CN106695820A - Scout robot for warehouse - Google Patents
Scout robot for warehouse Download PDFInfo
- Publication number
- CN106695820A CN106695820A CN201611061390.9A CN201611061390A CN106695820A CN 106695820 A CN106695820 A CN 106695820A CN 201611061390 A CN201611061390 A CN 201611061390A CN 106695820 A CN106695820 A CN 106695820A
- Authority
- CN
- China
- Prior art keywords
- spiral
- tube half
- rolling
- warehouse
- push pedal
- 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.)
- Pending
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Classifications
-
- 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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
-
- 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
-
- 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
- B62D57/036—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 screw type, e.g. Archimedian screw
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Food Science & Technology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Screw Conveyors (AREA)
Abstract
The invention discloses a scout robot for a warehouse. The scout robot comprises a cylindrical shell, advancing rolling pipes rotationally arranged on the outer wall of the cylindrical shell, transmission gears fixedly arranged on the advancing rolling pipes and a drive motor used for driving the transmission gears to rotate. Spiral push plates are arranged on the outer circumferential walls of the advancing rolling pipes, and the spiral push plates and the advancing rolling pipes synchronously rotate. The scout robot can monitor deep storage materials in the warehouse in real time.
Description
Technical field
The invention belongs to robotics, and in particular to a kind of warehouse exploring robot.
Background technology
Currently used for the warehouse of storage granule materials, in order to reduce the storage cost of Unit Weight, be generally made it is big and high,
Some technical barriers are consequently also brought, especially for some organic storings apt to deteriorate, was easy for originally because going mouldy or worm
Evil etc. causes permanent loss；And big and high warehouse, when these materials are stored, even more it is difficult to obtain warehouse depths in time
Storing state, be more prone to cause damage.
Such as, present large granary, more than Chang Liu meters of its height has an area of tens of rice, although have at present relatively advanced
Storage management technology, but the spoilage problems of its deep layer grain storage are still easy hair accident.So in the market need one kind badly can be real
When detect the monitoring device of warehouse deep layer storing state, being especially the absence of one kind can be moved independently or according to control command
It is dynamic, so as to expand the equipment for detecting monitoring range.
The content of the invention
Can be moved independently or according to control command and detect scope so as to expanding it is an object of the invention to provide one kind
Warehouse exploring robot.
Realizing the technical scheme of the object of the invention is：A kind of warehouse exploring robot, it is characterised in that：Including barrel shell,
The traveling being rotatably arranged on barrel shell outer wall rolls pipe, the travelling gear being fixedly installed on traveling rolling pipe and for driving transmission
The motor of pinion rotation；The periphery wall of traveling rolling pipe is provided with spiral push pedal, spiral push pedal and rolling pipe synchronous axial system of advancing；
Barrel shell includes base tube and two taper top caps positioned at base tube two ends, and the medial extremity of each taper top cap is fixedly connected with base tube；
The outer wall of each taper top cap is provided with multiple wing plates of radially evagination, and wing plate is evenly distributed on the periphery wall of taper top cap；
The outer wall of traveling rolling pipe is provided with four spiral grooves, the width of the width more than the helicla flute that spiral push pedal is formed of each spiral grooves
Degree, the depth of the depth more than the helicla flute that spiral push pedal is formed of each spiral grooves；Base tube includes upper tube half and lower tube half, upper half
One end of pipe adjoining lower tube half is provided with the pipe portion that is spirally connected on internal thread part, and one end of lower tube half adjoining upper tube half is provided with to be had
Be spirally connected pipe portion under external thread part, under be spirally connected pipe portion and the pipe portion that is above spirally connected is spirally connected and is fixedly linked so that upper tube half and lower tube half pair
Connect combination and form the base tube；The width of each spiral grooves is two to six times of the width of the helicla flute that spiral push pedal is formed；On
One rolling bearing is respectively set on the periphery wall of semicanal and lower tube half, and rolling pipe of advancing is arranged on two rolling bearings.
