CN108798695A - Hydraulic vibration impacts robot - Google Patents
Hydraulic vibration impacts robot Download PDFInfo
- Publication number
- CN108798695A CN108798695A CN201810842371.2A CN201810842371A CN108798695A CN 108798695 A CN108798695 A CN 108798695A CN 201810842371 A CN201810842371 A CN 201810842371A CN 108798695 A CN108798695 A CN 108798695A
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- 238000001816 cooling Methods 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 21
- 239000010959 steel Substances 0.000 claims description 21
- 239000010720 hydraulic oil Substances 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 239000003921 oil Substances 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 5
- 210000003781 tooth socket Anatomy 0.000 claims description 4
- 239000002131 composite material Substances 0.000 claims description 3
- 239000000446 fuel Substances 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 5
- 238000005183 dynamical system Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000036512 infertility Effects 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1086—Drives or transmissions specially adapted therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
A kind of hydraulic vibration impact robot, it includes pass through the crawler body of hydraulic-driven, slewing equipment, rack, dynamical system, boom system, hydraulic system and cooling system, the interface of slewing equipment is provided on the crawler body, four angles of the crawler body are respectively equipped with Auxiliary support, the slewing equipment includes pivoting support and revolution driving component, the pivoting support top is fixed with rack, lower part is fixed with crawler body, and the boom system includes concatenated three arms and its drive cylinder；The present invention is more stablized and is fastened, realized on a large scale, stability is strong, the strong purpose of operation power by the design of rational three-level jib structure and auxiliary support apparatus, the bearing of crawler body as a result,.
Description
Technical field
The present invention relates to the technical fields of robot engineering more particularly to a kind of hydraulic vibration to impact robot.
Background technology
Currently, a large amount of manpower, such as the communicating passage in tunneling, safe hole are also relied in domestic constructing tunnel,
It is such as constructed using benching tunnelling method in soft soil layer, such as removes temporary support.
Therefore, constructing tunnel, which carries out comprehensive mechanization, necessarily becomes irreversible trend.It proposes small, man-machine point a kind of
From hydraulic vibration impact robot, replace artificial various less important works in underground engineering construction, realize that underground engineering is applied
Work mechanization.
For this purpose, the designer of the present invention, in view of drawbacks described above, by concentrating on studies and designing, synthesis is engaged in for many years for a long time
The experience and achievement of related industry, research and design goes out a kind of hydraulic vibration impact robot, to overcome drawbacks described above.
Invention content
The purpose of the present invention is to provide a kind of hydraulic vibrations to impact robot, simple in structure, convenient operating maintenance, energy
For the dismounting of Pollen sterility section excavation or other dangerous higher replacement manual works, underground engineering construction mechanization is realized.
To solve the above problems, the invention discloses a kind of hydraulic vibrations to impact robot, it includes pass through hydraulic-driven
Crawler body, slewing equipment, rack, dynamical system, boom system, hydraulic system and cooling system, it is characterised in that：
The interface of slewing equipment is provided on the crawler body, four angles of the crawler body are respectively equipped with auxiliary branch
Support, the slewing equipment include pivoting support and revolution driving component, and the pivoting support top is fixed with rack, lower part and shoe
Band chassis is fixed, and the boom system includes the level-one arm being articulated in rack and is articulated between rack and level-one arm for driving
The level-one arm drive cylinder with displacement sensor of dynamic level-one arm action；It is articulated with the two level arm of level-one arm end and is articulated with one
The two level arm drive cylinder with displacement sensor between grade arm and two level arm for driving two level arm to act；It is articulated with two level arm
The three-level arm of end and be articulated between two level arm and three-level arm for drive three-level arm act the three-level with displacement sensor
Arm drive cylinder；It is articulated with the power head connecting rod of three-level arm end and is articulated between three-level arm and power head connecting rod for driving
The level Four arm drive cylinder with displacement sensor that power head is swung to by the action of each drive cylinder of electrical control come
Realize action and the composite move of each drive cylinder of single drive cylinder.
Wherein：It is set there are two free hinge in the end of power head connecting rod, two hinges install a liquid by axis pin
Quick connector is pressed, to install power tool head by hydraulic pressure quick connector.
Wherein：The crawler body uses fast joint structure comprising bearing plate, intermediate plate and steel strand wires, the steel
Twisted wire is the track frame that at least 12 and both ends are each passed through both sides, and the bearing plate is fixed on track frame and for steel strand wires
Run through, the intermediate plate is coordinated by cone structure and bearing plate to be clamped steel strand wires.
