CN109083643A - A kind of wheel leg type problem of rock-drilling robot - Google Patents
A kind of wheel leg type problem of rock-drilling robot Download PDFInfo
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- CN109083643A CN109083643A CN201810882275.0A CN201810882275A CN109083643A CN 109083643 A CN109083643 A CN 109083643A CN 201810882275 A CN201810882275 A CN 201810882275A CN 109083643 A CN109083643 A CN 109083643A
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- rock
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- 238000005553 drilling Methods 0.000 title claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 239000012530 fluid Substances 0.000 claims abstract description 17
- 230000000712 assembly Effects 0.000 claims abstract description 12
- 238000000429 assembly Methods 0.000 claims abstract description 12
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 230000009194 climbing Effects 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 239000000758 substrate Substances 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 6
- 239000011435 rock Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 229910000746 Structural steel Inorganic materials 0.000 claims description 3
- 210000000245 forearm Anatomy 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 230000007613 environmental effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Earth Drilling (AREA)
Abstract
Well-behaved case invention discloses a kind of wheel leg type problem of rock-drilling robot, including wheel undercarriage (1), scaffold (2), vehicle body moving assembly (3), electric drive swivel component (4), fluid pressure type lift leg assembly (5), vehicle body (6), visual information acquisition device (7) and robot assemblies (8)；The robot assemblies (8) have two groups, are separately mounted to vehicle body (6) two sides, and robot assemblies (8) are equipped with hydraulic splitting machine (8.1.3).The present invention is a kind of novel wheel leg type problem of rock-drilling robot, its mobile device combines the advantage that wheeled devices speed is fast and leg formula device obstacle climbing ability is strong, it can be quickly through rugged and rough region, on the robotic arm by the installation of hydraulic splitting machine, by the coordinated movement of various economic factors of vehicle body moving assembly and double multi-degree-of-freemechanical mechanical arms, intelligence adjusts the operating angle and operating distance of hydraulic splitting machine, executes complex task instead of staff, high-efficient, ability to work is strong.
Description
This divisional application original applying number be 201611220504X, the applying date be on December 26th, 2016, entitled " one
The novel wheel leg type problem of rock-drilling robot of kind ".
Technical field
The present invention relates to a kind of robot, specifically a kind of wheel leg type problem of rock-drilling robot belongs to robotic technology field.
Background technique
In mining, there are many danger zones, be often unsuitable for personnel's handwork, at this moment if using mobile energy
Power is good and ability to work is strong problem of rock-drilling robot replaces manually performing task, not only can guarantee the safety of staff but also can mention
High efficiency.
In existing technical solution, it usually needs staff is hand-held or hand push hydraulic splitting machine goes work on the spot, both
It is dangerous to cannot be guaranteed efficiency again.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of wheel leg type problem of rock-drilling robot, mobile devices
The advantage that wheeled devices speed is fast and leg formula device obstacle climbing ability is strong is combined, danger zone can be rapidly entered, pass through vehicle body
The coordinated movement of various economic factors of moving assembly and double multi-degree-of-freemechanical mechanical arms executes rock drilling task, high-efficient, ability to work instead of staff
By force.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of novel wheel leg type problem of rock-drilling robot, including
Wheel undercarriage, scaffold, vehicle body moving assembly, electric drive swivel component, fluid pressure type lift leg assembly, vehicle body, visual information are adopted
Acquisition means and robot assemblies；Two sets of wheel undercarriages provide movement speed fast wheel type mobile mode for problem of rock-drilling robot, vehicle
Body moving assembly adjusts the position of centre of gravity of robot, and electric drive swivel component and fluid pressure type lift leg assembly provide for tow-armed robot
The strong leg formula move mode of obstacle climbing ability has both that movement speed is fast and the novel wheel of strong two advantages of obstacle climbing ability to be combined into
Leg formula problem of rock-drilling robot, quickly reaches danger zone；In the guidance for the visual information that four groups of visual information acquisition devices are got
Under, by the coordinated movement of various economic factors of vehicle body moving assembly and two sets of robot assemblies, complicated operation task is executed instead of staff；
The wheel undercarriage is identical as typical wheel undercarriage structure on the market, is only adjusted in the fitted position of part；
The visual information acquisition device shares four groups, is separately mounted to the orientation of front, rear, left and right four of vehicle body；For operation
Personnel provide environmental information locating for robot, in order to the remote control of robot；
The robot assemblies have two groups, are separately mounted to vehicle body two sides, including one component of axis, two component of axis, three component of axis,
Four component of axis and mechanical arm are electrically held；One component of axis, two component of axis, three component of axis, four component of axis are sequentially connected, and are combined into more
The mechanical part of degree-of-freedom manipulator, mechanical arm electrically hold external power supply and signal receiving/transmission device, so that constituting can be by working
The multi freedom degree mechanical rock drilling of personnel's remote control execution complex task；
One component of axis includes nut, bolt, hydraulic splitting machine and pawl headstock (8.1.4)；Hydraulic splitting machine is embedded in pawl
The round hole of headstock simultaneously realizes its positioning by nut, bolt；；
Two component of axis includes small arm seat electric motor end cap, small arm seat rotating electric machine and large arm；Small arm seat rotating electric machine is total
There are two groups, every group has two motors, the rotation of one component of control shaft up and down to realize the adjusting of operating distance；Small arm seat motor side
Small arm seat rotating electric machine is bolted in the round hole of large arm by lid；