The present invention has following positive technique effect：（1）Monitor in real time can be carried out to warehouse deep layer storing, by installing
Various sensors the materialization information of storing is detected and information transfer；Further, since with the row that can produce thrust
Enter rolling pipe, can advance or retreat independently or under remote control command, so as to expand detect monitoring range, make with wider array of
Use scope.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the first structure of the invention；
Fig. 2 is a kind of half-sectional structural representation in warehouse exploring robot shown in Fig. 1；
Fig. 3 is a kind of explosive view in warehouse exploring robot shown in Fig. 1；
Fig. 4 is a kind of dimensional structure diagram of traveling rolling pipe in warehouse exploring robot shown in Fig. 1；
Fig. 5 is to advance to roll a kind of half-sectional structural representation of pipe shown in Fig. 4；
Fig. 6 is a kind of dimensional structure diagram of second structure of the invention；
Fig. 7 is a kind of half-sectional structural representation in warehouse exploring robot shown in Fig. 6；
Fig. 8 is a kind of explosive view in warehouse exploring robot shown in Fig. 6；
Fig. 9 is a kind of half-sectional structural representation of traveling rolling pipe in warehouse exploring robot shown in Fig. 6；
Figure 10 is a kind of structural representation of the silo being made of robot shown in Fig. 1；
Figure 11 is a kind of dimensional structure diagram of discharge mechanism in silo shown in Figure 10；
Figure 12 be discharge mechanism shown in Figure 11 from another angle observe when a kind of dimensional structure diagram；
Figure 13 is a kind of explosive view of discharge mechanism shown in Figure 11；
Figure 14 is a kind of dimensional structure diagram of linked switching device in discharge mechanism shown in Figure 11；
Figure 15 be linked switching device shown in Figure 14 from another angle observe when a kind of dimensional structure diagram；
Figure 16 is a kind of dimensional structure diagram of linkage gear component in linked switching device shown in Figure 14；
Figure 17 be linkage gear component shown in Figure 16 from another angle observe when a kind of dimensional structure diagram；
Figure 18 is a kind of side view of linkage gear component shown in Figure 16；
Figure 19 is the line A-A sectional view of linkage gear component shown in Figure 18.
Specific embodiment
（Embodiment 1）
Fig. 1 to Fig. 5 shows the first specific embodiment of the invention.
The present embodiment is a kind of warehouse exploring robot, and as shown in Fig. 1 to Fig. 5, the warehouse exploring robot 6 includes
Barrel shell 61, be rotatably arranged on barrel shell outer wall traveling rolling pipe 62, be fixedly installed on advance rolling pipe on travelling gear 63 and
For the motor 64 rotated with nutating gear.
Travelling gear is fixedly installed on the inwall of rolling pipe of advancing, and the internal perisporium of travelling gear is provided with transmission teeth portion 631,
Motor is provided with drive gear 641, the transmission teeth portion adaptation of the drive gear and travelling gear.In the present embodiment, electricity is driven
The quantity of machine is two.In the present embodiment, rolling of advancing is managed and travelling gear is integral piece, and in concrete practice, both can do
It is also feasible into split part.
The periphery wall of rolling pipe of advancing is provided with spiral push pedal 65, spiral push pedal when being rotated with rolling pipe of advancing, by spiral shell
Rotation is stirred material acquisition thrust and moves ahead or retreat.
Barrel shell include base tube 611 and two taper top caps 612 positioned at base tube two ends, the medial extremity of each taper top cap and
Base tube is fixedly connected；The outer wall of each taper top cap is provided with multiple wing plates 613 of radially evagination, and wing plate is evenly distributed on taper
On the periphery wall of top cap.In the present embodiment, the quantity of the wing plate of each taper top cap is four.Wing plate can cause overall traveling
Route is more stablized.