Wherein：Elastic groove is provided on the intermediate plate, inner ring is provided with the tooth socket for clamping the steel strand wires.
Wherein：The revolution driving component includes hydraulic motor and speed reducer, and the hydraulic motor is by speed reducer and returns
Turn the internal tooth engaged transmission of bearing, the hydraulic motor and speed reducer to fix to enable 360 degree of revolutions of rack with rack.
Wherein：The hydraulic system is made of hydraulic oil container, main pump and multichannel valve group, main pump be connected to hydraulic oil container with from
Hydraulic oil container oil suction, main pump fuel feeding to multichannel valve group, by automatically controlled or be allocated simultaneously to fluid to operate multichannel valve group manually
It is transferred to executing agency's action.
Wherein：The cooling system includes the Air cooler that engine carries, Air cooler air draught in front of the machine, wherein
Before shell and leading flank is provided with inlet scoop, and trailing flank, rear shell and the bottom plate of shell are provided with air outlet.
Wherein：It is additionally provided with tele-control system, including video monitoring system and virtual prototype system, are realized to robot
Remote control.
By above structure it is found that the hydraulic vibration impact robot of the present invention has the following effects that：
1, it by the design of rational three-level jib structure and auxiliary support apparatus, realizes on a large scale, stability is strong, work
The strong purpose of power.
2, the bearing of crawler body is more stablized and is fastened.
3, using the control method of remote control and remote control, it ensure that operating personnel in narrow, dangerous work face safety
Property, work efficiency is high.
The detailed content of the present invention can be obtained by aftermentioned explanation and institute's attached drawing.
Description of the drawings
Fig. 1 shows the structural schematic diagram of the hydraulic vibration impact robot of the present invention.
Fig. 2A shows the crawler body fast joint structure schematic diagram of the present invention.
Fig. 2 B show the vertical view of the crawler body fast joint structure of the present invention.
Fig. 3 and Fig. 4 shows the hydraulic schematic of the present invention.
Fig. 5 shows the cooling system schematic diagram of the present invention.
Fig. 5 A show the schematic diagram after present invention installation outer cover.
Fig. 5 B show the rear shell schematic diagram of the present invention.
Fig. 5 C show the floor diagram of the present invention.
Fig. 6 show the present invention tele-control system schematic diagram,
Reference numeral：
1- crawler bodies；2- racks；3- slewing equipments；4- Auxiliary supports；5- electrical systems；6- power tool heads；7- is dynamic
Force system；8- hydraulic systems；8-1 hydraulic oil containers；8-2 main pumps；8-3 multichannel valve groups；8-4 running motor variable control valves；8-5
Electromagnetic water valve；8-6 conduit assemblies；8-7 oiling pump groups；8-8 quick couplings；9- level-one arm drive cylinders；10- level-one arms；11-
Two level arm drive cylinder；12- two level arms；13- three-level arm drive cylinders；14- three-level arms；15- power head oil cylinders；16- power heads
Connecting rod；1-1 bearing plates；1-2 intermediate plates；1-3 steel strand wires；1-4 protective covers；17- cooling systems；17-1 Air coolers；It is outer before 17-2
Cover；Outer cover on front side of 17-3；Outer cover on rear side of 17-4；17-5 rear shells；17-6 bottom plates；18- remote operation platforms；18-1 control devices；
18-2 video monitoring systems；18-3 virtual prototype systems.
Specific implementation mode
Referring to Fig. 1 to 6, it is shown that hydraulic vibration of the invention impacts robot.
The hydraulic vibration impact machine can artificially be vibrated by the full hydraulic of diesel engine drives or electric drive
Construction robot is impacted, it includes pass through the crawler body 1 of hydraulic-driven, slewing equipment 3, rack 2, dynamical system 7, arm support system
System, power tool head 6, Auxiliary support 4, hydraulic system 8, cooling system 17, tele-control system 18 etc..
