CN109826150A - High-speed rail tunnel icicle removes robot - Google Patents
High-speed rail tunnel icicle removes robot Download PDFInfo
- Publication number
- CN109826150A CN109826150A CN201910118580.7A CN201910118580A CN109826150A CN 109826150 A CN109826150 A CN 109826150A CN 201910118580 A CN201910118580 A CN 201910118580A CN 109826150 A CN109826150 A CN 109826150A
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- icicle
- ice
- robot
- hydraulic oil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The present invention provides a kind of high-speed rail tunnel icicle and removes robot, comprising: hydraulic oil container, combined type accumulator, three-position four-way valve, hydraulic cylinder, gasoline engine, temperature sensor, valve block, icicle collector, gantry elevator structure, infrared camera, wheel, removes ice hammer, ice water collecting box, cooling water tank, gasoline fuel tank at hydraulic pump.Except ice hammer uses impact mode, the icicle in high-speed rail tunnel is quickly removed, deicing hammering blow power comes from hydraulic cylinder, and hydraulic system provides moment high-volume hydraulic oil by the way of the hydraulic pump and combined type accumulator of small displacement, for big flow high-energy density system, pressure rating 35Mpa；Robot is controlled by vehicle wheel rotation to advance, and ice hammer height is removed by the control of gantry elevator structure, the control to ice hammer spatial position is removed is realized in wheel and the cooperation of gantry elevator structure；Collection and post-processing to trash ice column are realized in icicle collector and the cooperation of ice water collecting box, are prevented the landing of trash ice column from freezing, are caused security risk.
Description
Technical field
The present invention relates to a kind of high-speed rail tunnel icicles to remove robot.
Background technique
The infiltration of baneful influence of some high-speed rail tunnels by natural environment, every winter, massif can be from tunnel expansion joint edge
Wall flows into the ditch of route two sides, and low temperature easily to form huge icicle on high-speed rail tunnel vault and side wall, if too late
When deicing, once these icicle intrusive contact net limits, powerful high-voltage arc will make contact net for power supplying tripping have a power failure, or even meeting
Contact net clue is blown, motorcycle pantograph is broken, causes the equipment faults such as contact net tripping, broken string, it will vehicle is run to Winter-Spring
Safety belt adversely affects；And when tunnel wall dripping because low temperature formed ice wall, intrusion railway clearance, spread through track, then with
When may cause train overturning derailing, consequence is even more serious.To guarantee that Winter-Spring transports passenger safety trip and electric coal transportation safety is smooth
It is logical, when annual severe winter and the early spring, it is not only railway people war winter transportation and protects the critical period of spring transportation, and beat the ice busy period.
Every winter, the staff for beating ice will garrison in tunnel compact district, will carry out on foot to infiltration tunnel daily
It checks.When inspection, staff needs to set both ends driving protection, by flashlight beam, searches through Tunnel top
Icicle checks wall ice condition, and since tunnel wall icing position is high, thickness is big, area is wide, icicle is very hard in addition,
Very big difficulty is brought to ice work is played.Staff needs using drill rod, iron hammer, road pick and the method for setting up lift, real
Injection ice operation.The reset procedure of entire icicle is based on hand labor, and task weight, the amount of labour is big, low efficiency.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of high-speed rail tunnel icicles to remove robot, using full-automatic
Or semiautomatic-mode, by staff from icicle remove labour in free, improve deicing efficiency, reduce manpower at
This, and while icicle is removed function and realized, the post-processing function of trash ice column is also taken into account, human oriented design both guarantees road surface
Situation is not influenced by trash ice column, and facilitates processing of the staff to trash ice column.
For this purpose, the present invention, which provides a kind of high-speed rail tunnel icicle, removes robot, comprising: hydraulic oil container, hydraulic pump, permanent magnetism whirlpool
Flow shaft coupling, pressure sensor, combined type accumulator, three-position four-way valve, hydraulic cylinder, gasoline engine, temperature sensor, valve block, ice
Column collector, gantry elevator structure, infrared camera, wheel, except ice hammer, linear bearing, ice water collecting box, cooling water tank,
Pressure gauge, gasoline fuel tank.Except ice hammer uses impact mode, the icicle in high-speed rail tunnel is quickly removed, deicing hammering blow power comes from
Hydraulic cylinder, hydraulic system provide hydraulic shock power using combined type accumulator and hydraulic pump, and hydraulic system pressure grade is
35Mpa, the hydraulic system is big flow high-energy density system, using the hydraulic pump of small displacement and the side of combined type accumulator
Formula provides moment big flow, while providing enough moment hydraulic oil, reduces noise and the vibration of system work；Pass through control
Vehicle wheel rotation is mobile to control robot, removes ice hammer height and position by the control of gantry elevator structure, passes through wheel and gantry
The control for cooperating to realize to ice hammer spatial position is removed of formula elevating mechanism；After icicle falls, by icicle collector and
Ice water collecting box cooperates to realize collection and post-processing to trash ice column, freezes after preventing trash ice column to land on ground, causes to pacify
Full hidden danger.