The middle-end of base tube is provided with annular groove 614, and the driving cog portion of travelling gear is located in the annular groove；Each motor
Drive gear also is located in the annular groove, and band nutating gear is rotated when drive gear is rotated, so as to drive traveling rolling pipe to rotate.
In the present embodiment, base tube includes upper tube half 615 and lower tube half 616, and one end of upper tube half adjoining lower tube half is provided with tool
Have internal thread part on be spirally connected pipe portion 617, one end of lower tube half adjoining upper tube half is provided with the pipe portion that is spirally connected under external thread part
618, under be spirally connected pipe portion and the pipe portion that is above spirally connected is spirally connected and is fixedly linked so that upper tube half and lower tube half docking combination form the base
Pipe.Upper tube half and lower tube half are arranged concentrically.
Two motors are fixedly installed in the tube chamber of lower tube half by screw, are then provided with interior in the tube chamber of upper tube half
Put and control module in power supply 619 and the intelligence with wireless transmit/receive units, the power line of motor passes through down the pipe of the pipe portion that is spirally connected
Module and built-in power electrical connection are controlled behind hole and in intelligence, start and stop and rotating that module controls motor are controlled in intelligence.This
In embodiment, the pipe portion that is above spirally connected protrudes downward from the bottom wall 6151 of upper tube half, under the pipe portion that is spirally connected project upwards in the top of lower tube half
Wall 6161, the pipe portion that is spirally connected instantly and the pipe portion that is above spirally connected are spirally connected after being connected, and are left between the bottom wall of upper tube half and the roof of lower tube half
Gap, the gap forms the annular groove of the base tube.
In the present embodiment, rolling pipe of advancing directly is set on the periphery wall of upper tube half and lower tube half, due to rolling pipe of advancing
Rotating speed and need not be too high, advance rolling pipe be directly on the outer wall of upper tube half and lower tube half rotate；In concrete practice,
One rolling bearing also can be respectively set in upper tube half and lower tube half, then rolling pipe of advancing is arranged on two rolling bearings,
This scheme is also feasible.
Each taper top cap is provided with a temperature sensor 66 and a humidity sensor 67, each temperature sensor and humidity
The induction end of sensor is exposed independent from taper top cap, and each temperature sensor and humidity sensor control module phase with the intelligence
Even.Because each taper top cap is provided with temperature sensor and humidity sensor, the present embodiment can be given drill-through in traveling
The temperature and humidity of grain layer, so as to obtain the physical message of the grain storage of different depth, and can be wireless in barrel shell by being built in
Transmit-Receive Unit is transferred to user.
In concrete practice, it is also possible to powered and transmitted number to the warehouse exploring robot in the present embodiment by cable
According to specifically cable is connected through behind the tip of taper top cap with the wiring board in taper top cap.
The present embodiment can also be set with lamplit camera in each taper top cap, and each taper top cap is using transparent
Material is made so that camera can photograph the in good time state of outside grain storage through top cap, for example observe go mouldy, worm
The bad phenomenon such as sting, it is prevented and treated in time.
The present embodiment has following positive technique effect：（1）Monitor in real time can be carried out to warehouse deep layer storing, by peace
The various sensors of dress are detected and information transfer to the materialization information of storing；Further, since with thrust can be produced
Rolling of advancing is managed, and can be advanced or be retreated independently or under remote control command, so as to expand monitoring range, is used with wider array of
Scope.
（Embodiment 2）
Fig. 6 to Fig. 9 shows second specific embodiment of the invention.
The present embodiment and embodiment 1 are essentially identical, and difference is：As shown in Fig. 6 to Fig. 9, the outer wall of rolling pipe of advancing
It is provided with four spiral grooves 68, the width of the width more than the helicla flute that spiral push pedal is formed of each spiral grooves, each spiral goove
Depth of the depth of groove more than the helicla flute that spiral push pedal is formed；In concrete practice, the width of each spiral grooves is that spiral is pushed away
Plate shape into two to six times of width of helicla flute, the present embodiment is three times.
