CN106593438B - Drilling hole hydraulic mining down-hole mining robot - Google Patents
Drilling hole hydraulic mining down-hole mining robot Download PDFInfo
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- CN106593438B CN106593438B CN201710061275.XA CN201710061275A CN106593438B CN 106593438 B CN106593438 B CN 106593438B CN 201710061275 A CN201710061275 A CN 201710061275A CN 106593438 B CN106593438 B CN 106593438B
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- robot
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- mechanical arm
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- 238000005065 mining Methods 0.000 title claims abstract description 44
- 238000005553 drilling Methods 0.000 title claims abstract description 42
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 37
- 230000001681 protective effect Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 25
- 238000005259 measurement Methods 0.000 claims description 22
- 239000000725 suspension Substances 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims 1
- 230000035939 shock Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000002411 adverse Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
- 239000011707 mineral Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C37/00—Other methods or devices for dislodging with or without loading
- E21C37/06—Other methods or devices for dislodging with or without loading by making use of hydraulic or pneumatic pressure in a borehole
- E21C37/12—Other methods or devices for dislodging with or without loading by making use of hydraulic or pneumatic pressure in a borehole by injecting into the borehole a liquid, either initially at high pressure or subsequently subjected to high pressure, e.g. by pulses, by explosive cartridges acting on the liquid
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Graphics (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of drilling hole hydraulic mining down-hole mining robot, including at least hydraulic giant part, the mechanical arm of force, mechanical arm of force protective cover, portable carrying platform, robot actuating unit and robot self balancing device, the water supply hose weld of hydraulic giant part is on the core drill roofbolt of the mechanical arm of force, protection shield joint is provided with core drill roofbolt, mechanical arm of force protective cover is combined together by hexagon socket head cap screw and protection shield joint, the mechanical arm of force base of mechanical arm of force bottom is bolted on mobile carrying platform, mobile carrying platform is erected on robot actuating unit, robot self balancing device is erected in robot actuating unit.Digging robot of the present invention can realize the intelligentized exploitation of 360 ° omni-directional in the spread space of underground ore bodies；Suitable for adverse circumstances such as deep hole HTHPs；Drilling process is remarkably improved drilling efficiency and drilling quality, reduces drilling cost, improves production security.
Description
Technical field
The invention belongs to drilling field, and in particular to a kind of drilling hole hydraulic mining down-hole mining robot, can extensive use
In the drilling field of the departments such as geology, coal, oil, be particularly suitable for use in deep Solid Mineral hydraulic mining.
Background technology
At present, though drilling hole hydraulic mining method the most frequently used in production can be reduced to a certain extent compared with traditional mining mode mode
Capital expenditure, job security is improved, but still there are some shortcomings in actual production process, such as hydraulic giant can only in mining process
Crushed, and can not be corrected in real time according to the spread situation of underground ore bed along predetermined well mark, instruct it to plan rational path；
Ore body is only confined to a certain specific spatial dimension arround hydraulic giant is broken, for Local resource, such as point-like, local lens distribution ore deposit
Exploitation complete difficulty it is big；High-speed jet impact the wall of a borehole during hydraulic fracture ore body, broken, the rock ore body of avalanche are arbitrarily scattered,
Easily cause the accidents such as the caving in of hole wall, bit freezing, burying, and ore pulp can not the abundant row of returning, serious slow mining efficiency etc..
These problems cause large-scale promotion application of the BOREHOLE HYDROMNING of deep Solid Mineral in production practices by one
Fixed limitation.
The content of the invention
The technical problem to be solved in the present invention is, for existing drilling hole hydraulic mining method above shortcomings, there is provided
A kind of drilling hole hydraulic mining down-hole mining robot, it can realize that 360 ° omni-directional is intelligentized in the spread space of underground ore bodies
Exploitation；Suitable for adverse circumstances such as deep hole HTHPs；Drilling process is remarkably improved drilling efficiency and drilling quality, reduces and bores
Cost is visited, improves production security.
The present invention is that technical scheme is used by solving above-mentioned technical problem：
Drilling hole hydraulic mining down-hole mining robot, including at least hydraulic giant part, the mechanical arm of force, mechanical arm of force protective cover,
Portable carrying platform, robot actuating unit and robot self balancing device, the water supply hose joint weldering of hydraulic giant part
It is connected on the core drill roofbolt of the mechanical arm of force, protection shield joint is provided with core drill roofbolt, mechanical arm of force protective cover passes through interior
Hex(agonal)screw is combined together with protection shield joint, and the mechanical arm of force base of mechanical arm of force bottom is bolted on movement and taken
On carrying platform, mobile carrying platform is erected on robot actuating unit, and robot self balancing device is erected at robot
In actuating unit.
