes two the 4th hydraulic cylinders, stepper motor, square drive axis, square drive axle sleeve, the
Four hydraulic cylinder top plates, bearing, rotary head fixing seat, rotary head, fixing sleeve, two retainer plates, third card slot, two the 4th liquid
The rear end of the cylinder block of cylinder pressure is respectively and fixedly installed in two the 4th hydraulic cylinder fixing seats, piston rod end and the 4th hydraulic cylinder top
The bottom surface of plate is fixedly mounted；The 4th hydraulic cylinder top plate is fixedly mounted on the outer ring of bearing；The bearing inner race is solid
Dingan County is mounted in the groove part of square drive axle sleeve；The stepper motor is placed straight down, is fixedly mounted on stepping electricity
In the hole of machine fixed frame, motor shaft is fixedly connected with square drive axis upper surface；The square drive axis is slidably mounted on
Inside the sleeve of square drive axle sleeve；The rotary head fixing seat is fixedly mounted in the round hole below square drive axle sleeve
Face；The rotary head is fixedly mounted on inside rotary head fixing seat；The fixing sleeve is fixedly mounted below rotary head fixing seat sharp
The position of head；The telescopic rod right end portion is slidably mounted in the second groove of extension sleeve；Two retainer plates
It is respectively and fixedly installed to the bearing of square drive axle sleeve two positions above and below.
Bring of the present invention by first hydraulic cylinder, second hydraulic cylinder and third hydraulic cylinder co-ordination the utility model has the advantages that made
Solid mechanical arm can move, and pressurizeed by vacuum generator to sucker, be secured firmly to sucker on roof, robot passes through
Stepper motor drives the rotation of square drive axle sleeve, and then drives rotary head rotation, is applied by two the 4th hydraulic cylinders to rotary head and is pressed
Power punches rotary head smoothly on roof.
Detailed description of the invention
Fig. 1, Fig. 2 are the structural schematic diagram after of the invention be completed.
Fig. 3, Fig. 4 are the structural schematic diagram of pedestal of the invention.
Fig. 5, Fig. 6 are the structural schematic diagram of solid mechanical arm of the invention.
Fig. 7, Fig. 8 are the structural schematic diagram of extension sleeve of the invention.
Fig. 9, Figure 10 are the structural schematic diagram of borehole drill construction of the invention.
Drawing reference numeral: 1- pedestal, 2- solid mechanical arm, 3- borehole drill construction, 4- sensor fixation plate, 5- supersonic sensing
Device, the first camera of 6-, 7- input system, 8- lithium battery, 9- control system, 10- camera fixed plate, 11- second camera,
12-LED lamp, 101- bottom plate, the first groove of 102-, the first card slot of 103-, the second card slot of 104-, 105- first hydraulic cylinder are fixed
Seat, the 4th hydraulic cylinder fixing seat of 106-, 107- borehole drill construction fixing seat, 108- stepper motor fixed frame, 109- round hole, 201-
First hydraulic cylinder, 202- sucker, 203- extension sleeve, 204- second hydraulic cylinder, 205- telescopic rod, 206- third hydraulic cylinder,
207- vacuum generator, 208- sucker fixed plate, 209- first hydraulic cylinder fixed plate, 210- second hydraulic cylinder fixed plate, 211-
First deck, the second deck of 212-, 213- hemispherical groove, 214- sphere, the second groove of 215-, the 4th hydraulic cylinder of 301-,
302- stepper motor, 303- square drive axis, 304- square drive axle sleeve, the 4th hydraulic cylinder top plate of 305-, 306- bearing, 307-
Rotary head fixing seat, 308- rotary head, 309- fixing sleeve, 310- retainer plate, 311- third card slot.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
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 arm 2 of pedestal and borehole drill construction 3, it is characterised in that: four solid mechanical arms 2 are two-by-two
It separates, is separately mounted to 1 left and right sides of pedestal, the stepper motor 302 of the borehole drill construction 3 is fixedly mounted on pedestal 1
In the hole of stepper motor fixed frame 108,3 integral installation of borehole drill construction is in the borehole drill construction fixing seat 107 on pedestal 1；
The pedestal includes 103, two the second card slots of the first card slot of the first groove 102, two of bottom plate 101, two