In the present embodiment, each spiral grooves run through spiral push pedal along from the one end for rolling pipe of advancing to the direction of the other end,
Each spiral grooves also extend through spiral push pedal along the radial direction of rolling pipe of advancing, but not through the tube wall of rolling pipe of advancing.
The present embodiment causes to advance rolling pipe while the spiral push pedal with the smaller line of rabbet joint, also with the spiral shell of the larger line of rabbet joint
Rotation groove, when rotation forces material moves ahead or retreats, spiral push pedal and spiral grooves produce thrust jointly, and are provided only with spiral
Push pedal is compared, and can produce bigger thrust, and adapt to larger particles shape material.
（Application examples 1, binary silo）
Figure 10 to Figure 19 shows a kind of concrete application mode of the invention.
The application example is a kind of binary silo being made of above-described embodiment 1, as shown in Figure 10 to Figure 19, including binary
Warehouse 1 and the discharge mechanism 2 being arranged on below binary warehouse.
Binary warehouse 1 has the first warehouse 11 and the second warehouse 12 being arranged side by side, and the bottom in the first warehouse is tapered, its
There is the first discharging opening at bottom centre；The bottom in the second warehouse is also tapered, has the second discharging opening at its bottom centre.This
In embodiment, the bottom in binary warehouse is provided with four daggers 13, and binary warehouse is stood on the ground by four daggers.In tool
In body practice, also shouldn't dagger, but binary warehouse is directly anchored on wall or on carrier, such as by the present embodiment
For united reaper.
As shown in Figure 10, it is equipped with described at least one above-described embodiment 1 in the first warehouse and the second warehouse and detects machine
Device people 6.
Discharge mechanism 2 includes the interior casing 21 for setting the first unloading passage and the second unloading passage, is arranged on the first unloading and leads to
The first auger 24 in road, is arranged on the second auger 25 in the second unloading passage, and for driving the first auger and second
The drive device 3 that auger is rotated.
The top of casing is provided with the first grain-entering mouth 211 and the second grain-entering mouth 212, and the bottom of casing is provided with the first grain outlet
213 and second grain outlet 214；First grain-entering mouth as the first unloading passage import, the first grain outlet is logical as the first unloading
The outlet in road.Second grain-entering mouth as the second unloading passage import, the second grain outlet as the second unloading passage outlet.
First auger 24 includes the first rotating shaft 241 being rotatably arranged on casing and be fixedly installed in first rotating shaft the
One spiral plate 242, the first spiral plate is located in the first unloading passage；Second auger includes second turn be rotatably arranged on casing
Axle 251 and the secondary spiral lamina 252 being fixedly installed in the second rotating shaft, secondary spiral lamina are located in the second unloading passage.
In the present embodiment, casing is formed by base 217 and the combination of capping 218, and dividing plate 219 is provided with base, and dividing plate is the bottom of
Seat inner space is separated into two big cavitys of grade；First rotating shaft and the setting of the second shaft parallel, the first spiral plate and the second spiral shell
Rotating plate is respectively disposed in a corresponding cavity, and the hand of spiral of the first spiral plate and the hand of spiral of secondary spiral lamina are opposite.
Casing outside, and the end of first rotating shaft 241 stretched out on the outside of casing are stretched out in one end of the first rotating shaft 241 of the first auger
End is fixed with the first driven gear 243；Casing outside is stretched out in one end of second rotating shaft 251 of the second auger, and stretches out casing
The end of second rotating shaft 251 in outside is fixed with the second driven gear 253.
First auger and the second auger elapse respective cavity by rotating push mode in grain.
Drive device 3 includes being provided with the motor 31 and linked switching device 4 of driving wheel 311.