By such scheme, the hydraulic giant part includes spiral waterpower driven rotary shower nozzle, telescoping shoring column, water supply hose and confession
Water tube hose joint, oblique water jet is carved with spiral waterpower driven rotary shower nozzle, spiral waterpower driven rotary shower nozzle is welded on scalable
On support, telescoping shoring column is connected by screw thread with water supply hose, and water supply hose accesses water supply hose joint by drilling rod groove.
By such scheme, the mechanical arm of force comprise at least core drill roofbolt, protection shield joint, drilling rod inner conduit joint,
Toggle-action lever, integrated device control cabinet, 360 ° of rotary supports and mechanical arm of force base, drilling rod inner conduit fittings core drill roofbolt
Top rod water passage, core drill roofbolt are connected by toggle-action lever with 360 ° of rotary supports, 360 ° of rotary support bottom overlap joints
Integrated device control cabinet, while 360 ° of rotary supports and integrated device control cabinet are secured by bolts on mechanical arm of force base.
By such scheme, the mechanical arm of force protective cover includes foldable protection blade, mechanical arm of force connector, mechanical force
Arm connector is combined together by hexagon socket head cap screw and protection shield joint, and foldable blade is welded in mechanical arm of force connector
On.
By such scheme, the mechanical arm of force also includes noctovisor scan equipment and measurement apparatus joint, noctovisor scan
For equipment with measurement apparatus weld on core drill roofbolt, noctovisor scan equipment is infrared for accessing with measurement apparatus joint
Scanning device and measurement apparatus.
By such scheme, the robot actuating unit is mainly made up of drive, flute profile crawler belt and power transmission shaft, tooth
Type crawler belt is arranged on the periphery of drive.
By such scheme, the robot self balancing device includes power transmission shaft base, power transmission shaft, spring damper and hydraulic pressure
Branch lining is hung, power transmission shaft base is arranged on spring damper and hydraulic suspension branch lining, and power transmission shaft is arranged on power transmission shaft base.
By such scheme, the foldable protection blade is provided with 4 guiding folding fins.
The operation principle of the present invention：The down-hole mining robot passes through infrared scanning equipment and the timely structure of shaft bottom measurement apparatus
Three-dimensional geological model under shaft building, instruction is sent by integrated device control cabinet, robot actuating unit and robot are certainly flat
Weighing apparatus device can guarantee that power supply of the robot during whole down-hole mining and stably, pass through robot actuating unit
Exploited with migration of the instruction robot during whole down-hole mining of the mechanical arm of force and without dead angle, while robot self-balancing dress
Put the stability and security that exploitation is ensure that with mechanical arm of force protective cover.
Compared with prior art, the invention has the advantages that：
1st, downhole intelligent digging is the core technology of drilling hole hydraulic mining, and down-hole mining robot of the present invention is a kind of new
The mining tool of type, the intelligentized exploitation of 360 ° omni-directional can be realized in the spread space of underground ore bodies, while exploitation
Periphery ore body information is caught, automatically generates three-dimensional visible model；Shaft bottom measurement apparatus records downhole data automatically；Information frame is
When be transferred to pit robot console and ground artificial master control platform, the underground moving road of commands direct robot is sent by it
Footpath, the safety and high efficiency of ore body, the smooth row of returning of ore pulp；
2nd, the robot manipulation is simple, and digital intelligent degree is high, is applicable to the adverse circumstances such as deep hole HTHP；
Drilling process is remarkably improved drilling efficiency and drilling quality, reduces drilling cost, improves production security, and application prospect is wide
It is general.