Referring to Fig. 2A and Fig. 2 B, it is shown that the internal structure schematic diagram of crawler body, the present invention in the crawler body 1
Use fast joint structure comprising bearing plate 1-1, intermediate plate 1-2, steel strand wires 1-3 and protective cover 1-4, the steel strand wires 1-
3 be the track frame that at least 12 and both ends are each passed through both sides, wherein the steel strand wires 1-3 can be above and below shown in figure
Two rows, two groups before and after often row is divided into shown in Fig. 2 B, so that stress is more balanced, pressure-bearing effect is more preferable, the bearing plate
1-1 is fixed on track frame and runs through for steel strand wires 1-3, the intermediate plate 1-2 by cone structure and bearing plate 1-1 coordinate with incite somebody to action
Steel strand wires 1-3 is clamped, wherein the tapered portion and the taper on bearing plate 1-1 that cone structure includes intermediate plate 1-2 outer rims
Hole is provided with elastic groove on the intermediate plate 1-2, and inner ring is provided with the tooth socket for clamping the steel strand wires 1-3, wherein passes through jack
Tension steel strand 1-3 generates prestressing force, while jack tension steel strand wires 1-3, on one side by intermediate plate 1-2 pushing tows to bearing plate 1-
In 1, after steel strand wires 1-3 tensioning is to predetermined tensile force, jack back resetting, and the tooth socket of intermediate plate 1-2 clamps steel strand wires 1-
3 to keep prestressing force, to achieve the purpose that fastening.
Wherein, the protective cover 1-4 is located at both sides to protect internal component.
Wherein, the interface of slewing equipment 3 is provided on the crawler body, four angles of the crawler body 1 are set respectively
There are Auxiliary support 4, the Auxiliary support 4 to include a supporting leg containing independent hydraulically controlled hydraulic oil cylinder driving.When crawler belt traveling, it can pack up simultaneously
It is contained in robot profile, when work is extended, is supported in bottom surface, the stability of complete machine when improving robot manipulating task.
The slewing equipment 3 is using the pivoting support formula structure of hydraulic motor decelerator driving, and it includes pivoting supports
With revolution driving component, the pivoting support top is fixed with rack, and lower part is fixed with crawler body, the revolution driving component
Including bearing, hydraulic motor and speed reducer, wherein the hydraulic motor is passed by the interior tooth engagement of speed reducer and pivoting support
Dynamic, the hydraulic motor and speed reducer are fixed with rack, to enable 2 360 degree of endless-rotatings of rack.
The boom system includes the level-one arm 10 being articulated in rack 2 and is articulated between rack and level-one arm for driving
The level-one arm drive cylinder 9 with displacement sensor of dynamic level-one arm action；It is articulated with the two level arm 12 and hinge of 10 end of level-one arm
It is connected to the two level arm drive cylinder 11 with displacement sensor for driving two level arm to act between level-one arm and two level arm；It is hinged
In two level arm end three-level arm 14 and be articulated between two level arm and three-level arm for drive three-level arm act band displacement pass
The three-level arm drive cylinder 13 of sensor；It is articulated with the power head connecting rod 16 of three-level arm end and is articulated with three-level arm and power head company
The level Four arm drive cylinder 15 with displacement sensor between bar for driving power head to swing.To each by electrical control
The action of drive cylinder is, it can be achieved that the individually action of drive cylinder, can also realize the composite move of each group drive cylinder.
It is set there are two free hinge in the end of power head connecting rod 16, two hinges are fast by axis pin one hydraulic pressure of installation
Fast connector, to install power tool head 6 by hydraulic pressure quick connector.The power tool head 6 is including but not limited to using
Hydraulic breaker and hydraulic pressure milling dig standby etc..
Shown in Fig. 3 and Fig. 4, the hydraulic system 8 refers to driving main pump 8-2 to provide hydraulic oil by dynamical system 7,
And each executing agency of robot is driven to act by manipulating multichannel valve group 8-3.The hydraulic system 8 is mainly by hydraulic oil container 8-
1, the compositions such as main pump 8-2, multichannel valve group 8-3, running motor variable control valve 8-4, electromagnetic water valve 8-5 and conduit assembly 8-6.
Main pump 8-2 is connected to hydraulic oil container 8-1 so that from hydraulic oil container 8-1 oil suctions, main pump 8-2 fuel feeding is to multichannel valve group 8-3, by automatically controlled
Or manually come operate multichannel valve group 8-3 fluid is allocated and is transferred to power tool head 6, each drive cylinder 9,11,13,
15, rotary fluid motor, crawler travel motor, auxiliary leg oil cylinder drive each executing agency to act, and are inputed to by change more
The electric signal of road valve group 8-3 is controlled, it can be achieved that control to being transferred to each executing agency's fluid uninterrupted and flow direction
Brake force tool heads working condition, arm support posture, rotational speed and direction, crawler travel speed and direction, auxiliary leg are flexible
Speed and direction.Wherein, the running motor variable control valve 8-4 draws oil to the walking horse of crawler body from multichannel valve group 8-3
Reach, by switch the running motor variable control valve working position, it can be achieved that the running motor to crawler body two-stage tune
Speed.The electromagnetic water valve 8-5 can realize the control to power tool head cooling water channel break-make.The hydraulic oil container 8-1 is included to be added
Oil pump group 8-7 to hydraulic oil container, it can be achieved that refuel and from hydraulic oil container oil pumping, the oiling without extraneous auxiliary and oil rig,
Convenient and efficient.The conduit assembly 8-6 includes quick coupling 8-8, it can be achieved that quick changing-over to power tool tie-in oil pipe.