Wheel is mounted on bottom plate, the movement that controller passes through the rotation control robot of control wheel；It is designed on bottom plate
There is the installation interface of valve block, icicle collector, support column, support base and hydraulic pump support frame, while being received for gasoline engine and ice water
Header provides mounting platform；Gasoline engine provides power for robot, avoids the limited disadvantage of endurance of battery power supply and generation
End；Non-physical connections is carried out by permanent magnet eddy current coupling between gasoline engine and hydraulic pump, permanent magnet eddy current coupling can reduce vapour
Oil machine vibration passes to hydraulic pump, reduces influence of the vibration of gasoline engine to hydraulic pump service life；Hydraulic pump is fixed on liquid
On press pump support frame, using high-pressure plunger pump, provide the operating pressure of 35Mpa for hydraulic cylinder so that hydraulic system have it is higher
Energy density, reduce hydraulic cylinder piston diameter and fluid pressure line diameter, and then reduce hydraulic system weight, be conducive to mention
The flexibility of the capacity usage ratio and robot of high robot；Hydraulic oil container provides enough hydraulic oil for hydraulic system, hydraulic
Low temperature resistant hydraulic oil is used in fuel tank, guarantee in low temperature environment hydraulic system can steady operation, hydraulic oil container design has liquid
The installation interface of position meter and temperature sensor；The liquid level of hydraulic oil in liquidometer real-time monitoring hydraulic oil container, if liquid level is lower than peace
Full liquid level, then system alarm；The temperature of hydraulic oil in temperature sensor real-time detection hydraulic oil container, avoids the temperature mistake of hydraulic oil
It is high or too low, influence robot work；The Front-end Design of hydraulic pump has oil suction filter, for the coarse filtration of hydraulic oil, prevents hydraulic oil
In large granular impurity the blade of hydraulic pump is caused to damage, influence the service life of hydraulic pump；The exit design of hydraulic pump has unidirectionally
Valve guarantees the flow direction of hydraulic oil, prevents hydraulic oil from flowing back, and realizes the protection to hydraulic pump；Check valve rear end connects filter, uses
In carrying out refined filtration to hydraulic oil, guarantee the cleannes of hydraulic oil in hydraulic system；
Filter is mounted in valve block, and valve block interior design has a runner of hydraulic oil, and for filter, pressure sensor,
Combined type accumulator, three-position four-way valve, automatically controlled overflow valve, manual switch valve, oil return filter, pressure gauge, oil outlet and oil return opening mention
For installing interface；Combined type accumulator, including four accumulators, compared with single big accumulator, combined type accumulator increases liquid
The rigidity of pressure system, the problem of causing hydraulic system pressure to decline rapidly when avoiding the repairing of single accumulator；Controller is logical
Control three-position four-way valve is crossed, to control the stretching motion of hydraulic cylinder；Hydraulic cylinder with except ice hammer is connected by shaft coupling, controller
By controlling the stretching motion of hydraulic cylinder, and then the percussion action for removing ice hammer is controlled, realizes the removing function of icicle；Work as controller
When control three-position four-way valve is located at left position, the piston rod of hydraulic cylinder stretches out, while combined type accumulator is removed to hydraulic system repairing
Ice hammer is quickly moved with the piston rod of hydraulic cylinder, is fiercely impacted to icicle, in controller control three-position four-way valve is located at
When position, hydraulic system is out of service, when controller control three-position four-way valve is located at right position, except ice hammer is with the piston rod of hydraulic cylinder
It shrinks, hydraulic system oil return, while combined type accumulator oil return accumulation of energy, left position, the middle position that system passes through control three-position four-way valve
With the continuous switching of right position, the final icicle for realizing robot removes function；Pressure sensor, real-time monitoring system pressure, if
Hypertonia, then system alarm；Pressure gauge, two altogether, using Redundancy Design, as the supplement of pressure sensor, in real time
Ground shows hydraulic system pressure, and the pressure value of hydraulic system is read convenient for staff；Automatically controlled overflow valve, for controlling hydraulic pressure system
The upper limit for operating pressure of uniting realizes the protection to hydraulic system；Manual switch valve, once hydraulic system pressure control failure, behaviour
Make personnel and manually carry out system decompression, causes oil spout live when overhauling after preventing hydraulic system from building the pressure；Oil return filter, it is right
Hydraulic oil oil return is filtered, and guarantees the cleannes of hydraulic oil in hydraulic oil container；
There are four supporting legs for icicle collector design, are bolted on bottom plate, and upper grooves structure is removed for collecting
The icicle that ice hammer smashes carries out the post-processing of trash ice column, and ground is avoided to form ground icing because trash ice falls；Icicle collector
Lower section is hydraulic oil container and cooling water tank, the trash ice column collected using icicle collector, to hydraulic oil in hydraulic oil container and cold
