CN108487873A - A kind of rock sample core taking device based on articulated robot - Google Patents
A kind of rock sample core taking device based on articulated robot Download PDFInfo
- Publication number
- CN108487873A CN108487873A CN201810094104.1A CN201810094104A CN108487873A CN 108487873 A CN108487873 A CN 108487873A CN 201810094104 A CN201810094104 A CN 201810094104A CN 108487873 A CN108487873 A CN 108487873A
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- CN
- China
- Prior art keywords
- rock sample
- articulated robot
- drilling rod
- fastening
- taking device
- Prior art date
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B25/00—Apparatus for obtaining or removing undisturbed cores, e.g. core barrels, core extractors
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
Abstract
The present invention provides a kind of rock sample core taking device based on articulated robot,Including articulated robot and rinse liquid pool,It rinses and is equipped with fixture combination and water pump in liquid pool,Articulated robot is equipped with drilling rod,One end of one water pipe connects water pump,The other end is located in drilling rod,When drilling rod core-drilling, water pipe sprays water and water is made to flow down along drilling rod outward,Fixture combination includes being distributed in " wood " font,It is layed in the six roots of sensation guide rail in flushing liquor bottom of pond portion,Rock sample is located at the intersection of six roots of sensation guide rail extended line,There is fastening sliding block on guide rail,It fastens sliding block and is equipped with vertical strut,There are two fastening push rods setting up and down on vertical strut,Each fastening push rod is equipped with the clamping head of pushing and pressing rock sample,At least partly vertical strut is moved by the direction where corresponding fastening sliding block to rock sample,Until its clamping head pushes against rock sample and rock sample is fixedly clamped jointly,To facilitate articulated robot to use drilling rod core-drilling.
Description
Technical field
The present invention relates to rock sample core taking equipment technical field more particularly to a kind of rock sample core taking dresses based on articulated robot
It sets.
Background technology
Rock sample is that drilling machine turns round fractured rock by drilling tool and drill bit in bottom hole, and column core is extracted in rock core bar, from
Obtained from stratum or mineral products rock sample, the case where to determine geology or mineral products.But generally from outdoors exploration and extract stratum
The diameter length and quality of rock sample are also different, and laboratory is usually right when the property to rock is measured analysis
The specification of core has certain requirement, therefore the rock sample specification of field probing extraction generally can not meet laboratory to rock
The analysis requirement of core.At this moment with regard to needing to carry out the secondary coring of rock sample in laboratory, to obtain the rock that disclosure satisfy that experimental study
Sample.Currently, usually cut, ground and polishing operation to rock sample under lab, common instrument is three to use wafer lapping machine, to the greatest extent
Pipe which can also complete the analysis and research work to rock sample, but its is complicated for operation, technological process is cumbersome, working efficiency is low
Under.
Invention content
In view of this, the embodiment provides it is a kind of it is easy to operate, technological process is succinct, efficient based on pass
Save the rock sample core taking device of robot.
The embodiment of the present invention provides a kind of rock sample core taking device based on articulated robot, including articulated robot and punching
Washing lotion pond, described to rinse in liquid pool the fixture combination and water pump for being equipped with clamping rock sample, the articulated robot is equipped with and is used for
The drilling rod of the rock sample core is drilled through, one end of a water pipe connects the water pump, and the other end is located in the drilling rod, when described
Drilling rod when drilling through the core water pipe spray water outward and make water along the drilling rod flow down, the fixture combination include be in " wood "
Six roots of sensation guide rail font distribution, being layed in flushing liquor bottom of pond portion, the rock sample are located at guide rail extended line described in the six roots of sensation
Intersection, has a fastening sliding block on each guide rail, removably equipped with vertical strut, Mei Yisuo on the fastening sliding block
Stating has two fastening push rods setting up and down on vertical strut, the direction where each fastening push rod towards the rock sample
One end be equipped with the clamping head for pushing against the rock sample, at least partly described vertical strut is by the corresponding fastening sliding block to institute
The direction movement where rock sample is stated, until its clamping head pushes against the rock sample and the rock sample is fixedly clamped jointly, to side
Toilet states articulated robot and drills through the core using the drilling rod.