Three component of axis includes large arm electric motor end cap, large arm rotating electric machine, large arm swivel bearing and big arm seat；Large arm rotation
The Internal and external cycle that shaft is held is bolted with large arm and big arm seat respectively, and the output shaft and large arm of large arm rotating electric machine are keyed；Greatly
Arm electric motor end cap is fixed through periphery holes and big arm seat bolt, then through the fixed large arm rotating electric machine of inner ring hole；Large arm rotating electric machine is defeated
The rotation of shaft drives large arm to rotate around large arm rotating electric machine axis direction, that is, axis five, to realize two component of axis around the rotation of axis three
Turn；
Four component of axis includes big arm seat rotary connector, large arm seat rotating axis is held, mechanical arm pedestal and big arm seat revolve
Turn decelerating motor；Mechanical arm pedestal is bolted on vehicle body, the Internal and external cycle that large arm seat rotating axis is held respectively with mechanical arm
Pedestal and big arm seat rotary connector are bolted, and the other end and the big arm seat of big arm seat rotary connector are bolted；Large arm
Seat rotation decelerating motor is fixed on mechanical arm pedestal through bolt, and output shaft and big arm seat rotary connector are keyed；Large arm
The rotation of seat rotation geared motor output shaft drives big arm seat to rotate deceleration motor shaft around big arm seat through big arm seat rotary connector
Line direction, that is, axis four rotates, to realize that three component of axis around the rotation of axis four, and then realizes the adjusting of splitting machine operating angle；
The vehicle body moving assembly includes vehicle body mobile motor, vehicle body mobile motor seat, the mobile shaft coupling of vehicle body, vehicle body movement
The mobile linear slider of drive block, vehicle body mobile connection part, vehicle body, the mobile ball-screw of vehicle body, vehicle body mobile line slide rail, vehicle body
The mobile lead screw shaft bearings of moving substrate, vehicle body and the mobile lead screw bearing of vehicle body；The mobile straight line of vehicle body mobile motor seat, vehicle body is sliding
Rail and the mobile lead screw shaft bearings of vehicle body are bolted on vehicle body moving substrate, and vehicle body mobile motor and vehicle body are mobile
Lead screw bearing is bolted on respectively on vehicle body mobile motor seat and the mobile lead screw shaft bearings of vehicle body；Vehicle body moves shaft coupling
Both ends are separately connected the output shaft of vehicle body mobile ball-screw and vehicle body mobile motor, the other end of the mobile ball-screw of vehicle body with
The inner ring tight fit of the mobile lead screw bearing of vehicle body；Vehicle body two sides are connected by bolt with the mobile linear slider of four vehicle bodies, intermediate
It is fixed by bolt and vehicle body mobile connection part, vehicle body mobile connection part is fixed with the mobile drive block bolt of vehicle body again；Vehicle body moves
The inner ring of dynamic drive block is threadedly engaged with the mobile ball-screw of vehicle body, and the rotation of vehicle body mobile motor output shaft passes through ball wire
Thick stick transmission is converted to the mobile drive block of vehicle body along vehicle body and moves moving for ball-screw axis direction, to realize vehicle body in vehicle
Lateral linear motion on body moving substrate；On the one hand robot is adjusted flexibly in vehicle body moving assembly in robot kinematics
Position of centre of gravity, for fluid pressure type lift leg assembly work precondition is provided；On the other hand after robot reaches designated position,
Increase the operating space of mechanical arm by transverse movement；
The fluid pressure type lift leg assembly includes rotatable base, vehicle body support frame, Barrel of Hydraulic Cylinders, hydraulic cylinder piston rod, branch
It is fixed that support rotates small bearing, support frame rotary shaft, the big bearing of support frame rotation, support frame rotation hubcap, hydraulic cylinder rotary shaft
Bit slice and hydraulic cylinder rotary shaft；Vehicle body support frame is connect with carriage bolt, and two side holes connect with support frame rotary shaft through spline
It connects and by the shaft shoulder and sleeve axially position；Small bearing is rotated with support frame respectively for support frame rotating shaft terminal and support frame rotates
The inner ring tight fit of big bearing, support frame rotates small bearing and support frame rotate the outer ring of big bearing respectively with rotatable base
The outer end face of two counterbore tight fits, support frame rotation hubcap and support frame rotary shaft is adjacent to and is bolted on rotatable
On pedestal, to realize the axially position of support frame rotary shaft；The interlude outer surface of hydraulic cylinder rotary shaft and Barrel of Hydraulic Cylinders
Or the connecting pin internal surface gaps cooperation of hydraulic cylinder piston rod, pair of two sides section outer surface and rotatable base or vehicle body support frame
Hole location internal surface gaps are answered to position with merging through hydraulic cylinder rotary shaft locating plate, thus by Barrel of Hydraulic Cylinders and hydraulic cylinder piston rod
Connecting pin be connected to the designated position of rotatable base or vehicle body support frame；Unilateral hydraulic cylinder piston rod is along its axis side
To linear motion vehicle body support frame is converted to around the rotation of support frame rotary shaft, thus by the other side by linkage rod slide block mechanism
Rotatable base lift, the work for electric drive swivel component provides precondition；
The electric drive swivel component includes swivel driving motor, swivel retarder, turntable bearing, swivel set axis and set axis
Locating plate；The both ends of turntable bearing are bolted with rotatable base and scaffold respectively, and swivel retarder is solid by bolt
It is scheduled on rotatable base, power source is from swivel driving motor；Swivel set axis one end and the output shaft for turning retarder
Key connection, the other end and scaffold connect through spline and pass through set axis locating plate axially position；Turn the output of driving motor
Torque is transmitted on scaffold through swivel retarder amplification, then through swivel set axis, under the premise of scaffold is fixed,
Rotating backward for swivel retarder is converted to, so that rotatable base is driven to rotate, it is real in conjunction with the movement of fluid pressure type lift leg assembly
The leg formula movement of existing rock drill device people and obstacle detouring.