104, four first hydraulic cylinder fixing seats, 105, two the 4th hydraulic cylinder fixing seats 106, borehole drill construction fixing seat 107, stepping electricity
Machine fixed frame 108, round hole 109, the bottom plate 101 are a rectangular planks, and middle position above it is equipped with
Borehole drill construction fixing seat 107 is equipped with round hole 109 inside borehole drill construction fixing seat 107；It is described on bottom plate 101
The left and right sides of borehole drill construction fixing seat 107 is respectively provided with a 4th hydraulic cylinder fixing seat 106, in borehole drill construction fixing seat 107
It is equipped with a stepper motor fixed frame 108 above；The lower right corner on bottom plate 101 is equipped with lithium battery 8, in bottom plate
The lower left corner above 101 is equipped with input system 7, and 7 upper side position of input system on bottom plate 101 is equipped with control system 9；Institute
The top half middle position on bottom plate 101 stated is equipped with sensor fixation plate 4, described on sensor fixation plate 4
It is fixedly installed with ultrasonic sensor 5 and two the first cameras 6；It is set around the round hole 109 below bottom plate 101
There are four LED light 12, are equipped with camera fixed plate 10 in 109 lower right-hand corner of round hole, fixed on camera fixed plate 10
There are two second cameras 11 for installation；It is described to be respectively provided with first groove 102 at left and right sides of bottom plate 101, it is recessed first
Below slot 102 and the inside is respectively provided with the first card slot 103 and the second card slot 104, the first groove in 101 left and right sides of bottom plate
102 upper positions are respectively provided with two first hydraulic cylinder fixing seats 105；
The solid mechanical arm include first hydraulic cylinder 201, sucker 202, extension sleeve 203, second hydraulic cylinder 204,
Telescopic rod 205, third hydraulic cylinder 206, vacuum generator 207, sucker fixed plate 208, first hydraulic cylinder fixed plate 209, second
Hydraulic cylinder fixed plate 210, the first deck 211, the hemispherical groove 213,12 of the second deck 212,12 sphere 214,
Two grooves 215, the extension sleeve 203 is rectangular parallelepiped structure, and leftward position is equipped with first hydraulic cylinder fixed plate above it
209, center-right position is equipped with second hydraulic cylinder fixed plate 210 above it, and position is equipped with the second deck 212 to the left,
Leftward position is equipped with the first deck 211 in its lower section, and six hemispherical grooves 213 are respectively provided at left and right sides of the first deck 211,
It is rotatably equipped with sphere 214 in hemispherical groove 213, is equipped with the second groove 215 in its right positions；The first hydraulic cylinder
201 rear end of the cylinder block is fixedly mounted in first hydraulic cylinder fixing seat 105, piston rod end and first hydraulic cylinder fixed plate
209 side is fixedly connected；The rear end of the cylinder block of the second hydraulic cylinder 204 is fixedly mounted on second hydraulic cylinder fixed plate 210
Left side, piston rod end is fixedly connected with the support plate above telescopic rod 205；After 206 cylinder body of third hydraulic cylinder
End is fixedly mounted below telescopic rod 205, and piston rod end is fixedly connected above with sucker fixed plate 208；Described is true
Empty generator 207 is fixedly mounted on above sucker fixed plate 208 below；It is solid that the sucker 202 is fixedly mounted on sucker above
Below fixed board 208；First deck 211 and the second deck 212 is slidably mounted on the first card slot 103 and the second card respectively
104 the inside of slot；
The borehole drill construction includes two the 4th hydraulic cylinders 301, stepper motor 302, square drive axis 303, rectangular biographies
Moving axis covers the 304, the 4th hydraulic cylinder top plate 305, bearing 306, rotary head fixing seat 307,309, two rotary head 308, fixing sleeve fixations
Enclose 310, third card slot 311, the rear end of the cylinder block of two the 4th hydraulic cylinders 301 be respectively and fixedly installed to two it is the 4th hydraulic