Brief description of the drawings
Fig. 1 is the nozzle structure schematic diagram of digging robot of the present invention；
Fig. 2 is the mechanical arm structure schematic diagram of digging robot of the present invention；
Fig. 3 is the connection diagram of the mechanical arm of force protective cover of digging robot of the present invention；
Fig. 4 is connection signal of the robot actuating unit with portable carrying platform of digging robot of the present invention
Figure；
Fig. 5 is the structural representation of the robot self-balancing system of digging robot of the present invention；
Fig. 6 is robot body's structure chart of the present invention；
In figure：The spiral waterpower driven rotary shower nozzle of the oblique water jets of 1-, 2-, 3- telescoping shoring columns, 4- water supply hoses, 5- are infrared
Line scanning device and water in measurement apparatus joint, 6- water supply hoses joint, 7- core drills roofbolt, 8- protection shield joint, 9- drilling rods
Pipe joint, 10- toggle-action levers, 11- integrated devices control cabinet, 12-360 ° of rotary support, 13- machinery arm of forces base, 14- are foldable
Protect blade, 15- machinery arm of forces connector, 16- movable types carrying platform, 17- drives, 18- flute profiles crawler belt, 19- power transmission shafts
Base, 20- power transmission shafts, 21- spring dampers, 22- hydraulic suspensions branch lining.
Embodiment
Principle and feature further description below in conjunction with accompanying drawing to the present invention, example are served only for illustrating this
Invention, and non-limiting application of the invention.
Shown in 1~Fig. 5 of reference picture, drilling hole hydraulic mining down-hole mining robot of the present invention, including：Spiral water
Power rotary nozzle 2, telescoping shoring column 3, water supply hose 4, noctovisor scan equipment and measurement apparatus joint 5, water supply hose joint
6th, 11,360 ° of core drill roofbolt 7, protection shield joint 8, drilling rod inner conduit joint 9, toggle-action lever 10, integrated device control cabinet rotations
Bearing 12, mechanical arm of force base 13, foldable protection blade 14, mechanical arm of force connector 15, portable carrying platform 16, transmission
Wheel 17, flute profile crawler belt 18, power transmission shaft base 19, power transmission shaft 20, spring damper 21, hydraulic suspension branch lining 22.
As shown in figure 1, being carved with oblique water jet 1 on spiral waterpower driven rotary shower nozzle 2, spiral waterpower driven rotary shower nozzle 2 welds
It is connected on telescoping shoring column 3, telescoping shoring column 3 is connected by screw thread with water supply hose 4.
1~Fig. 3 of reference picture, water supply hose 4 access water supply hose joint 6 by drilling rod groove, and infrared scanning equipment is with surveying
It is reserved to measure device joint 5, noctovisor scan equipment is used to access infrared scanning equipment and measurement apparatus with measurement apparatus joint 5,
Measurement apparatus connects feedback of the information to integrated device control cabinet 11, infrared scanning equipment with measurement apparatus joint 5 with water supply hose
First 6 are welded on core drill roofbolt 7, and protection shield joint 8 is arranged on core drill roofbolt 7, and mechanical arm of force connector 15 is by interior
Hex(agonal)screw is combined together with protection shield joint 8, and foldable blade 14 is welded on mechanical arm of force connector 15.
As shown in figure 3, the foldable protection blade 14 being welded on mechanical arm of force connector 15 is provided with 4 guiding folding wings
Piece, foldable protection blade 14 is to preventing hole wall crushes ore bed avalanche and caused the accident from having certain effect, while it forms trap
Also there is certain promotion in space to the row of returning of ore pulp.
As shown in Fig. 2 drilling rod inner conduit joint 9 connects the top rod water passage of core drill roofbolt 7, core drill roofbolt 7
It is connected by toggle-action lever 10 with 360 ° of rotary supports 12, the 360 ° of bottom of rotary support 12 overlap joint integrated device control cabinets 11, simultaneously
360 ° of rotary supports 12 and integrated device control cabinet 11 are secured by bolts on mechanical arm of force base 13, the mechanical arm of force of bottom
Base 13 is bolted on mobile carrying platform 16；Mobile carrying platform 16 is erected at by drive 17, flute profile crawler belt
18 and power transmission shaft 20 form robot actuating unit on, as shown in Figure 4.
Shown in 5~Fig. 6 of reference picture, power transmission shaft base 19, power transmission shaft 20, spring damper 21 and hydraulic suspension branch lining 22 are common
With composition robot self balancing device, robot self balancing device is erected in robot actuating unit.