Linked switching device 4 includes support body 41, driving wheel group 32, the guide plate and linkage gear being fixedly installed on support body
Component 44；Guide plate includes outer guide plate 42 and interior guide plate 43, is equipped with one on outer guide plate 42 and interior guide plate 43 and leads
To hole 45；Support body is fixedly installed on cabinet exterior.
Driving wheel group 32 includes power transmission shaft 321 and the driving pulley 322 and driving cog that are fixedly installed on power transmission shaft
Wheel 323, travelling gear is located at the inner side of driving pulley, namely positioned at driving pulley close to the side of casing.Transmission axle position
In first driven gear and the middle of the second driven gear, motor is fixedly installed with respect to ground, and driving wheel is located at
The underface of driving pulley, driving wheel drives driven transmission wheel by belt 312.Travelling gear and the first driven gear and
Gap is left between two driven gears, namely travelling gear does not drive the first driven gear or the second driven gear directly；
First driven gear and the second driven gear are centrosymmetric setting relative to power transmission shaft.
Linkage gear component 44 includes linkage gear 441 and the guiding reciprocatingly slided along pilot hole for spacing linkage gear
Part 448；Guide is located in pilot hole, and when guide slides into one end of pilot hole, travelling gear passes through linkage gear band
Dynamic first driven gear is rotated, and when guide slides into the other end of pilot hole, travelling gear is by linkage gear drive the
Two driven gears are rotated.
In the present embodiment, linkage gear component also includes the axostylus axostyle 442 being fixedly installed in linkage gear centre bore, is arranged
443, two, two rolling bearings on axostylus axostyle two ends are used to housing the bearing block 444 of rolling bearing, for by rolling bearing
Block the end cap 445 in bearing block；
Each end cap is fixedly installed on the outboard end of bearing block by bolt 446, and each end cap is crimped on the outer ring of rolling bearing simultaneously
On；The inner ring of each rolling bearing is arranged on the one end for being fixed on axostylus axostyle；
For lift-off seal, prevent dust from entering in rolling bearing, set also between each end cap and a corresponding bearing block
Gasket seal 447.
In the present embodiment, pilot hole is a circular hole, and the circular hole and travelling gear are arranged concentrically；The outside of each end cap
End is provided with the guide ledges of evagination as guide 448, and each guide ledges are located in a corresponding pilot hole, and can be along pilot hole
Reciprocatingly slide.
In the present embodiment, the upper top surface 4481 and bottom surface 4482 of each guide are the arc surfaces being arranged concentrically；It is each to be oriented to
The upper top surface 4481 of part and the upper inwall adaptation of pilot hole, the bottom surface of each guide and the lower inwall adaptation of pilot hole, it is this
Structure allows that each guide reciprocatingly slides in a corresponding pilot hole, but can not rotate, and linkage gear is then being rolled
Can be rotated under the support of bearing.
In the present embodiment, drive axis are set on outer guide plate and interior guide plate, and linkage gear and travelling gear are nibbled
Properly match somebody with somebody；Because pilot hole and travelling gear are arranged concentrically, so travelling gear can drive linkage gear component entirety when rotating
Moved along pilot hole setting direction, until guide is connected on one end of pilot hole.
As shown in Figure 14, now motor is rotated forward, and guide is connected on the left end of pilot hole, linkage gear,
Travelling gear and the first driven gear engagement adaptation, namely travelling gear now drive the first driven tooth to rotate by linkage gear
It is dynamic, namely drive the first auger to rotate；When motor is rotated backward, travelling gear is rotated backward therewith, and then drives connection
Moving gear and guide move right along pilot hole, until guide is connected on the right-hand member of pilot hole, now linkage gear,
Travelling gear and the second driven gear engagement adaptation, namely travelling gear now can drive the second driven gear by linkage gear
Rotate, namely drive the second auger to rotate.During linkage gear component is moved back and forth along pilot hole, travelling gear is all the time
Linkage gear is driven to rotate.