But the water in water tank cools down, and avoids system overheat, and at the same time, the heat and gasoline engine generated using hydraulic system is generated
Heat melt icicle collector in trash ice column；The side design of icicle collector has square hole, and the size of square hole is smaller
In the openings of sizes of ice water collecting box, the ice water convenient for melting on icicle collector is flowed directly into ice water collecting box；Ice water is received
Header is designed as L-type, is tightly attached to gasoline engine side, and hydraulic oil container is placed on above ice water collecting box, the ice that ice water collecting box is collected
Water can not only cool down to hydraulic oil container and gasoline engine, it is thus also avoided that and the ice water of thawing freezes again in ice water collecting box,
Increase the difficulty of staff's subsequent processing；Gasoline fuel tank and cooling water tank are placed on above gasoline engine；Cooling water tank sets for T-type
It counts, fills water in cooling water tank, can cool down to gasoline engine, gasoline engine is avoided to shut down because of overheat, influence robot
Working efficiency；
Gantry elevator structure includes that support column, lifting motor A, lifting motor B, crossbeam, T-type thread lead screw and heavy duty are sliding
Block, gantry elevator structure make robot manipulating task altitude range be 2m~3m, improve the adaptability of robot；Support column
It is fixed on bottom plate, support post design has dovetail groove guide rail, provides guiding role for heavily loaded moving up and down for sliding block, supports simultaneously
Column includes two, and respectively lifting motor A and lifting motor B provide installation interface；Lifting motor A and lifting motor B respectively with T
The connection of type thread lead screw provides power for gantry elevator structure, while to avoid power dispute problem, controller is to lifting motor
A implements power closed-loop control, to lifting motor B enforcing location closed-loop control；The collective effect of lifting motor A and lifting motor B, band
Dynamic T-type thread lead screw rotation, T-type thread lead screw can be certainly by the movement for being converted to heavily loaded sliding block of motor, T-type thread lead screw
Lock, guarantees to provide secure support for crossbeam；Crossbeam provides installation interface for U-shaped transition piece, and crossbeam and heavily loaded sliding block pass through bolt
Connection, the bearing capacity of heavily loaded sliding block is strong, crossbeam can be driven to move up and down；System controls lifting motor A and lifting motor B to adjust
Horizontal depth of beam is saved, makes crossbeam reliably be fixed on a certain height and position by the self-locking function of T-type thread lead screw, to control
System removes the height of ice hammer；U-shaped transition piece is mounted on the middle position of crossbeam, provides for hydraulic cylinder, infrared camera and support base
Interface is installed；The piston rod of hydraulic cylinder with except ice hammer is connect by shaft coupling, the quick movement of system control hydraulic cylinder, so that removing
Ice hammer quick washing, and then complete to remove the work of icicle；Except ice hammer passes through support base, and mentioned by the linear bearing of support base
For guiding role, linear bearing can reduce the friction during deicing hammering blow；Infrared camera is fixed on support base, in real time
Display screen is shot and fed back to, for staff's real-time monitoring except the icicle of ice hammer removes situation, judges the removing work of robot
Whether in place to make.
Robot has full-automatic cleaning module or semi-automatic cleaning module；
Under full-automatic cleaning module, staff sets the parameters such as length of tunnel, height, infrared camera real-time monitoring
The icicle of tunnel top and inner wall, and controller is fed back to, wheel is controlled by controller, realizes the autonomous traveling of robot, together
When by control gantry elevator structure lifting, realize to remove ice hammer spatial position control；Controller controls gasoline engine work,
By combined type accumulator and hydraulic pump, enough hydraulic shock power is provided for the removing work except ice hammer, except ice hammer is constantly right
Icicle carries out reciprocating impact, completes until the monitoring signals that controller reads infrared camera feedback indicate that icicle is removed, control
Device control stops impact except ice hammer, while gantry elevator structure playbacks, to realize that high-speed rail tunnel icicle removes robot
It is full-automatic to remove function；
Under semi-automatic cleaning module, wheel is controlled to control robot row by remote control or on the spot by staff
Into, the icicle of infrared camera real-time monitoring tunnel top and inner wall, and controller is fed back to, staff passes through infrared photography
The shooting situation of head judges whether that robot is needed to implement to remove work；It is carried out clearly when staff judges that the position is in need
When the icicle removed, staff is controlled gantry elevator structure by controller and is raised up to suitable face height, is passed through
HYDRAULIC CONTROL SYSTEM removes the removing work of ice hammer, and the shooting situation of staff's real-time monitoring infrared camera works as staff
By shooting situation, when judging that icicle removing finishes, except ice hammer stops removing work, staff controls gantry elevator structure
Playback, to realize that high-speed rail tunnel icicle removes the semi-automatic removing function of robot.