Digging robot is serially connected in nearly drill bit drill string after assembling in tripping in drilling, close to target ore bed initial stage, by
Integrated device control cabinet 11 sends instruction instruction digging robot opening drilling rod inner conduit joint 9 and switched, and High-Pressure Water is through hollow
Drill string 7 is flow in the passage of water supply hose 4, the spiral waterpower driven rotary shower nozzle 2 of the high pressure water flow strikes in water supply hose 4, is engraved in
Oblique water jet 1 on spiral waterpower driven rotary shower nozzle 2 forms circumgyration incision effect breaking ore body outer layer in the presence of waterpower；
At the same time, the maximum of hydraulic giant is kept to cut effect, noctovisor scan equipment and measurement apparatus joint 5 in order to form submerged jets
For the measurement apparatus of access by feedback of the information to integrated device control cabinet 11, integrated device control cabinet 11 instructs telescoping shoring column 3 certainly
The distance of the dynamic spiral waterpower driven rotary shower nozzle 2 of adjustment and outer layer ore body, after above procedure, one can be formed from outer layer ore body
The spheroid shape ore deposit hole to extend internally.
Then, the infrared scanning equipment and measurement apparatus that noctovisor scan equipment accesses with measurement apparatus joint 5 are according to ore deposit
The spatial situation of ore body in hole, automatic input down-hole formation information and generation underground three-dimensional geological model, data message and
When be transferred to integrated device control cabinet 11, the optimal roadway moving road of instruction instruction down-hole mining Robot Selection is sent by it
Footpath, in whole moving process, robot power transmission that power is made up of drive 17, flute profile crawler belt 18 and power transmission shaft 20
Device provides, and wherein flute profile crawler belt 18 can provide larger friction force.If it is rugged and rough to run into tunnel road surface, can pass through
The robot mainly collectively constituted by power transmission shaft base 19, power transmission shaft 20, spring damper 21 and hydraulic suspension branch lining 22 is certainly flat
Weighing apparatus device is adjusted, to pass through landform.
During down-hole mining robot sets out to ore body depths, the mechanical arm of force is to complete intelligent mining process
Critical component.The premise of underground ore body spatial information, integrated device control are obtained based on infrared scanning equipment and measurement apparatus
Case 11 processed is except the movement of guidance machine people, and also by controlling 360 ° of rotary supports 12, toggle-action lever 10, drive includes spiral water
Hydraulic giant part including power rotary nozzle 2, telescoping shoring column 3, water supply hose 4 forms one without dead angle waterpower diced system, from
And abundant, efficient digging underground ore bed.In mining process, in case of underground ore bed broken, situation about easily caving in is infrared to sweep
The subtle three-dimensional geological model that equipment and measurement apparatus build broken ore bed periphery in advance is retouched, data transfer to integrated device controls
After case 11, send the instruction instruction protection switch of shield joint 8 and open, the mechanical band of arm of force connector 15 being connected with protection shield joint 8
The foldable spread apart of protection blade 14 is moved, the closed circle of a type of falling bucket is formed with front breaking ore body.This measure one avoids
Hole wall caves in triggered accident, and two pressure for coming in trap system to increase also accelerate the speed returned on ore pulp, improve and adopt
The efficiency of ore deposit.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Principle etc, any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection.
Claims (7)
1. drilling hole hydraulic mining down-hole mining robot, it is characterised in that：Including at least hydraulic giant part, the mechanical arm of force, mechanical force
Arm protective cover, portable carrying platform, robot actuating unit and robot self balancing device, the hydraulic giant part include
Spiral waterpower driven rotary shower nozzle, telescoping shoring column, water supply hose and water supply hose joint, it is carved with spiral waterpower driven rotary shower nozzle
Oblique water jet, spiral waterpower driven rotary shower nozzle are welded on telescoping shoring column, and telescoping shoring column passes through screw thread and water supply hose
Connect, water supply hose accesses water supply hose joint by drilling rod groove, and the water supply hose weld of hydraulic giant part is in mechanical force
On the core drill roofbolt of arm, be provided with protection shield joint on core drill roofbolt, mechanical arm of force protective cover by hexagon socket head cap screw with
Protection shield joint is combined together, and the mechanical arm of force base of mechanical arm of force bottom is bolted on mobile carrying platform,
Mobile carrying platform is erected on robot actuating unit, and robot self balancing device is erected at robot power transmission dress
In putting.
2. drilling hole hydraulic mining down-hole mining robot according to claim 1, it is characterised in that：The mechanical arm of force is extremely
Include core drill roofbolt, protection shield joint, drilling rod inner conduit joint, toggle-action lever, integrated device control cabinet, 360 ° of rotary supports less
With mechanical arm of force base, drilling rod inner conduit fittings core drill roofbolt top rod water passage, core drill roofbolt passes through song
Shank is connected with 360 ° of rotary supports, and 360 ° of rotary support bottoms overlap integrated device control cabinets, at the same 360 ° of rotary supports and
Integrated device control cabinet is secured by bolts on mechanical arm of force base.