The rotatable base and vehicle body support frame is cast by stainless steel, is done on the basis of guaranteeing bearing capacity
Light-weight technologg.
Pawl headstock, forearm, small arm seat, large arm, big arm seat and the mechanical arm pedestal is cast, and is guaranteeing to carry
Light-weight technologg is done on the basis of ability.
The scaffold is welded using structural steel.
The present invention is a kind of novel wheel leg type problem of rock-drilling robot, and mobile device combines that wheeled devices speed is fast and leg formula
The strong advantage of device obstacle climbing ability, can rapidly enter mine danger zone, pass through vehicle body moving assembly and double multiple degrees of freedom machines
The coordinated movement of various economic factors of tool arm executes rock drilling task instead of staff, and high-efficient, ability to work is strong.
Detailed description of the invention
Fig. 1 is novel wheel leg type problem of rock-drilling robot schematic illustration provided in an embodiment of the present invention；
In figure: 1, wheel undercarriage, 2, scaffold, 3, vehicle body moving assembly, 4, electric drive swivel component, 5, fluid pressure type lift leg group
Part, 6, vehicle body, 7, visual information acquisition device, 8, robot assemblies.
Fig. 2 is novel wheel leg type problem of rock-drilling robot main view provided in an embodiment of the present invention；
Fig. 3 is novel wheel leg type problem of rock-drilling robot top view provided in an embodiment of the present invention；
Fig. 4 is novel wheel leg type problem of rock-drilling robot side view provided in an embodiment of the present invention；
Fig. 5 is robot assemblies schematic illustration provided in an embodiment of the present invention；
In figure: 8.1, axis one component, 8.2, two component of axis, 8.3, three component of axis, 8.4, four component of axis, 8.5, mechanical arm it is electrical
End.
Fig. 6 is one assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure: 8.1.1, nut, 8.1.2, bolt, 8.1.3, hydraulic splitting machine, 8.1.4, pawl headstock.
Fig. 7 is two assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure: 8.2.1, small arm seat electric motor end cap, 8.2.2, small arm seat rotating electric machine, 8.2.3, large arm.
Fig. 8 is three assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure: 8.3.1, large arm electric motor end cap, 8.3.2, large arm rotating electric machine, 8.3.3, large arm swivel bearing, 8.3.4, large arm
Seat.
Fig. 9 is four assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure: 8.4.1, big arm seat rotary connector, 8.4.2, large arm seat rotating axis are held, 8.4.3, gadget arm pedestal,
8.4.4, arm seat rotates decelerating motor greatly.
Figure 10 is vehicle body moving assembly schematic illustration provided in an embodiment of the present invention；
In figure: 3.1, vehicle body mobile motor, 3.2, vehicle body mobile motor seat, 3.3, the mobile shaft coupling of vehicle body, 3.4, vehicle body movement
Drive block, 3.5, vehicle body mobile connection part, 3.6, the mobile linear slider of vehicle body, 3.7, the mobile ball-screw of vehicle body, 3.8, vehicle body
Mobile line slide rail, 3.9, vehicle body moving substrate, 3.10, the mobile lead screw shaft bearings of vehicle body, 3.11, the mobile lead screw bearing of vehicle body.
Figure 11 is that fluid pressure type provided in an embodiment of the present invention lifts leg assembly schematic illustration；
Circle A enlarged drawing in Figure 12 fluid pressure type lift leg assembly schematic illustration provided in an embodiment of the present invention；
In figure: 5.1, rotatable base, 5.2, vehicle body support frame, 5.3, Barrel of Hydraulic Cylinders, 5.4, hydraulic cylinder piston rod, 5.5, branch
The small bearing of support rotation, 5.6, support frame rotary shaft, 5.7, the big bearing of support frame rotation, 5.8, support frame rotation hubcap,
5.9, hydraulic cylinder rotary shaft locating plate, 5.10, hydraulic cylinder rotary shaft.
Figure 13 electric drive swivel component schematic illustration provided in an embodiment of the present invention；
In figure: 4.1, turn driving motor, 4.2, swivel retarder, 4.3, turntable bearing, 4.4, swivel set axis, 4.5, set axis it is fixed
Bit slice.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is a kind of novel wheel leg type problem of rock-drilling robot schematic illustration provided in an embodiment of the present invention referring to FIG. 1 to FIG. 4,
And three-view diagram, it includes wheel undercarriage 1, scaffold 2, vehicle body moving assembly 3, electric drive swivel component 4, fluid pressure type lift leg group
Part 5, vehicle body 6, visual information acquisition device 7 and robot assemblies 8；Two sets of wheel undercarriages 1 provide movement for problem of rock-drilling robot
Fireballing wheel type mobile mode, vehicle body moving assembly 3 adjust the position of centre of gravity of robot, electric drive swivel component 4 and hydraulic
Formula lifts leg assembly 5 and provides obstacle climbing ability strong leg formula move mode for problem of rock-drilling robot, to be combined into, to have both movement speed fast
With the novel wheel leg type problem of rock-drilling robot of strong two advantages of obstacle climbing ability, danger zone is quickly reached；It is adopted in four groups of visual informations
Under the guidance for the visual information that acquisition means 7 are got, pass through the coordination of vehicle body moving assembly 3 and two sets of multi-spindle machining arm components 8
Movement executes complicated operation task instead of staff；
The wheel undercarriage 1 is identical as typical wheel undercarriage structure on the market, is only adjusted in the fitted position of part；
The scaffold 2 is welded using structural steel；
The visual information acquisition device 7 shares four groups, is separately mounted to the orientation of front, rear, left and right four of vehicle body 6；For behaviour
Make personnel and environmental information locating for robot is provided, in order to the remote control of robot.