Further, each fastening sliding block is equipped with the sliding slot passed through for the corresponding guide rail, the fastening sliding block
Upper includes symmetrically arranged two fastening part, and two fastening part is located at front and back the two of the corresponding vertical strut
Side, each fastening part are equipped with the tapped through hole for being connected to the sliding slot, a bolt pass through the tapped through hole downwards with
The guide rail abuts the fastening sliding block being fixed on the guide rail.
Further, the fastening sliding block includes the docking section being located at center, and the docking section is cylinder, outside
Surface is equipped with the first external screw thread, and the lower end of the vertical strut is equipped with butt hole, be equipped in the butt hole with outside described first
The butt hole and externally threaded by the internal thread and described first is inserted into the matched internal thread of screw thread, the docking section
It engages and is mutually butted.
Further, the top of the vertical strut is equipped with upward interconnecting piece, and the outer surface of the interconnecting piece is set
There is the second external screw thread, the interconnecting piece is identical with the docking section structure, second external screw thread and the described first outer spiral shell
Line is completely the same, and the interconnecting piece with the butt hole of another vertical strut for docking to lengthen the vertical support
Bar.
Further, the clamping head is pressed from both sides for V-type, is had two clamping limbs being oppositely arranged and is connected two clamping limb
Main body, the clamping limb is for pushing against the rock sample.
Further, the articulated robot includes rotation waist and is connect with the rotation waist with can be with the rotation
The main member and submember of waist rotation, the submember are set up in parallel in the longitudinal direction with the main member, a large arm
Lower end is rotatably mounted to the main member by large arm driving motor, and the upper end of the large arm passes through first turn with a upper arm
Dynamic secondary rotation connection, the upper end of one first forearm are connect with the upper arm by the second revolute pair, the lower end of first forearm
It is rotatably mounted to the main member, right end of the large arm far from second revolute pair is equipped with the drilling rod.
Further, the upper end of one second forearm and the upper arm are hinged close to the left end of second revolute pair, described
The lower end of second forearm is rotatably mounted to the submember by forearm driving motor.
Further, the upper arm is equipped with a triangle fender bracket, and first revolute pair and second revolute pair can
Rotation positioned at two vertex of the triangle fender bracket on, the third vertex of the triangle fender bracket and wrist level guarantor
The one end for holding connecting rod is hinged, and the right end of the upper arm is upward convex to be equipped with an articulated section, and the wrist level keeps the another of connecting rod
End is hinged with the articulated section.
Further, the rotation waist is equipped on pedestal, and a waist servo motor is connect with the rotation waist to drive
The dynamic rotation waist rotation.
The advantageous effect brought of technical solution that the embodiment of the present invention provides is：The rock based on articulated robot
Sample coring device, (1) fix the rock sample by the fixture combination, by the articulated robot using the drilling rod come
Coring is carried out to rock sample, it is easy to operate, while the error of manual operation is reduced, improve coring efficiency；(2) when the drilling rod
The water pipe sprays water and water is made to flow down along the drilling rod outward when drilling through the core, thus while the cooling drilling rod,
The landwaste adhered on the drilling rod can also be rinsed well in time, improve the working efficiency of the drilling rod；(3) the water pump position
In the flushing liquid pool, the flushing liquor in the flushing liquid pool is pumped into the drilling rod, institute by the water pump by the water pipe
When stating drilling rod coring, flushing liquor is flowed out from the drilling rod again, and final flushing liquor is returned to the flushing liquid pool, in the punching
Flushing liquor after being precipitated in washing lotion pond is taken away by the water pump again, to realize the recycling of flushing liquor, helps to save
It saves spending, reduce cost.