3. drilling hole hydraulic mining down-hole mining robot according to claim 1, it is characterised in that：The mechanical arm of force is prevented
Shield includes foldable protection blade, mechanical arm of force connector, and mechanical arm of force connector is connect by hexagon socket head cap screw and protective cover
Head is combined together, and foldable protection blade is welded on mechanical arm of force connector.
4. drilling hole hydraulic mining down-hole mining robot according to claim 3, it is characterised in that：The foldable protection
Blade is provided with 4 guiding folding fins.
5. drilling hole hydraulic mining down-hole mining robot according to claim 1, it is characterised in that：The mechanical arm of force is also
Including noctovisor scan equipment and measurement apparatus joint, noctovisor scan equipment is with measurement apparatus weld in core drill roofbolt
On, noctovisor scan equipment is used to access infrared scanning equipment and measurement apparatus with measurement apparatus joint.
6. drilling hole hydraulic mining down-hole mining robot according to claim 1, it is characterised in that：The robot power
Transmission device is mainly made up of drive and flute profile crawler belt, and flute profile crawler belt is arranged on the periphery of drive.
7. drilling hole hydraulic mining down-hole mining robot according to claim 1, it is characterised in that：The robot is certainly flat
The device that weighs includes power transmission shaft base, power transmission shaft, spring damper and hydraulic suspension branch lining, power transmission shaft base and is arranged on spring shock absorption
Device and hydraulic suspension branch lining, power transmission shaft are arranged on power transmission shaft base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710061275.XA CN106593438B (en) | 2017-01-25 | 2017-01-25 | Drilling hole hydraulic mining down-hole mining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710061275.XA CN106593438B (en) | 2017-01-25 | 2017-01-25 | Drilling hole hydraulic mining down-hole mining robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106593438A CN106593438A (en) | 2017-04-26 |
| CN106593438B true CN106593438B (en) | 2017-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710061275.XA Expired - Fee Related CN106593438B (en) | 2017-01-25 | 2017-01-25 | Drilling hole hydraulic mining down-hole mining robot |
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| Country | Link |
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| CN (1) | CN106593438B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112211568A (en) * | 2020-08-27 | 2021-01-12 | 北京金地科技有限公司 | Convenient quick-dismantling foldable portable drill rod |
| CN114559560A (en) * | 2020-11-27 | 2022-05-31 | 广东博智林机器人有限公司 | Punching operation control method and device and cooperative robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102817613A (en) * | 2012-09-07 | 2012-12-12 | 合肥海闻机器人开发有限公司 | Full-automatic coal mining robot |
| CN102979524A (en) * | 2012-11-12 | 2013-03-20 | 陈小林 | Robot control mining system |
| CN103437763A (en) * | 2013-09-10 | 2013-12-11 | 淄博广梓机械有限公司 | Underground remote control shoveling robot |
| CN105804755A (en) * | 2016-05-12 | 2016-07-27 | 江西理工大学 | Floating type deep sea automatic mining robot |
| CN205445607U (en) * | 2015-12-29 | 2016-08-10 | 深圳市鼎泰智能装备股份有限公司 | Machine people is excavated to intelligence coal |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008098217A2 (en) * | 2007-02-09 | 2008-08-14 | Industrial Origami, Inc. | Load-bearing three-dimensional structure |
-
2017
- 2017-01-25 CN CN201710061275.XA patent/CN106593438B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102817613A (en) * | 2012-09-07 | 2012-12-12 | 合肥海闻机器人开发有限公司 | Full-automatic coal mining robot |
| CN102979524A (en) * | 2012-11-12 | 2013-03-20 | 陈小林 | Robot control mining system |
| CN103437763A (en) * | 2013-09-10 | 2013-12-11 | 淄博广梓机械有限公司 | Underground remote control shoveling robot |
| CN205445607U (en) * | 2015-12-29 | 2016-08-10 | 深圳市鼎泰智能装备股份有限公司 | Machine people is excavated to intelligence coal |
| CN105804755A (en) * | 2016-05-12 | 2016-07-27 | 江西理工大学 | Floating type deep sea automatic mining robot |
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| CN106593438A (en) | 2017-04-26 |
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Granted publication date: 20171229 Termination date: 20200125 |