Referring to Fig. 5, being a kind of novel wheel leg type problem of rock-drilling robot robot assemblies principle provided in an embodiment of the present invention
Schematic diagram, including one component 8.1 of axis, two component 8.2 of axis, three component 8.3 of axis, four component 8.4 of axis and mechanical arm are electrically held
8.5；One component 8.1 of axis, two component 8.2 of axis, three component 8.3 of axis, four component 8.4 of axis are sequentially connected, and are combined into multiple degrees of freedom machine
The mechanical part of tool arm, mechanical arm electrically hold 8.5 external power supplys and signal receiving/transmission device, so that constituting can be remote by staff
Journey manipulation executes the multi freedom degree mechanical both arms of complex task.
Referring to Fig. 6, be a kind of novel one schematic illustration of wheel leg type problem of rock-drilling robot axis provided in an embodiment of the present invention,
It includes nut 8.1.1, bolt 8.1.2, hydraulic splitting machine 8.1.3 and pawl headstock 8.1.4；Hydraulic splitting machine 8.1.3 insertion
The round hole of pawl headstock 8.1.4 simultaneously realizes its positioning by nut 8.1.1, bolt 8.1.2；
The pawl headstock 8.1.4 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Referring to Fig. 7, being that a kind of novel two assembly principle of wheel leg type problem of rock-drilling robot axis provided in an embodiment of the present invention shows
It is intended to, it includes small arm seat electric motor end cap 8.2.1, small arm seat rotating electric machine 8.2.2 and large arm 8.2.3；Small arm seat electric rotating
Machine 8.2.2 shares two groups, and every group has two motors, the rotation of one component of control shaft up and down to realize the adjusting of operating distance；Forearm
Small arm seat rotating electric machine 8.2.2 is bolted in the round hole of large arm 8.2.3 by seat electric motor end cap 8.2.1；
The large arm 8.2.3 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Referring to Fig. 8, being that a kind of novel three assembly principle of wheel leg type problem of rock-drilling robot axis provided in an embodiment of the present invention shows
It is intended to, it includes large arm electric motor end cap 8.3.1, large arm rotating electric machine 8.3.2, large arm swivel bearing 8.3.3 and big arm seat
8.3.4；The Internal and external cycle of large arm swivel bearing 8.3.3 is bolted with large arm 8.3.4 and big arm seat 8.3.4 respectively, large arm rotation
The output shaft and large arm 8.2.3 of motor 8.3.2 is keyed；Large arm electric motor end cap 8.3.1 is through periphery holes and big arm seat 8.3.4 bolt
It is fixed, then through the fixed large arm rotating electric machine 8.3.2 of inner ring hole；The rotation of large arm rotating electric machine 8.3.2 output shaft drives large arm
8.2.3 it is rotated around large arm rotating electric machine 8.3.2 axis direction, that is, axis five, to realize two component 8.4 of axis around the rotation of axis three；
The big arm seat 8.3.4 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Referring to Fig. 9, being that a kind of novel four assembly principle of wheel leg type problem of rock-drilling robot axis provided in an embodiment of the present invention shows
It is intended to, it includes that big arm seat rotary connector 8.4.1, large arm seat rotating axis hold 8.4.2, mechanical arm pedestal 8.4.3 and large arm
Seat rotation decelerating motor 8.4.4；Mechanical arm pedestal 8.4.3 is bolted on vehicle body 6, and large arm seat rotating axis holds 8.4.2
Internal and external cycle be bolted respectively with mechanical arm pedestal 8.4.3 and big arm seat rotary connector 8.4.1, big arm seat rotary connector
8.4.1 the other end be bolted with big arm seat 8.4.4；Big arm seat rotation decelerating motor 8.4.4 is fixed on mechanical arm through bolt
On pedestal 8.4.3, output shaft and big arm seat rotary connector 8.4.1 are keyed；Big arm seat rotation decelerating motor 8.4.4 output
The rotation of axis drives big arm seat 8.4.4 to rotate the axis side decelerating motor 8.4.4 around big arm seat through big arm seat rotary connector 8.4.1
It is rotated to i.e. axis four, to realize that three component 8.5 of axis around the rotation of axis four, and then realizes the adjusting of splitting machine operating angle；
The mechanical arm pedestal 8.4.3 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Referring to Fig. 10, being that a kind of novel wheel leg type problem of rock-drilling robot vehicle body moving assembly provided in an embodiment of the present invention is former
Schematic diagram is managed, it includes vehicle body mobile motor 3.1, vehicle body mobile motor seat 3.2, the mobile shaft coupling 3.3 of vehicle body, the mobile drive of vehicle body