Description of the drawings
Fig. 1 is the overall schematic of the rock sample core taking device the present invention is based on articulated robot；
Fig. 2 is the schematic diagram of the flushing liquid pool of the rock sample core taking device the present invention is based on articulated robot；
Fig. 3 is the schematic diagram of the fastening sliding block of the rock sample core taking device the present invention is based on articulated robot；
Fig. 4 is the schematic diagram of the vertical strut of the rock sample core taking device the present invention is based on articulated robot；
Fig. 5 is the vertical view of Fig. 4；
Fig. 6 is the schematic diagram for rinsing liquid pool middle guide and being laid with of the rock sample core taking device the present invention is based on articulated robot.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
Referring to FIG. 1, the embodiment provides a kind of rock sample core taking device based on articulated robot, main to use
In carrying out secondary coring to rock sample 300 in the lab, including：The articulated robot 100 and flushing liquid pool being arranged independently of each other
200。
Referring to FIG. 1, the articulated robot 100 has three degree of freedom, including：Pedestal, the pedestal have upper branch
Support face 102, bottom support surface 101, and four support legs 103 of the upper supporting surface 102 and the bottom support surface 101 are connected, one
The projecting lower surface for being installed on the upper supporting surface 102 of waist servo motor 104 is to be located at the upper supporting surface 102 and institute
Between stating bottom support surface 101, rotation waist 105, the waist servo motor are installed on the upper surface of the upper supporting surface 102
104 connect with the rotation waist 105 upwardly through retarder for driving the 105 relatively described upper supporting surface of the rotation waist
102 rotate in the horizontal plane.The rotation waist 105 is equipped with 106 He of main member that can be rotated with the rotation waist 105
Submember 107, the main member 106 are set up in parallel in the longitudinal direction with the submember 107.
The articulated robot 100 further includes upper arm 114, and the right end of the upper arm 114 is downwardly convex to be equipped with drilling rod mounting portion,
One drilling rod 116 is installed on downwards the drilling rod mounting portion, and the upper end of the left end of the upper arm 114 and one second forearm 110 is hinged,
The lower end of second forearm 110 is hinged with the submember 107.The upper arm 114 is equipped with the first revolute pair and second turn
Dynamic pair, second revolute pair and the first revolute pair left and right settings, second revolute pair are located at first revolute pair
Between the left end, the distance between first revolute pair and the right end are more than the distance between itself and the left end.
The upper end of one first forearm 111 is rotatably connected with second revolute pair, and the lower end of first forearm 111 is installed on described
Main member 106, the submember 107 are equipped with forearm driving motor, and the forearm driving motor passes through retarder and described the
The connection of two forearms 110 is to drive second forearm 110 to rotate.The upper end of one large arm 108 and first revolute pair are rotatable
The lower end of connection, the large arm 108 is installed on the main member 106, and the main member 106 is equipped with large arm driving motor 109,
The large arm driving motor 109 is connect by retarder with the large arm 108 to drive the large arm 108 to rotate, and described first
Forearm 111 and the front and back setting of second forearm 110, and it is respectively positioned on the left side of the large arm 108.
The upper arm 114 is equipped with a triangle fender bracket 112, and first revolute pair and second revolute pair are rotatable
On two vertex of the triangle fender bracket 112, the third vertex of the triangle fender bracket 112 and a wrist level
Keep one end of connecting rod 113 hinged, the right end of the upper arm 114 is upward convex to be equipped with an articulated section 115, and the wrist level is kept
The other end of connecting rod 113 is hinged with the articulated section 115, and the wrist level keeps connecting rod 113 to be set with the interval of the upper arm 114
It sets.
The waist servo motor 104 drives the rotation waist 105 to rotate in the horizontal plane, will be on the upper arm 114
The rotation of the drilling rod 116 to designated position, the large arm driving motor 109 and the forearm driving motor respectively drive described
Large arm 108 and second forearm 110 left-right rotation in the vertical direction, and the angular speed rotated is different, it is described to make
The right end of upper arm 114 upwarps or sinks, since first forearm 111 and the upper arm 114 are hinged, 108 He of the large arm
When second forearm 110 rotates, first forearm 111 rotates therewith.Due to first revolute pair, second rotation
The secondary and described wrist level keeps connecting rod 113 to be restrained by the triangle fender bracket 112, and the wrist level keeps connecting rod 113
The opposite end articulated section 115 with the third vertex of the triangle fender bracket 112 and the right end of the upper arm 114 respectively
It is hinged, to make the right end of the upper arm 114 at any time can held stationary, will not occur because of the work of the drilling rod 116
Offset is to influence the broken coring of the rock sample 300 of the drilling rod 116.