Referring to Fig. 5, Fig. 5 A to C, the cooling system 17 includes the Air cooler 17-1 that engine carries, the Air cooler
17-1 is from air draught in front of machine, and 17-2, leading flank 17-3 are provided with inlet scoop, trailing flank 17-4, rear shell 17- wherein before shell
5 and bottom plate 17-6 is provided with air outlet, and such external wind is discharged after heat exchange, is realized heat exchange, has been ensured electrical system
With the requirement of dynamical system safe working temperature.
Wherein, hydraulic vibration of the invention impact robot is additionally provided with tele-control system 18.When robot need into
When entering the progress operation of narrow or hazardous environment, tele-control system can be used, robot is controlled, for ensureing to operate
The safety of personnel.
Referring to Fig. 6, the tele-control system 18 includes video monitoring system 18-2 and virtual prototype system 18-3, described
Virtual prototype system 18-3 contacts the sensing data of acquisition with the 3D model foundations for excavating robot, when operating personnel are split
When digging robot manipulation, 3D models is made to carry out real-time animation emulation, and really shows the work of machine on computer screen
State realizes the remote control to robot it is possible to prevente effectively from improperly operating.The remote control table is mainly by controlling
Part 18-1, video monitoring system 18-2 and virtual prototype system 18-3 compositions.Control section 18-1 can realize that robot is each dynamic
The single action and combinative movement of work.The video monitoring system 18-2 refers to being regarded by being installed on the robot arm support and rack
Frequency monitoring device realizes the remote monitoring to the robot environment and work surface.By video monitoring, operating personnel can be long-range
Control the traveling and operation of robot.Each drive cylinder of belt sensor described in the robot boom system is able to record simultaneously
The travel information for transmitting the drive cylinder, by virtual prototype system 18-3 described in three dimensional design, by the cylinder sensor
Travel parameters are provided, the real-time simulation to each action of the robot is realized, teleworker can be made to grasp machine in real time
The posture and orientation of people, improves the precision of remote control.
The present invention is realized on a large scale, stability is strong, work by optimizing the design of three-level jib structure and auxiliary support apparatus
Be used as power strong purpose.Using the control method of remote control and remote control, it ensure that operating personnel narrow, dangerous work face
Safety, work efficiency is high.
It is readily apparent that above description and record is only illustrated in the disclosure being not intended to be limiting of the invention
Appearance, application or use.Although describing and being described in the accompanying drawings embodiment in embodiment, the present invention does not limit
Be described as by attached drawing example and in embodiment it is now recognized that optimal mode to implement the particular case of the teachings of the present invention
Son, the scope of the present invention is by any embodiment of the description and appended claims including falling into front.
Claims (8)
1. a kind of hydraulic vibration impacts robot, it includes pass through the crawler body of hydraulic-driven, slewing equipment, rack, power
System, boom system, hydraulic system and cooling system, it is characterised in that：
The interface of slewing equipment is provided on the crawler body, four angles of the crawler body are respectively equipped with Auxiliary support,
The slewing equipment includes pivoting support and revolution driving component, and the pivoting support top is fixed with rack, lower part and crawler belt
Chassis is fixed, and the boom system includes the level-one arm being articulated in rack and is articulated between rack and level-one arm for driving
The level-one arm drive cylinder with displacement sensor of level-one arm action；It is articulated with the two level arm of level-one arm end and is articulated with level-one
The two level arm drive cylinder with displacement sensor between arm and two level arm for driving two level arm to act；It is articulated with two level arm end
The three-level arm at end and be articulated between two level arm and three-level arm for drive three-level arm act the three-level arm with displacement sensor
Drive cylinder；It is articulated with the power head connecting rod of three-level arm end and is articulated between three-level arm and power head connecting rod dynamic for driving
The level Four arm drive cylinder with displacement sensor that power head is swung is thus by the action of each drive cylinder of electrical control come real
The now action of single drive cylinder and the composite move of each drive cylinder.
2. hydraulic vibration as described in claim 1 impacts robot, it is characterised in that：It is equipped with two in the end of power head connecting rod
A free hinge, two hinges install a hydraulic pressure quick connector by axis pin, to be installed by hydraulic pressure quick connector
Power tool head.