The mobile linear slider 3.6 of motion block 3.4, vehicle body mobile connection part 3.5, vehicle body, the mobile ball-screw 3.7 of vehicle body, vehicle body are mobile straight
The mobile lead screw shaft bearings 3.10 of line sliding rail 3.8, vehicle body moving substrate 3.9, vehicle body and the mobile lead screw bearing 3.11 of vehicle body；Vehicle body
The mobile line slide rail 3.8 of mobile motor seat 3.2, vehicle body and the mobile lead screw shaft bearings 3.10 of vehicle body are bolted on vehicle
On body moving substrate 3.9, vehicle body mobile motor 3.1 and the mobile lead screw bearing 3.11 of vehicle body are bolted on vehicle body shifting respectively
On dynamic motor cabinet 3.2 and the mobile lead screw shaft bearings 3.10 of vehicle body；Mobile 3.3 both ends of shaft coupling of vehicle body are separately connected the mobile rolling of vehicle body
The output shaft of ballscrew 3.7 and vehicle body mobile motor 3.1, the other end and the mobile lead screw of vehicle body of the mobile ball-screw 3.7 of vehicle body
The inner ring tight fit of bearing 3.11；6 two sides of vehicle body are connected by bolt with the mobile linear slider of four vehicle bodies, and centre passes through bolt
Fixed with vehicle body mobile connection part 3.5, vehicle body mobile connection part 3.5 is fixed with mobile 3.4 bolt of drive block of vehicle body again；Vehicle body moves
The inner ring of dynamic drive block 3.4 is threadedly engaged with the mobile ball-screw 3.7 of vehicle body, and the rotation of 3.1 output shaft of vehicle body mobile motor is led to
Ball-screw-transmission is crossed, the mobile drive block 3.4 of vehicle body is converted to along vehicle body and moves moving for 3.7 axis direction of ball-screw, from
And realize lateral linear motion of the vehicle body 6 on vehicle body moving substrate 3.9；3 one side of vehicle body moving assembly is in robot motion
The position of centre of gravity of robot is adjusted flexibly in the process, the work for lifting leg assembly 5 for fluid pressure type provides precondition；On the other hand exist
After robot reaches designated position, increase the operating space of mechanical arm by transverse movement；
Figure 11 and 12 are please referred to, is a kind of fluid pressure type lift leg group of novel wheel leg type problem of rock-drilling robot provided in an embodiment of the present invention
Part schematic illustration and the schematic diagram for wherein justifying A, it includes rotatable base 5.1, vehicle body support frame 5.2, Barrel of Hydraulic Cylinders
5.3, hydraulic cylinder piston rod 5.4, support frame rotate small bearing 5.5, support frame rotary shaft 5.6, support frame rotate big bearing 5.7,
Support frame rotates hubcap 5.8, hydraulic cylinder rotary shaft locating plate 5.9 and hydraulic cylinder rotary shaft 5.10；Vehicle body support frame 5.2 with
Vehicle body moving substrate 3.9 is bolted, and two side holes connect with support frame rotary shaft 5.6 through spline axial by the shaft shoulder and sleeve
Positioning；5.6 both ends of support frame rotary shaft rotate small bearing 5.5 with support frame respectively and support frame rotates the inner ring of big bearing 5.7
Tight fit, support frame rotates small bearing 5.5 and support frame rotates two of the outer ring of big bearing 5.7 respectively with rotatable base 5.1
The outer end face of counterbore tight fit, support frame rotation hubcap 5.8 and support frame rotary shaft 5.6 is adjacent to and is bolted on can
On rotating basis 5.1, to realize the axially position of support frame rotary shaft 5.6；The interlude appearance of hydraulic cylinder rotary shaft 5.10
The connecting pin internal surface gaps of face and Barrel of Hydraulic Cylinders 5.3 or hydraulic cylinder piston rod 5.4 cooperate, two sides section outer surface with it is rotatable
The correspondence hole location internal surface gaps of pedestal 5.1 or vehicle body support frame 5.2 are positioned with merging through hydraulic cylinder rotary shaft locating plate 5.9,
To which the connecting pin of Barrel of Hydraulic Cylinders 5.3 and hydraulic cylinder piston rod 5.4 is connected to rotatable base 5.1 or vehicle body support
The designated position of frame 5.2；Unilateral hydraulic cylinder piston rod 5.4 is converted along the linear motion of its axis direction by linkage rod slide block mechanism
It is vehicle body support frame 5.2 around the rotation of support frame rotary shaft 5.6, to the rotatable base 5.1 of the other side be lifted, for electricity
The work of swivel component 4 is driven to provide precondition；
The rotatable base 5.1 and vehicle body support frame 5.2 is cast by stainless steel, on the basis of guaranteeing bearing capacity
Do light-weight technologg.