It is described to rinse in liquid pool 200 fixture combination and water pump (not shown) for being equipped with clamping rock sample 300, the flushing liquor
There is flushing liquor, one end of a water pipe (not shown) to connect the water pump in pond 200, the other end is located in the drilling rod 116,
When the drilling rod 116 drills through the core, the water pipe sprays water and water is made to flow down along the drilling rod 116 outward, on the one hand cooling
On the other hand the drilling rod 116 is rinsed the landwaste etc. being adhered to outside the drilling rod 116 well, it is ensured that the drilling rod 116 is normal
Work.The flushing liquor flowed back to again in the flushing liquid pool 200 by the drilling rod 116 can be again after simply precipitating
The water pipe is pumped by the water intaking, the drilling rod 116 is then again introduced into, so recycles, institute can be made full use of
State flushing liquor, moreover it is possible to which reducing expenses reduces cost.It is offered for by the flushing liquor in the one side wall 201 for rinsing liquid pool
The aqueduct 206 that flushing liquor in pond 200 is drawn, the aqueduct 206 are equipped with towards the open end in the flushing liquid pool 200
Strainer.Flushing liquor that the aqueduct 206 is used to discard or extra draws the flushing liquid pool 200, and the strainer is used
In prevent the aqueduct 206 by debris blockage.
The fixture combination includes in the distribution of " wood " font, is layed in the six roots of sensation guide rail of 200 bottom of the flushing liquid pool
207, there is a fastening sliding block 205, each fastening sliding block 205 is equipped with for leading described in corresponding on each guide rail 207
The sliding slot 2054 that rail 207 passes through includes symmetrically arranged two fastening part on the fastening sliding block 205 and is located at two fastening part
Intermediate docking section 2053, two fastening part is located at the front and rear sides of the corresponding docking section 2053, each
The fastening part is equipped with the tapped through hole for being connected to the sliding slot 2054, a bolt 2052 pass through the tapped through hole downwards with
The guide rail 207 abuts to which the fastening sliding block 205 is fixed on the guide rail 207, screws out two bolts 2052 outward,
Abutting force between two bolts 2052 and the guide rail 207 reduces, or even disappears, so as to so that the fastening sliding block
205 move along the corresponding guide rail 207.
The docking section 2053 is cylinder, and outer surface is equipped with the first external screw thread, corresponds to each docking section 2053,
It is equipped with a vertical strut 202, the lower end of the vertical strut 202 is equipped with butt hole 2022, is equipped in the butt hole 2022
With the matched internal thread of the first external screw thread, the docking section 2053 is inserted into the butt hole 2022 and by the interior spiral shell
Line and first externally threaded engage and be mutually butted, to by the vertical strut 202 it is vertical be fixed on the fastening
Sliding block 205, and can be moved with the movement of the fastening sliding block 205.
The rock sample 300 is located at the intersection of 207 extended line of guide rail described in the six roots of sensation, has on each vertical strut 202
There are at least two fastening push rods 203 setting up and down, direction of each fastening push rod 203 towards 300 place of the rock sample
One end be equipped with the clamping head 204 for pushing against the rock sample 300, the clamping head 204 is that V-type is pressed from both sides, with two folders being oppositely arranged
Gripping arm and the main body for connecting two clamping limb, the clamping limb is for pushing against the rock sample 300.
When the rock sample 300 is cylindrical or generally cylindrical, the institute on wherein three guide rails 207 is used
The clamping head 204 stated on fastening sliding block 205 pushes against the rock sample 300, these three described guide rails 207 are located at " wood " word
Head, one skim and a right-falling stroke where position, the fastening sliding block 205 on these three described guide rails 207 can constitute one just
Triangle, to make the formation of the clamping head 204 corresponding with sliding block 205 is fastened described in these three make concentric mechanism, Neng Gougeng by oneself
Add to stablize and clamps and position the rock sample 300, it is convenient that broken coring is carried out to the rock sample 300.