High-speed rail tunnel icicle removes robot, can quickly remove high-speed rail tunnel icicle, and can collecting robot people it is clear
The icicle removed carries out the post-processing of trash ice column, prevents from generating security risk due to trash ice column falls and freezes on the ground, the present invention
Have cruising ability is long, capacity of will is strong, high reliablity, it is easy to operate many advantages, such as.
Detailed description of the invention
Fig. 1 is the hydraulic schematic diagram of high-speed rail tunnel icicle removing robot according to embodiment of the present invention；
Fig. 2 is the axonometric drawing 1 of high-speed rail tunnel icicle removing robot according to embodiment of the present invention；
Fig. 3 is the axonometric drawing 2 of high-speed rail tunnel icicle removing robot according to embodiment of the present invention；
Fig. 4 is the front view of high-speed rail tunnel icicle removing robot according to embodiment of the present invention；
Fig. 5 is the axonometric drawing 3 of high-speed rail tunnel icicle removing robot according to embodiment of the present invention；
Fig. 6 is the axonometric drawing 4 of high-speed rail tunnel icicle removing robot according to embodiment of the present invention；
Fig. 7 is the part-structure axonometric drawing of high-speed rail tunnel icicle removing robot according to embodiment of the present invention
1；
Fig. 8 is the part-structure axonometric drawing of high-speed rail tunnel icicle removing robot according to embodiment of the present invention
2；
Fig. 9 is the part-structure axonometric drawing of high-speed rail tunnel icicle removing robot according to embodiment of the present invention
3；
Figure 10 is that the part-structure axis of high-speed rail tunnel icicle removing robot according to embodiment of the present invention is surveyed
Fig. 4.
In figure, 1, hydraulic oil container；2, oil suction is filtered；3, hydraulic pump；4, permanent magnet eddy current coupling；5, check valve；6, filter；
7, pressure sensor；8, combined type accumulator；9, three-position four-way valve；10, hydraulic cylinder；11, automatically controlled overflow valve；12, manual switch
Valve；13, gasoline engine；14, oil return is filtered；15, liquidometer；16, temperature sensor；17, bottom plate；18, valve block；19, icicle collector；
20, support column；21, lifting motor A；22, infrared camera；23, U-shaped transition piece；24, lifting motor B；25, wheel；26, horizontal
Beam；27, support base；28, ice hammer is removed；29, linear bearing；30, shaft coupling；31, ice water collecting box；32, cooling water tank；33, it presses
Power table；34, hydraulic pump support frame；35, oil outlet；36, oil return opening；37, T-type thread lead screw；38, dovetail groove guide rail；39, heavily loaded
Sliding block；40, gasoline fuel tank.
Specific embodiment
Embodiment according to the present invention is described in detail with reference to the accompanying drawing.
As shown in Figure 1, a kind of high-speed rail tunnel icicle removes robot, comprising: hydraulic oil container 1, hydraulic pump 3, permanent-magnet eddy current
Shaft coupling 4, pressure sensor 7, combined type accumulator 8, three-position four-way valve 9, hydraulic cylinder 10, gasoline engine 13, temperature sensor 16,
Valve block 18, gantry elevator structure, infrared camera 22, wheel 25, removes ice hammer 28, linear bearing 29, ice at icicle collector 19
Water collection tank 31, cooling water tank 32, pressure gauge 33, gasoline fuel tank 40.Except ice hammer 28 uses impact mode, high-speed rail tunnel is quickly removed
Icicle in road, except 28 impact force of ice hammer comes from hydraulic cylinder 10, hydraulic system is provided using combined type accumulator 8 and hydraulic pump 3
Hydraulic shock power, hydraulic system pressure grade are 35Mpa, and the hydraulic system is big flow high-energy density system, and use is small
The hydraulic pump 3 of discharge capacity and the mode of combined type accumulator 8 provide moment big flow, while enough moment hydraulic oil is provided,
The noise of reduction system work and vibration；It is mobile that robot is controlled by the rotation of control wheel 25, passes through gantry elevator
Structure control removes 28 height and position of ice hammer, cooperates to realize to except ice hammer 28 is empty by wheel 25 and gantry elevator structure
Between position control；After icicle falls, the receipts to trash ice column are realized by icicle collector 19 and the cooperation of ice water collecting box 31
Collection and post-processing freeze on ground after preventing trash ice column to land, cause security risk.