In cylinder fixing seat 106, the bottom surface of piston rod end and the 4th hydraulic cylinder top plate 305 is fixedly mounted；4th hydraulic cylinder
Top plate 305 is fixedly mounted on the outer ring of bearing 306；306 inner ring of bearing is fixedly mounted on square drive axle sleeve 304
Groove part；The stepper motor 302 is placed straight down, is fixedly mounted in the hole of stepper motor fixed frame 108,
Motor shaft is fixedly connected with 303 upper surface of square drive axis；The square drive axis 303 is slidably mounted on square drive axle sleeve
Inside 304 sleeve；The rotary head fixing seat 307 is fixedly mounted on inside the round hole below square drive axle sleeve 304；Institute
The rotary head 308 stated is fixedly mounted on 307 the inside of rotary head fixing seat；The fixing sleeve 309 is fixedly mounted on rotary head fixing seat 307
The position of tip below；205 right end portion of telescopic rod is slidably mounted in the second groove 215 of extension sleeve 203；Institute
Two retainer plates 310 stated are respectively and fixedly installed to the bearing 306 of square drive axle sleeve 304 two positions above and below.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Working principle of the present invention: the present invention is issued by control system 9 and is instructed by 7 Output Control Program of input system
Robot is controlled, road ahead is detected by ultrasonic sensor 5 and the first camera 6, control system 9 is passed to, passes through
Control system 9 processing after be dealt into each position, by first hydraulic cylinder 201, second hydraulic cylinder 204 and third hydraulic cylinder 206 come
It controls sucker 202 and arrives suitable position, be secured firmly to sucker 202 on roof by vacuum generator 207；It is taken the photograph by second
Punch position is detected in detail as first 11, drives square drive axle sleeve 304 to rotate by stepper motor 302, and then drive rotary head
308 rotations, applying pressure to rotary head 308 by the 4th hydraulic cylinder 301 makes rotary head 308 have openning hole to roof.
In the description of the present invention, it should be noted that term " on ", "lower", "front", "rear", "left", "right" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when invention product use usually puts
The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively heavy
The property wanted.
Claims (1)
1. a kind of roof drilling robot, including pedestal (1), four solid mechanical arms (2) and borehole drill construction (3), feature exists
In: four solid mechanical arms (2) separate two-by-two, are separately mounted at left and right sides of pedestal (1)；The pedestal includes bottom
Plate (101), two the first grooves (102), two the first card slots (103), two the second card slots (104), four first hydraulic cylinders
Fixing seat (105), two the 4th hydraulic cylinder fixing seats (106), borehole drill construction fixing seat (107), stepper motor fixed frame
(108), round hole (109), the bottom plate (101) are a rectangular planks, and middle position above it, which is equipped with, bores
Holes mechanism fixing seat (107) is equipped with round hole (109) inside borehole drill construction fixing seat (107)；Above in bottom plate (101)
A the 4th hydraulic cylinder fixing seat (106) is respectively provided at left and right sides of borehole drill construction fixing seat (107), in borehole drill construction fixing seat
(107) it is equipped with a stepper motor fixed frame (108) above；Lithium battery (8) are equipped in the lower right corner of bottom plate (101) above,
The lower left corner of bottom plate (101) above is equipped with input system (7), is equipped in input system (7) upper side position of bottom plate (101) above
Control system (9)；Sensor fixation plate (4) are equipped in the top half middle position of bottom plate (101) above, are fixed in sensor
Ultrasonic sensor (5) and two the first cameras (6) are fixedly installed on plate (4)；In the round hole of bottom plate (101) below
(109) it is set around there are four LED light (12), camera fixed plate (10) is equipped in round hole (109) lower right-hand corner, in camera
Fixed plate (10) is fixedly mounted above there are two second camera (11)；One first is respectively provided at left and right sides of bottom plate (101)
Groove (102), below the first groove (102) and the inside is respectively provided with the first card slot (103) and the second card slot (104), the bottom of at