When the rock sample 300 is rectangular or polygon, slided using the fastening on wherein four guide rails 207
The clamping head 204 on block 205 pushes against the rock sample 300, in " wood " word after this four extensions of described guide rails 207
" ten ", the fastening sliding block 205 on this four described guide rails 207 can constitute a regular quadrangle, to make this four institutes
It states the corresponding formation of the clamping head 204 of fastening sliding block 205 and makes concentric mechanism by oneself, can more stablize clamping and position the rock sample
300, it is convenient that broken coring is carried out to the rock sample 300.
When the rock sample 300 is higher, in order to keep stability and uniformity that the rock sample 300 is clamped, Mei Yisuo
Stating vertical strut 202 can lengthen.Specifically, the top of each vertical strut 202 is equipped with upward interconnecting piece
2021, the outer surface of the interconnecting piece 2021 is equipped with the second external screw thread, 2053 structure of the interconnecting piece 2021 and the docking section
Identical, second external screw thread and first external screw thread are completely the same, the interconnecting piece 2021 be used for it is another described
The docking of the butt hole 2022 of vertical strut 202 so that lengthen the vertical strut 202 in the vertical direction, after making lengthening
The rock sample 300 can be preferably clamped in the vertical strut 202, make the rock sample 300 when being broken, uniform force, energy
It is enough to improve the effect for being crushed coring.
After the rock sample 300 is positioned by the fixture combination, the articulated robot 100 starts, and makes the drilling rod pair
The accurate rock sample 300, the then water intaking pump startup, then the drilling rod 116 start, start to take the rock sample 300
Core is broken, and in location of the coring procedure, suitably adjusting the fixture combination ensures that the rock sample 300 is stablized fixation always, until taking
Core is completed.
The rock sample core taking device based on articulated robot, (1) fixes the rock sample by the fixture combination
300, coring is carried out to rock sample 300 using the drilling rod 116 by the articulated robot 100, it is easy to operate, it reduces simultaneously
The error of manual operation, improves coring efficiency；(2) when the drilling rod 116 drills through the core 300, the water pipe to
It is outer to spray water and water is made to flow down along the brill, 116, to while cooling drilling rod 116, moreover it is possible in time by the drilling rod
The landwaste adhered on 116 is rinsed well, and the working efficiency of the drilling rod 116 is improved；(3) water pump is located at the flushing liquor
Flushing liquor in the flushing liquid pool 200 is pumped into the drilling rod 116, the brill by pond 200, the water pump by the water pipe
When 116 coring of bar, flushing liquor is flowed out from the drilling rod 116 again, and final flushing liquor is returned to the flushing liquid pool 200,
The flushing liquor rinsed after being precipitated in liquid pool 200 is taken away by the water pump again, to realize the recycling of flushing liquor,
Help to reduce expenses, reduce cost.
Herein, the nouns of locality such as involved front, rear, top, and bottom are to be located in figure with parts in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of rock sample core taking device based on articulated robot, it is characterised in that：Including articulated robot and rinse liquid pool, institute
The fixture combination and water pump for rinsing in liquid pool and being equipped with clamping rock sample are stated, the articulated robot is equipped with for drilling through the rock
One end of the drilling rod of sample core, a water pipe connects the water pump, and the other end is located in the drilling rod, when the drilling rod drills through institute
The water pipe sprays water and water is made to flow down along the drilling rod outward when stating core, and the fixture combination includes being distributed in " wood " font
, six roots of sensation guide rail that be layed in flushing liquor bottom of pond portion, the rock sample is located at the intersection of guide rail extended line described in the six roots of sensation, often
There is a fastening sliding block on one guide rail, vertical strut, each vertical support are removably equipped on the fastening sliding block
There are two fastening push rods setting up and down, the one end in the direction where each fastening push rod towards the rock sample to set on bar
There is a clamping head for pushing against the rock sample, at least partly described vertical strut is by the corresponding fastening sliding block to the rock sample institute
Direction move, until its clamping head pushes against the rock sample and the rock sample is fixedly clamped jointly, to facilitate the pass
Section robot drills through the core using the drilling rod.
2. the rock sample core taking device based on articulated robot as described in claim 1, it is characterised in that：Each fastening is slided
Block is equipped with the sliding slot passed through for the corresponding guide rail, including symmetrically arranged two fastening part on the fastening sliding block, described two
Fastening part is located at the front and rear sides of the corresponding vertical strut, and each fastening part, which is equipped with, is connected to the cunning
One tapped through hole of slot, a bolt abut to fix the fastening sliding block downwards with the guide rail across the tapped through hole
In the guide rail.