The course of work of the present embodiment is as follows：Grain storage in first warehouse enters the first unloading passage through the first grain-entering mouth
In, the grain storage in cavity where itself is elapsed to the first grain outlet when the first auger rotates；Grain storage in second warehouse is through
Two grain-entering mouths enter in the second unloading passage, the grain storage in cavity where itself is elapsed to second when the second auger rotates is put out cereal
Mouthful.
The present embodiment has advantages below：（1）Linked switching device it is relatively reasonable in structure, two augers only use same drive
Dynamic motor drives, and is compared with traditional product, saves a motor, also reduces entirety and takes up room, and is conducive to small-sized
Change, especially meet carrier and install and use demand.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not right
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no need and unable to be exhaustive to all of implementation method.And these
Belong to obvious change that connotation of the invention extends out or variation still falls within protection scope of the present invention.
Claims (1)
1. a kind of warehouse exploring robot, it is characterised in that：Rolled including barrel shell, the traveling being rotatably arranged on barrel shell outer wall
Manage, be fixedly installed on the advance travelling gear on rolling pipe and the motor for being rotated with nutating gear；Rolling of advancing is managed
Periphery wall be provided with spiral push pedal, spiral push pedal and rolling pipe synchronous axial system of advancing；Barrel shell includes base tube and positioned at base tube two
Two taper top caps at end, the medial extremity of each taper top cap is fixedly connected with base tube；The outer wall of each taper top cap is provided with along footpath
To multiple wing plates of evagination, wing plate is evenly distributed on the periphery wall of taper top cap；The outer wall of traveling rolling pipe is provided with four spiral shells
Rotation groove, the width of the width more than the helicla flute that spiral push pedal is formed of each spiral grooves, the depth of each spiral grooves is more than spiral shell
The depth of the helicla flute that rotation push pedal is formed；Base tube includes upper tube half and lower tube half, and one end of upper tube half adjoining lower tube half is provided with tool
Have internal thread part on be spirally connected pipe portion, one end of lower tube half adjoining upper tube half is provided with the pipe portion that is spirally connected under external thread part, under
The pipe portion that is spirally connected and the pipe portion that is above spirally connected are spirally connected and are fixedly linked so that upper tube half and lower tube half docking combination form the base tube；Each spiral shell
The width for revolving groove is two to six times of the width of the helicla flute that spiral push pedal is formed；It is each on the periphery wall of upper tube half and lower tube half
One rolling bearing is set, and rolling pipe of advancing is arranged on two rolling bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061390.9A CN106695820A (en) | 2016-11-27 | 2016-11-27 | Scout robot for warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061390.9A CN106695820A (en) | 2016-11-27 | 2016-11-27 | Scout robot for warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695820A true CN106695820A (en) | 2017-05-24 |
Family
ID=58934703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611061390.9A Pending CN106695820A (en) | 2016-11-27 | 2016-11-27 | Scout robot for warehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695820A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7055625B1 (en) * | 2003-01-27 | 2006-06-06 | Honeybee Robotics, Ltd. | Self-propelled instrumented deep drilling system |
| CN202750695U (en) * | 2012-08-25 | 2013-02-27 | 贵阳台农种养殖有限公司 | Groove type spiral propeller of curing machine |
| WO2016035066A1 (en) * | 2014-09-02 | 2016-03-10 | HAYIK, Isaak | Self propelling subterranean vehicle |
-
2016
- 2016-11-27 CN CN201611061390.9A patent/CN106695820A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7055625B1 (en) * | 2003-01-27 | 2006-06-06 | Honeybee Robotics, Ltd. | Self-propelled instrumented deep drilling system |
| CN202750695U (en) * | 2012-08-25 | 2013-02-27 | 贵阳台农种养殖有限公司 | Groove type spiral propeller of curing machine |
| WO2016035066A1 (en) * | 2014-09-02 | 2016-03-10 | HAYIK, Isaak | Self propelling subterranean vehicle |
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| PB01 | Publication | ||
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Application publication date: 20170524 |