Wheel 25 is mounted on bottom plate 17, the movement that controller passes through the rotation control robot of control wheel 25；Bottom plate
Design has the installation interface of valve block 18, icicle collector 19, support column 20, support base 27 and hydraulic pump support frame 34 on 17, together
When for gasoline engine 13 and ice water collecting box 31 provide mounting platform；Gasoline engine 13 provides power for robot, avoids battery confession
The limited drawback of endurance that is electric and generating；Between gasoline engine 13 and hydraulic pump 3 by permanent magnet eddy current coupling 4 carry out it is non-physical
Connection, what permanent magnet eddy current coupling 4 can reduce the vibration of gasoline engine 13 passes to hydraulic pump 3, reduces the vibration of gasoline engine 13 to liquid
The influence of 3 service life of press pump；Hydraulic pump 3 is fixed on hydraulic pump support frame 34, is hydraulic cylinder 10 using high-pressure plunger pump
The operating pressure of 35Mpa is provided, so that hydraulic system has a higher energy density, reduces 10 piston diameter of hydraulic cylinder and hydraulic
The diameter of pipeline, so reduce hydraulic system weight, be conducive to improve robot capacity usage ratio and robot it is flexible
Property；Hydraulic oil container 1 provides enough hydraulic oil for hydraulic system, uses low temperature resistant hydraulic oil in hydraulic oil container 1, guarantee low
In warm environment hydraulic system can steady operation, hydraulic oil container 1, which designs, the installation interface of liquidometer 15 and temperature sensor 16；
The liquid level of hydraulic oil in 15 real-time monitoring hydraulic oil container 1 of liquidometer, if liquid level is lower than safety levels, system alarm；Temperature passes
The temperature of hydraulic oil, avoids the too high or too low for temperature of hydraulic oil, it is artificial to influence machine in 16 real-time detection hydraulic oil container 1 of sensor
Make；The Front-end Design of hydraulic pump 3 has oil suction to filter 2, for the coarse filtration of hydraulic oil, prevents the large granular impurity in hydraulic oil to hydraulic
The blade of pump 3 causes to damage, and influences the service life of hydraulic pump 3；The exit design of hydraulic pump 3 has check valve 5, guarantees the stream of hydraulic oil
To preventing hydraulic oil from flowing back, realize protection to hydraulic pump 3；5 rear end of check valve connects filter 6, for carrying out to hydraulic oil
Refined filtration guarantees the cleannes of hydraulic oil in hydraulic system；
Filter 6 is mounted in valve block 18, and 18 interior design of valve block has the runner of hydraulic oil, and passes for filter 6, pressure
Sensor 7, combined type accumulator 8, three-position four-way valve 9, automatically controlled overflow valve 11, manual switch valve 12, oil return filter 14, pressure gauge 33,
Oil outlet 35 and oil return opening 36 provide installation interface；Combined type accumulator 8, including four accumulators, with single big accumulator phase
Than combined type accumulator 8 increases the rigidity of hydraulic system, causes hydraulic system pressure fast when avoiding the repairing of single accumulator
The problem of speed decline；Controller is by control three-position four-way valve 9, to control the stretching motion of hydraulic cylinder 10；Hydraulic cylinder 10 with remove
Ice hammer 28 is connected by shaft coupling 30, and controller is controlled by controlling the stretching motion of hydraulic cylinder 10 except ice hammer 28
Percussion action realizes the removing function of icicle；When controller control three-position four-way valve 9 is located at left position, the piston of hydraulic cylinder 10
Bar stretches out, while combined type accumulator 8 is to hydraulic system repairing, right except ice hammer 28 is quickly moved with the piston rod of hydraulic cylinder 10
Icicle is fiercely impacted, and when controller control three-position four-way valve 9 is located at middle position, hydraulic system is out of service, works as controller
When control three-position four-way valve 9 is located at right position, except ice hammer 28 is shunk with the piston rod of hydraulic cylinder 10, hydraulic system oil return, while group
Box-like 8 oil return accumulation of energy of accumulator, system passes through the continuous switching of the left position, middle position and right position of control three-position four-way valve 9, final real
The icicle of existing robot removes function；Pressure sensor 7, real-time monitoring system pressure, if hypertonia, system alarm；Pressure
Power table 33, shows hydraulic system pressure as the supplement of pressure sensor 7 using Redundancy Design on the spot in real time by two altogether,
The pressure value of hydraulic system is read convenient for staff；Automatically controlled overflow valve 11, for controlling the upper limit of hydraulic system working pressure,