The first groove (102) upper position at left and right sides of plate (101) is respectively provided with two first hydraulic cylinder fixing seats (105)；
The solid mechanical arm includes first hydraulic cylinder (201), sucker (202), extension sleeve (203), second hydraulic cylinder
(204), telescopic rod (205), third hydraulic cylinder (206), vacuum generator (207), sucker fixed plate (208), first hydraulic cylinder
Fixed plate (209), second hydraulic cylinder fixed plate (210), the first deck (211), the second deck (212), 12 hemisphericals are recessed
Slot (213), 12 spheres (214), the second groove (215), the extension sleeve (203) is rectangular parallelepiped structure, on it
Left side of face position is equipped with first hydraulic cylinder fixed plate (209), and center-right position is equipped with second hydraulic cylinder fixed plate above it
(210), position is equipped with the second deck (212) to the left, and leftward position is equipped with the first deck (211) in its lower section, first
Six hemispherical grooves (213) are respectively provided at left and right sides of deck (211), are rotatably equipped with sphere in hemispherical groove (213)
(214), the second groove (215) are equipped in its right positions；The rear end of the cylinder block of the first hydraulic cylinder (201) is fixedly mounted on
In first hydraulic cylinder fixing seat (105), piston rod end is fixedly connected with the side of first hydraulic cylinder fixed plate (209)；Institute
The rear end of the cylinder block for the second hydraulic cylinder (204) stated is fixedly mounted on the left side of second hydraulic cylinder fixed plate (210), tailpiece of the piston rod
Portion is fixedly connected with the support plate of telescopic rod (205) above；Described third hydraulic cylinder (206) rear end of the cylinder block, which is fixedly mounted on, to be stretched
Below contracting bar (205), piston rod end is fixedly connected above with sucker fixed plate (208)；The vacuum generator
(207) it is fixedly mounted on sucker fixed plate (208) above below；The sucker (202) is fixedly mounted on sucker above and fixes
Below plate (208)；First deck (211) and the second deck (212) be slidably mounted on respectively the first card slot (103) and
Inside second card slot (104)；
The borehole drill construction includes two the 4th hydraulic cylinders (301), stepper motor (302), square drive axis (303), rectangular
Driving sleeve (304), the 4th hydraulic cylinder top plate (305), bearing (306), drill bit fixing seat (307), drill bit (308), fixing sleeve
(309), two retainer plates (310), third card slot (311), the rear end of the cylinder block of two the 4th hydraulic cylinders (301) are solid respectively
Dingan County is inner mounted in two the 4th hydraulic cylinder fixing seats (106), and the bottom surface of piston rod end and the 4th hydraulic cylinder top plate (305) is solid
Dingan County's dress；The 4th hydraulic cylinder top plate (305) is fixedly mounted on the outer ring of bearing (306)；In the bearing (306)
Circle is fixedly mounted on the groove part of square drive axle sleeve (304)；The stepper motor (302) is placed straight down, Gu
In the hole of stepper motor fixed frame (108), motor shaft is fixedly connected with square drive axis (303) upper surface for Dingan County；Institute
The square drive axis (303) stated is slidably mounted on inside the sleeve of square drive axle sleeve (304)；The drill bit fixing seat
(307) it is fixedly mounted on inside the round hole of square drive axle sleeve (304) below；The drill bit (308) is fixedly mounted on brill
Inside head fixing seat (307)；The fixing sleeve (309) is fixedly mounted on the position of drill bit fixing seat (307) tip below；Institute
The second groove (215) that telescopic rod (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 the bearings (306) of square drive axle sleeve (304) two positions above and below.
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 CN106240672A (en) | 2016-12-21 |
| CN106240672B true 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 |
Country Status (1)
| Country | Link |
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| CN (1) | CN106240672B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106240672A (en) | 2016-12-21 |
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