3. hydraulic vibration as described in claim 1 impacts robot, it is characterised in that：The crawler body, which uses, quickly to be connected
Binding structure comprising bearing plate, intermediate plate and steel strand wires, the steel strand wires are the shoe that at least 12 and both ends are each passed through both sides
Tape holder, the bearing plate are fixed on track frame and run through for steel strand wires, and the intermediate plate is coordinated by cone structure and bearing plate
Steel strand wires to be clamped.
4. hydraulic vibration as claimed in claim 3 impacts robot, it is characterised in that：It is provided with elastic groove on the intermediate plate,
Inner ring is provided with the tooth socket for clamping the steel strand wires.
5. hydraulic vibration as described in claim 1 impacts robot, it is characterised in that：The revolution driving component includes hydraulic pressure
Motor and speed reducer, the hydraulic motor hydraulic motor and are subtracted by the internal tooth of speed reducer and pivoting support engaged transmission
Fast machine is fixed to enable 360 degree of revolutions of rack with rack.
6. hydraulic vibration as described in claim 1 impacts robot, it is characterised in that：The hydraulic system by hydraulic oil container,
Main pump and multichannel valve group composition, main pump are connected to hydraulic oil container so that from hydraulic oil container oil suction, main pump fuel feeding passes through to multichannel valve group
It is automatically controlled or manually come operate multichannel valve group fluid is allocated and be transferred to executing agency action.
7. hydraulic vibration as described in claim 1 impacts robot, it is characterised in that：The cooling system include engine from
The Air cooler of band, Air cooler air draught in front of the machine, wherein before shell and leading flank is provided with inlet scoop, after shell
Side, rear shell and bottom plate are provided with air outlet.
8. hydraulic vibration as described in claim 1 impacts robot, it is characterised in that：It is additionally provided with tele-control system, is wrapped
Containing video monitoring system and virtual prototype system, the remote control to robot is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842371.2A CN108798695B (en) | 2018-07-27 | 2018-07-27 | Hydraulic vibration impact robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842371.2A CN108798695B (en) | 2018-07-27 | 2018-07-27 | Hydraulic vibration impact robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108798695A true CN108798695A (en) | 2018-11-13 |
| CN108798695B CN108798695B (en) | 2024-03-01 |
Family
ID=64077832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810842371.2A Active CN108798695B (en) | 2018-07-27 | 2018-07-27 | Hydraulic vibration impact robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108798695B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571404A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of barrier getting over mechanism, obstacle detouring intelligent inspection robot and its substation's obstacle-detouring method |
| CN111608223A (en) * | 2020-06-04 | 2020-09-01 | 金陵科技学院 | Underground rescue vehicle |
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| CN1792569A (en) * | 2005-12-22 | 2006-06-28 | 马鞍山市惊天液压机械制造有限公司 | Robot for disassembling work |
| WO2016037559A1 (en) * | 2014-09-10 | 2016-03-17 | 山东鲁能智能技术有限公司 | Charged water-flushing robot system and method for substation |
| CN205132727U (en) * | 2015-07-03 | 2016-04-06 | 天津鑫坤泰预应力专业技术有限公司 | Carry finished steel stranded conductor band closing device's double dynamical propelling movement machine |
| CN108189921A (en) * | 2018-01-11 | 2018-06-22 | 国家电网公司 | A kind of crawler-type carrier vehicle |
| CN208900102U (en) * | 2018-07-27 | 2019-05-24 | 中铁工程机械研究设计院有限公司 | Hydraulic jerk robot |
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2018
- 2018-07-27 CN CN201810842371.2A patent/CN108798695B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1792569A (en) * | 2005-12-22 | 2006-06-28 | 马鞍山市惊天液压机械制造有限公司 | Robot for disassembling work |
| WO2016037559A1 (en) * | 2014-09-10 | 2016-03-17 | 山东鲁能智能技术有限公司 | Charged water-flushing robot system and method for substation |
| CN205132727U (en) * | 2015-07-03 | 2016-04-06 | 天津鑫坤泰预应力专业技术有限公司 | Carry finished steel stranded conductor band closing device's double dynamical propelling movement machine |
| CN108189921A (en) * | 2018-01-11 | 2018-06-22 | 国家电网公司 | A kind of crawler-type carrier vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109571404A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of barrier getting over mechanism, obstacle detouring intelligent inspection robot and its substation's obstacle-detouring method |
| CN111608223A (en) * | 2020-06-04 | 2020-09-01 | 金陵科技学院 | Underground rescue vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108798695B (en) | 2024-03-01 |
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