Realize the protection to hydraulic system；Manual switch valve 12, once hydraulic system pressure control failure, operator pass through side manually
Formula carries out system decompression, causes oil spout live when overhauling after preventing hydraulic system from building the pressure；Oil return filter 14, carries out hydraulic oil oil return
Filtering guarantees the cleannes of hydraulic oil in hydraulic oil container 1；
There are four supporting legs for the design of icicle collector 19, are bolted on bottom plate 17, and upper grooves structure is for receiving
Collection carries out the post-processing of trash ice column except the icicle that ice hammer 28 smashes, and ground is avoided to form ground icing because trash ice falls；Icicle is received
The lower section of storage 19 is hydraulic oil container 1 and cooling water tank 32, the trash ice column collected using icicle collector 19, to hydraulic oil container 1
In hydraulic oil and cooling water tank 32 in water cool down, avoid system overheat, at the same time, utilize hydraulic system generate
The heat that heat and gasoline engine 13 generate melts the trash ice column in icicle collector 19；Design the side of having in the side of icicle collector 19
Shape hole, the openings of sizes for being sized to be slightly smaller than ice water collecting box 31 of square hole are straight convenient for the ice water that melts on icicle collector 19
It connects and flows into ice water collecting box 31；Ice water collecting box 31 is designed as L-type, is tightly attached to 13 side of gasoline engine, and hydraulic oil container 1 is placed on ice
31 top of water collection tank, the ice water that ice water collecting box 31 is collected can not only cool down to hydraulic oil container 1 and gasoline engine 13, also keep away
The ice water for having exempted to melt freezes again in ice water collecting box 31, increases the difficulty of staff's subsequent processing；Gasoline fuel tank 40
13 top of gasoline engine is placed on cooling water tank 32；Cooling water tank 32 designs for T-type, fills water in cooling water tank 32, can be right
Gasoline engine 13 cools down, and gasoline engine 13 is avoided to shut down because of overheat, influences machine task efficiency；
Gantry elevator structure includes support column 20, lifting motor A21, lifting motor B24, crossbeam 26, T-type thread lead screw
37 make robot manipulating task altitude range be 2m~3m, improve the suitable of robot with heavily loaded sliding block 39, gantry elevator structure
It should be able to power；Support column 20 is fixed on bottom plate 17, and the design of support column 20 has dovetail groove guide rail 38, to move down on heavily loaded sliding block 39
It is dynamic that guiding role is provided, while support column 20 includes two, respectively lifting motor A21 and lifting motor B24 provide installation and connect
Mouthful；Lifting motor A21 and lifting motor B24 are connect with T-type thread lead screw respectively, provide power for gantry elevator structure, together
When for avoid power dispute problem, controller to lifting motor A21 implement power closed-loop control, lifting motor B24 enforcing location is closed
Ring control；The collective effect of lifting motor A21 and lifting motor B24 drive T-type thread lead screw 37 to rotate, T-type thread lead screw 37
By the movement for being converted to heavily loaded sliding block 39 of motor, T-type thread lead screw 37 can be self-locking, guarantees to provide reliable branch for crossbeam 26
Support；Crossbeam 26 is that U-shaped transition piece 23 provides installation interface, and crossbeam 26 is bolted with heavily loaded sliding block 39, heavily loaded sliding block 39
Bearing capacity it is strong, crossbeam 26 can be driven to move up and down；System controls lifting motor A21 and lifting motor B24 to adjust crossbeam
26 height makes crossbeam 26 reliably be fixed on a certain height and position, to control by the self-locking function of T-type thread lead screw 37
System removes the height of ice hammer 28；U-shaped transition piece 23 is mounted on the middle position of crossbeam 26, is hydraulic cylinder 10,22 and of infrared camera
Support base 27 provides installation interface；The piston rod of hydraulic cylinder 10 is connect with except ice hammer 28 passes through shaft coupling 30, and system control is hydraulic
The quick movement of cylinder 10 so that removing 28 quick washing of ice hammer, and then completes to remove the work of icicle；Except ice hammer 28 passes through support base
27, and guiding role is provided by the linear bearing 29 of support base 27, linear bearing 29 can be reduced except in 28 impact process of ice hammer
Friction；Infrared camera 22 is fixed on support base 27, and captured in real-time simultaneously feeds back to display screen, for staff's real-time monitoring
Except the icicle of ice hammer 28 removes situation, whether in place the removing work of robot is judged.