3. the rock sample core taking device based on articulated robot as described in claim 1, it is characterised in that：The fastening sliding block packet
The docking section at center is included, the docking section is cylinder, and outer surface is equipped with the first external screw thread, the vertical strut
Lower end be equipped with butt hole, be equipped in the butt hole and inserted with the matched internal thread of the first external screw thread, the docking section
Enter the butt hole and is mutually butted with first externally threaded engage by the internal thread.
4. the rock sample core taking device based on articulated robot as claimed in claim 3, it is characterised in that：The vertical strut
Top is equipped with upward interconnecting piece, and the outer surface of the interconnecting piece is equipped with the second external screw thread, the interconnecting piece and described right
Jointing part structure is identical, and second external screw thread and first external screw thread are completely the same, the interconnecting piece be used for it is another
The butt hole of the vertical strut is docked to lengthen the vertical strut.
5. the rock sample core taking device based on articulated robot as claimed in claim 3, it is characterised in that：The clamping head is V
Type presss from both sides, and has two clamping limbs being oppositely arranged and connects the main body of two clamping limb, the clamping limb is for pushing against the rock
Sample.
6. the rock sample core taking device based on articulated robot as claimed in claim 3, it is characterised in that：The flushing liquid pool
The aqueduct for drawing the flushing liquor in the flushing liquid pool is offered in one side wall, the aqueduct is towards the flushing
Open end in liquid pool is equipped with strainer.
7. the rock sample core taking device based on articulated robot as described in claim 1, it is characterised in that：The articulated robot
The main member and submember can be rotated with the rotation waist, the pair are connect including rotation waist and with the rotation waist
Component is set up in parallel in the longitudinal direction with the main member, and the lower end of a large arm passes through the rotatable installation of large arm driving motor
In the main member, the upper end of the large arm be rotatablely connected with a upper arm by the first revolute pair, the upper end of one first forearm and
The upper arm is connected by the second revolute pair, and the lower end of first forearm is rotatably mounted to the main member, described big
Right end of the arm far from second revolute pair is equipped with the drilling rod.
8. the rock sample core taking device based on articulated robot as claimed in claim 7, it is characterised in that：One second forearm it is upper
End is hinged close to the left end of second revolute pair with the upper arm, and the lower end of second forearm can by forearm driving motor
Rotation is installed on the submember.
9. the rock sample core taking device based on articulated robot as claimed in claim 8, it is characterised in that：The upper arm is equipped with
One triangle fender bracket, first revolute pair and second revolute pair are rotatably located at two tops of the triangle fender bracket
On point, third vertex and the wrist level of the triangle fender bracket keep one end of connecting rod hinged, the right end of the upper arm
Upward convex to be equipped with an articulated section, the wrist level keeps the other end of connecting rod and the articulated section hinged.
10. the rock sample core taking device based on articulated robot as claimed in claim 7, it is characterised in that：The rotation waist
Equipped on pedestal, a waist servo motor is connect with the rotation waist to drive the rotation waist to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810094104.1A CN108487873B (en) | 2018-01-31 | 2018-01-31 | Rock sample coring device based on joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810094104.1A CN108487873B (en) | 2018-01-31 | 2018-01-31 | Rock sample coring device based on joint robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108487873A true CN108487873A (en) | 2018-09-04 |
| CN108487873B CN108487873B (en) | 2019-12-17 |
Family
ID=63344062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810094104.1A Expired - Fee Related CN108487873B (en) | 2018-01-31 | 2018-01-31 | Rock sample coring device based on joint robot |
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| Country | Link |
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| CN (1) | CN108487873B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114458202A (en) * | 2022-01-26 | 2022-05-10 | 四川大学 | Core cabin clamp for deep in-situ fidelity core taking calibration platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114458202A (en) * | 2022-01-26 | 2022-05-10 | 四川大学 | Core cabin clamp for deep in-situ fidelity core taking calibration platform |
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| CN108487873B (en) | 2019-12-17 |
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