Figure 13 is please referred to, is a kind of electric drive swivel group of novel wheel leg type problem of rock-drilling robot provided in an embodiment of the present invention
Part schematic illustration, it include swivel driving motor 4.1, swivel retarder 4.2, turntable bearing 4.3, swivel set axis 4.4 and
Cover axis locating plate 4.5；The both ends of turntable bearing 4.3 are bolted with rotatable base 5.1 and scaffold 2 respectively, and swivel subtracts
Fast device 4.2 is bolted on rotatable base 5.1, and power source is from swivel driving motor 4.1；Swivel set axis
The output shaft of 4.4 one end and swivel retarder 4.2 is keyed, and the other end, which connect through spline with scaffold 2 and passes through set axis, to be determined
4.5 axially position of bit slice；The output torque for turning driving motor 4.1 is amplified through swivel retarder 4.2, then covers axis 4.4 through swivel
It is transmitted on scaffold 2, under the premise of scaffold 2 is fixed, is converted to rotating backward for swivel retarder 4.2,
To drive rotatable base 5.1 to rotate, in conjunction with the movement of fluid pressure type lift leg assembly 5, the leg formula of Novel double-arm robot is realized
Mobile and obstacle detouring.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (9)
1. a kind of wheel leg type problem of rock-drilling robot, including wheel undercarriage (1), scaffold (2), vehicle body moving assembly (3), electric drive
Swivel component (4), fluid pressure type lift leg assembly (5), vehicle body (6), visual information acquisition device (7) and robot assemblies (8)；Two
It covers wheel undercarriage (1) and provides movement speed fast wheel type mobile mode for problem of rock-drilling robot, vehicle body moving assembly (3) adjusts machine
The position of centre of gravity of people, electric drive swivel component (4) and fluid pressure type lift leg assembly (5) be problem of rock-drilling robot provide obstacle climbing ability by force
Leg formula move mode,
The visual information acquisition device (7) is mounted on vehicle body (6).
2. a kind of wheel leg type problem of rock-drilling robot according to claim 1, which is characterized in that the robot assemblies (8)
There are two groups, is separately mounted to vehicle body (6) two sides, including one component of axis (8.1), two component of axis (8.2), three component of axis (8.3), axis
Four components (8.4) and mechanical arm electrically hold (8.5)；One component of axis (8.1), two component of axis (8.2), three component of axis (8.3), axis
Four components (8.4) are sequentially connected, and are combined into the mechanical part of multi-degree-of-freemechanical mechanical arm, and mechanical arm electrically holds (8.5) external power supply
And signal receiving/transmission device, to constitute the multi freedom degree mechanical rock drilling that can execute complex task by staff's remote control；
One component of axis (8.1) includes nut (8.1.1), bolt (8.1.2), hydraulic splitting machine (8.1.3) and pawl head
Seat (8.1.4)；Hydraulic splitting machine (8.1.3) is embedded in the round hole of pawl headstock (8.1.4) and by nut (8.1.1), bolt
(8.1.2) realizes its positioning.
3. a kind of wheel leg type problem of rock-drilling robot according to claim 2, which is characterized in that two component of axis (8.2)
Including small arm seat electric motor end cap (8.2.1), small arm seat rotating electric machine (8.2.2) and large arm (8.2.3)；Small arm seat rotating electric machine
(8.2.2) shares two groups, and every group has two motors, the rotation of one component of control shaft up and down to realize the adjusting of operating distance；Forearm
Small arm seat rotating electric machine (8.2.2) is bolted in the round hole of large arm (8.2.3) by seat electric motor end cap (8.2.1)；
Three component of axis (8.3) includes large arm electric motor end cap (8.3.1), large arm rotating electric machine (8.3.2), large arm rotary shaft
Hold (8.3.3) and big arm seat (8.3.4)；The Internal and external cycle of large arm swivel bearing (8.3.3) respectively with large arm (8.3.4) and large arm
Seat (8.3.4) is bolted, and the output shaft and large arm (8.2.3) of large arm rotating electric machine (8.3.2) are keyed；Large arm electric motor end cap
(8.3.1) is fixed through periphery holes and big arm seat (8.3.4) bolt, then fixed large arm rotating electric machine (8.3.2) through inner ring hole；Large arm
The rotation of rotating electric machine (8.3.2) output shaft drives large arm (8.2.3) around large arm rotating electric machine (8.3.2) axis direction, that is, axis five
Rotation, to realize two component of axis (8.4) around the rotation of axis three；
Four component of axis (8.6) includes that big arm seat rotary connector (8.4.1), large arm seat rotating axis hold (8.4.2), mechanical
Arm pedestal (8.4.3) and big arm seat rotation decelerating motor (8.4.4)；Mechanical arm pedestal (8.4.3) is bolted on vehicle
On body (6), the Internal and external cycle that large arm seat rotating axis holds (8.4.2) is connected with mechanical arm pedestal (8.4.3) and the rotation of big arm seat respectively
Part (8.4.1) is bolted, and the other end and the big arm seat (8.4.4) of big arm seat rotary connector (8.4.1) are bolted；Large arm
Seat rotation decelerating motor (8.4.4) is fixed on mechanical arm pedestal (8.4.3) through bolt, and output shaft and the rotation of big arm seat connect
Part (8.4.1) key connection；The rotation of big arm seat rotation decelerating motor (8.4.4) output shaft is through big arm seat rotary connector
(8.4.1) drives big arm seat (8.4.4) to rotate around big arm seat rotation decelerating motor (8.4.4) axis direction, that is, axis four, thus real
Show three component of axis (8.5) around the rotation of axis four, and then realizes the adjusting of splitting machine operating angle.