Robot has full-automatic cleaning module or semi-automatic cleaning module；
Under full-automatic cleaning module, staff sets the parameters such as length of tunnel, height, and infrared camera 22 is supervised in real time
The icicle of tunnel top and inner wall is surveyed, and feeds back to controller, wheel 25 is controlled by controller, realizes the autonomous row of robot
Into, while by control gantry elevator structure lifting, realize the control to 28 spatial position of ice hammer is removed；Controller controls gasoline
Machine 13 works, and by combined type accumulator 8 and hydraulic pump 3, provides enough hydraulic shock power for the removing work except ice hammer 28,
Except ice hammer 28 constantly carries out reciprocating impact to icicle, until controller reads the monitoring signals that infrared camera 22 is fed back and indicates ice
Column, which is removed, to be completed, and controller control stops impact except ice hammer 28, while gantry elevator structure playbacks, to realize high-speed rail tunnel
The full-automatic removing function of icicle removing robot；
Under semi-automatic cleaning module, wheel 25 is controlled to control robot by remote control or on the spot by staff
It advances, the icicle of infrared camera 22 real-time monitoring tunnel top and inner wall, and controller is fed back to, staff passes through infrared
The shooting situation of camera 22 judges whether that robot is needed to implement to remove work；When staff judges that the position is in need
When the icicle being purged, staff is controlled gantry elevator structure by controller and is raised up to suitable working face height
Degree, by HYDRAULIC CONTROL SYSTEM remove ice hammer 28 removing work, the shooting situation of staff's real-time monitoring infrared camera 22,
When staff is by shooting situation, when judging that icicle removing finishes, except ice hammer 28 stops removing work, staff controls dragon
Gate type lifting mechanism playback, to realize that high-speed rail tunnel icicle removes the semi-automatic removing function of robot.
High-speed rail tunnel icicle removes robot, can quickly remove high-speed rail tunnel icicle, and can collecting robot people it is clear
The icicle removed carries out the post-processing of trash ice column, prevents from generating security risk due to trash ice column falls and freezes on the ground, the present invention
Have cruising ability is long, capacity of will is strong, high reliablity, it is easy to operate many advantages, such as.
The working method that high-speed rail tunnel icicle removes an illustrative embodiments of robot is as follows, can also be with its other party
Formula work.
When staff sets robot work under full-automatic cleaning module, staff sets length of tunnel, height
Etc. parameters, the icicle of infrared camera 22 real-time monitoring tunnel top and inner wall, and feed back to controller vehicle is controlled by controller
Wheel 25, realizes the autonomous traveling of robot, and controller controls lifting motor A21 and lifting motor B24 rotation, passes through T-type screw thread
Lead screw is by the movement for being converted to heavily loaded sliding block of motor, and by the guiding role of dovetail groove guide rail, crossbeam 26 is sliding with heavy duty
Block 39 moves up and down, by the self-locking function of T-type thread lead screw 37, except ice hammer 28 is reliably fixed on the working depth of needs
On, after adjusting good position, controller controls hydraulic system work, low temperature resistant in hydraulic oil container 1 under the action of hydraulic pump 3
Hydraulic oil enters hydraulic circuit, and system control three-position four-way valve 9 is located at left position, and hydraulic oil enters hydraulic cylinder 10, and piston rod is quick
It stretches out, except ice hammer 28 impacts icicle, combined type accumulator 8 and hydraulic pump 3 provide the liquid of enough flows jointly for hydraulic system
Pressure oil guarantees the instantaneous impact except ice hammer 28 to icicle, and then guarantees the icicle Scavenging activity of robot；System controls three
Four-way valve 9 is located at right position, and from 10 hydraulic return circuit of hydraulic cylinder, piston rod is shunk hydraulic oil, except ice hammer 28 is withdrawn with piston rod,
The repairing accumulation of energy from hydraulic circuit of combined type accumulator 8；By controlling three-position four-way valve 9, reciprocating impact is completed except ice hammer 28 and is moved
Make, to realize that the icicle of robot removes function.Controller judges according to the monitoring information that infrared camera 22 is fed back is read
Icicle, which is removed, to be completed, and controller control stops impact except ice hammer 28, while gantry elevator structure playbacks, to realize high-speed rail tunnel
The full-automatic removing function of road icicle removing robot.
Except the icicle that ice hammer 28 is removed, fall on icicle collector 19, in 19 lower section hydraulic oil container 1 of icicle collector
Hydraulic oil and cooling water tank 32 in water cool down, while avoiding system overheat, melt trash ice column, the ice water of thawing is logical
The square hole for crossing icicle collector 19 flows into ice water collecting box 31, ice water collecting box 31 to hydraulic oil container 1 and gasoline engine 13 after
It while continuous cooling, prevents the ice water in ice water collector 31 from freezing again, facilitates processing of the staff to ice water, thus real
Existing high-speed rail tunnel icicle removes the trash ice column post-processing function of robot.