4. a kind of wheel leg type problem of rock-drilling robot according to claim 1, which is characterized in that the vehicle body moving assembly
It (3) include vehicle body mobile motor (3.1), vehicle body mobile motor seat (3.2), vehicle body mobile shaft coupling (3.3), the mobile driving of vehicle body
Block (3.4), vehicle body mobile connection part (3.5), vehicle body mobile linear slider (3.6), vehicle body mobile ball-screw (3.7), vehicle body
Mobile line slide rail (3.8), vehicle body moving substrate (3.9), vehicle body mobile lead screw shaft bearings (3.10) and the mobile lead screw of vehicle body
Bearing (3.11)；Vehicle body mobile motor seat (3.2), vehicle body mobile line slide rail (3.8) and the mobile lead screw shaft bearings of vehicle body
(3.10) it is bolted on vehicle body moving substrate (3.9), vehicle body mobile motor (3.1) and the mobile lead screw bearing of vehicle body
(3.11) it is bolted on respectively on vehicle body mobile motor seat (3.2) and vehicle body mobile lead screw shaft bearings (3.10)；Vehicle body
Mobile shaft coupling (3.3) both ends are separately connected the output shaft of vehicle body mobile ball-screw (3.7) and vehicle body mobile motor (3.1),
The other end of vehicle body mobile ball-screw (3.7) and the inner ring tight fit of vehicle body mobile lead screw bearing (3.11)；Vehicle body (6) two sides
It is connected by bolt with four vehicle bodies mobile linear slider (3.6), centre is solid by bolt and vehicle body mobile connection part (3.5)
Fixed, vehicle body mobile connection part (3.5) is fixed with mobile drive block (3.4) bolt of vehicle body again；Vehicle body moves the interior of drive block (3.4)
Circle is threadedly engaged with vehicle body mobile ball-screw (3.7), and the rotation of vehicle body mobile motor (3.1) output shaft passes through ball-screw
Transmission is converted to the movement that vehicle body mobile drive block (3.4) moves ball-screw (3.7) axis direction along vehicle body, to realize
Lateral linear motion of the vehicle body (6) on vehicle body moving substrate (3.9)；Vehicle body moving assembly (3) is on the one hand in robot motion
The position of centre of gravity of robot is adjusted flexibly in the process.
5. a kind of wheel leg type problem of rock-drilling robot according to claim 1, which is characterized in that the fluid pressure type lifts leg assembly
It (5) include rotatable base (5.1), vehicle body support frame (5.2), Barrel of Hydraulic Cylinders (5.3), hydraulic cylinder piston rod (5.4), support
Frame rotates small bearing (5.5), support frame rotary shaft (5.6), the big bearing (5.7) of support frame rotation, support frame rotation hubcap
(5.8), hydraulic cylinder rotary shaft locating plate (5.9) and hydraulic cylinder rotary shaft (5.10)；Vehicle body support frame (5.2) and vehicle body are mobile
Substrate (3.9) is bolted, and two side holes connect through spline with support frame rotary shaft (5.6) and axially determined by the shaft shoulder and sleeve
Position；Small bearing (5.5) is rotated with support frame respectively for support frame rotary shaft (5.6) both ends and support frame rotates big bearing (5.7)
Inner ring tight fit, support frame rotate the outer ring of small bearing (5.5) and the big bearing (5.7) of support frame rotation respectively with rotatable base
(5.1) outer end face of two counterbore tight fits, support frame rotation hubcap (5.8) and support frame rotary shaft (5.6) is adjacent to and leads to
It crosses bolt to be fixed on rotatable base (5.1), to realize the axially position of support frame rotary shaft (5.6)；Hydraulic cylinder rotation
The interlude outer surface and Barrel of Hydraulic Cylinders (5.3) of axis (5.10) or the connecting pin internal surface gaps of hydraulic cylinder piston rod (5.4)
Cooperation, two sides section outer surface is with the corresponding hole location internal surface gaps of rotatable base (5.1) or vehicle body support frame (5.2) with merging
It is positioned through hydraulic cylinder rotary shaft locating plate (5.9), thus by the connection of Barrel of Hydraulic Cylinders (5.3) and hydraulic cylinder piston rod (5.4)
End is connected to the designated position of rotatable base (5.1) or vehicle body support frame (5.2)；Unilateral hydraulic cylinder piston rod (5.4)
Linear motion along its axis direction is converted to vehicle body support frame (5.2) around support frame rotary shaft by linkage rod slide block mechanism
(5.6) rotation, so that the rotatable base (5.1) of the other side be lifted.
6. a kind of wheel leg type problem of rock-drilling robot according to claim 1, which is characterized in that the electric drive swivel component
It (4) include swivel driving motor (4.1), swivel retarder (4.2), turntable bearing (4.3), swivel set axis (4.4) and set axis
Locating plate (4.5)；The both ends of turntable bearing (4.3) are bolted with rotatable base (5.1) and scaffold (2) respectively, are turned
Body retarder (4.2) is bolted on rotatable base (5.1), and power source is from swivel driving motor (4.1)；
Swivel set axis (4.4) one end and the output shaft for turning retarder (4.2) are keyed, and the other end connects with scaffold (2) through spline
It connects and passes through set axis locating plate (4.5) axially position；The output torque of driving motor (4.1) is turned through turning retarder (4.2)
Amplification, then be transmitted on scaffold (2) through swivel set axis (4.4), under the premise of scaffold (2) is fixed, conversion
Leg assembly (5) are lifted in conjunction with fluid pressure type so that rotatable base (5.1) be driven to rotate for rotating backward for swivel retarder (4.2)
Movement, realize that the leg formula of rock drill device people is mobile and obstacle detouring.
7. a kind of wheel leg type problem of rock-drilling robot according to claim 5, which is characterized in that the rotatable base
(5.1) it is cast with vehicle body support frame (5.2) by stainless steel.
8. a kind of wheel leg type problem of rock-drilling robot according to claim 2, which is characterized in that the pawl headstock (8.1.4),
Small arm seat electric motor end cap (8.2.1), large arm (8.2.3), big arm seat (8.3.4) and mechanical arm pedestal (8.4.3) are cast.
9. a kind of novel wheel leg type problem of rock-drilling robot according to claim 1, which is characterized in that the scaffold
(2) it is welded using structural steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810882275.0A CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810882275.0A CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201611220504.XA CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611220504.XA Division CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| CN201810882275.0A Pending CN109083643A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983562.0A Pending CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
| CN201611220504.XA Active CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983561.6A Withdrawn CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
| CN201810983563.5A Pending CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| CN201810983562.0A Pending CN109441448A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot with visual information acquisition device |
| CN201611220504.XA Active CN106437706B (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
| CN201810983561.6A Withdrawn CN109184688A (en) | 2016-12-26 | 2016-12-26 | Wheel leg type problem of rock-drilling robot |
| CN201810983563.5A Pending CN109538207A (en) | 2016-12-26 | 2016-12-26 | A kind of wheel leg type problem of rock-drilling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110486014A (en) * | 2019-07-25 | 2019-11-22 | 广西雷公斧重工有限公司 | Multi-functional splitting machine |
| CN111376667B (en) * | 2020-04-17 | 2024-02-13 | 合肥中科深谷科技发展有限公司 | Mobile inspection operation robot |
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| CN101367413B (en) * | 2007-08-17 | 2010-10-13 | 高汉光 | Multifunctional robot for climbing wall |
| CN101709642B (en) * | 2009-12-02 | 2012-07-11 | 煤炭科学研究总院西安研究院 | Track-type four-arm rock drilling jumbo |
| CN103292807B (en) * | 2012-03-02 | 2016-04-20 | 江阴中科矿业安全科技有限公司 | Drill carriage attitude measurement method based on monocular vision |
| CN102963455B (en) * | 2012-11-12 | 2015-07-08 | 上海交通大学 | Pull rod type suspended robot wheel leg walking mechanism |
| CN104563917A (en) * | 2013-10-27 | 2015-04-29 | 中国石油化工集团公司 | Multifunctional robot for drilling site |
| RU2541992C1 (en) * | 2014-02-19 | 2015-02-20 | Федеральное Государственное Бюджетное Учреждение Науки Институт Горного Дела Дальневосточного Отделения Российской Академии Наук (Игд Дво Ран) | Development method of steeply dipping solid mineral deposits and automated complex of deep development |
| PT107741A (en) * | 2014-06-25 | 2015-12-28 | Fravizel Equipamentos Metalomecânicos Lda | AUTOMOTRIZING MACHINE FOR DIAMOND WIRING OF ROCKS FOR THE TRANSFORMATION OF WIGS IN BLOCKS. |
| CN104234710B (en) * | 2014-09-12 | 2016-08-24 | 福建省华隆机械有限公司 | A kind of vehicle-mounted knapping machine |
| CN204371333U (en) * | 2014-09-28 | 2015-06-03 | 双鸭山金德工贸有限责任公司 | A kind of all-hydraulic single drill boom drill loader group |
| CN104727804A (en) * | 2014-11-27 | 2015-06-24 | 三一重型装备有限公司 | Drill jambo and drill arm positioning control method and device thereof |
| CN104847348B (en) * | 2015-05-23 | 2017-09-05 | 江西华核天宇检测技术发展有限公司 | Mine intelligent remote control wheel type rock drill |
| CN105464664B (en) * | 2015-09-19 | 2017-10-10 | 青岛科技大学 | A kind of car overloading rock-splitter of hand propelled one |
| CN105416433B (en) * | 2015-12-07 | 2017-11-07 | 吉林大学 | All-terrain vehicle wheel leg running gear |
| CN205277421U (en) * | 2015-12-15 | 2016-06-01 | 吉林省蛟河煤机制造有限责任公司 | Remote control's intelligent rock drilling machine people in pit |
| CN106014416A (en) * | 2016-07-25 | 2016-10-12 | 福建闽工机械有限公司 | Energy-saving efficient rock drill |
| CN106121558A (en) * | 2016-08-04 | 2016-11-16 | 山东拓博节能科技有限公司 | Multi-function chain type transmits hydraulic leg |
| CN106246178A (en) * | 2016-09-27 | 2016-12-21 | 桂林航天工业学院 | A kind of anti-sticking pricker rock drilling control system |
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2016
- 2016-12-26 CN CN201810882275.0A patent/CN109083643A/en active Pending
- 2016-12-26 CN CN201810983562.0A patent/CN109441448A/en active Pending
- 2016-12-26 CN CN201611220504.XA patent/CN106437706B/en active Active
- 2016-12-26 CN CN201810983561.6A patent/CN109184688A/en not_active Withdrawn
- 2016-12-26 CN CN201810983563.5A patent/CN109538207A/en active Pending
Also Published As
| Publication number | Publication date |
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| CN109538207A (en) | 2019-03-29 |
| CN109441448A (en) | 2019-03-08 |
| CN109184688A (en) | 2019-01-11 |
| CN106437706A (en) | 2017-02-22 |
| CN106437706B (en) | 2018-09-28 |
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Application publication date: 20181225 |