Under semi-automatic cleaning module, staff observes the ice of tunnel top and inner wall by infrared camera 22 in real time
Column, height and position of the staff according to the position of video information control robot and except ice hammer 28, is adjusted except ice hammer 28
It postpones, staff controls hydraulic system work, and hydraulic system provides the impact force of the removing icicle except ice hammer 28, and icicle is removed
Principle is consistent with the removing principle under full-automatic cleaning module, when staff is by video information, judges that icicle removing finishes
When, except ice hammer 28 stops removing work, staff controls the playback of gantry elevator structure, to realize that high-speed rail tunnel icicle is clear
Except the semi-automatic removing function of robot.Trash ice column post processing mode that robot is removed from tunnel top or inner wall and complete
Trash ice column post processing mode under automatic cleaning module is consistent.
High-speed rail tunnel provided by the invention icicle removes robot using full-automatic or semiautomatic-mode, by staff from
Icicle is removed to be freed in labour, improves deicing efficiency, reduces human cost, and remove the same of function realization in icicle
When, the post-processing function of trash ice column is also taken into account, human oriented design had not only guaranteed that surface conditions were not influenced by trash ice column, but also conveniently
Processing of the staff to trash ice column.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (4)
1. the present invention provides a kind of high-speed rail tunnel icicle and removes robot, comprising: hydraulic oil container, hydraulic pump, permanent-magnet eddy current shaft coupling
Device, pressure sensor, combined type accumulator, three-position four-way valve, hydraulic cylinder, gasoline engine, temperature sensor, valve block, icicle are collected
Device, gantry elevator structure, infrared camera, wheel, except ice hammer, linear bearing, ice water collecting box, cooling water tank, pressure gauge,
Gasoline fuel tank.Except ice hammer uses impact mode, the icicle in high-speed rail tunnel is quickly removed, deicing hammering blow power comes from hydraulic cylinder,
Hydraulic system provides hydraulic shock power using combined type accumulator and hydraulic pump, and hydraulic system pressure grade is 35Mpa, the liquid
Pressure system is big flow high-energy density system, and it is big to provide moment by the way of the hydraulic pump and combined type accumulator of small displacement
Flow reduces noise and the vibration of system work while providing enough moment hydraulic oil；It is controlled by control vehicle wheel rotation
Robot processed is mobile, removes ice hammer height and position by the control of gantry elevator structure, passes through wheel and gantry elevator structure
It cooperates to realize the control to ice hammer spatial position is removed；After icicle falls, matched by icicle collector and ice water collecting box
It closes to realize the collection and post-processing to icicle, form icing on ground after preventing icicle to land and causes security risk.
2. high-speed rail tunnel according to claim 1 icicle removes robot, which is characterized in that wheel is mounted on bottom plate,
The movement that controller passes through the rotation control robot of control wheel；On bottom plate design have valve block, icicle collector, support column,
The installation interface of support base and hydraulic pump support frame, while mounting platform is provided for gasoline engine and ice water collecting box；Gasoline engine is
Robot provides power, avoids battery power supply and the limited drawback of endurance that generates；Pass through between gasoline engine and hydraulic pump
Permanent magnet eddy current coupling carries out non-physical connections, and permanent magnet eddy current coupling can reduce the hydraulic pump that passes to of gasoline machine vibration, drops
Influence of the vibration of low gasoline engine to hydraulic pump service life；Hydraulic pump is fixed on hydraulic pump support frame, using high-pressure plunger
Pump, provides the operating pressure of 35Mpa for hydraulic cylinder, so that hydraulic system has higher energy density, reduces hydraulic cylinder piston
The diameter of diameter and fluid pressure line, and then the weight of hydraulic system is reduced, be conducive to the capacity usage ratio and machine that improve robot
The flexibility of device people；Hydraulic oil container provides enough hydraulic oil for hydraulic system, uses low temperature resistant hydraulic oil in hydraulic oil container,
Guarantee in low temperature environment hydraulic system can steady operation, hydraulic oil container design has the installation of liquidometer and temperature sensor to connect
Mouthful；The liquid level of hydraulic oil in liquidometer real-time monitoring hydraulic oil container, if liquid level is lower than safety levels, system alarm；Temperature passes
The temperature of hydraulic oil, avoids the too high or too low for temperature of hydraulic oil in sensor real-time detection hydraulic oil container, influences robot work；
The Front-end Design of hydraulic pump has oil suction filter, for the coarse filtration of hydraulic oil, prevents the large granular impurity in hydraulic oil to hydraulic pump
Blade causes to damage, and influences the service life of hydraulic pump；The exit design of hydraulic pump has check valve, guarantees the flow direction of hydraulic oil, prevents
Hydraulic oil reflux, realizes the protection to hydraulic pump；Check valve rear end connects filter, for carrying out refined filtration to hydraulic oil, guarantees
The cleannes of hydraulic oil in hydraulic system；
Filter is mounted in valve block, and valve block interior design has the runner of hydraulic oil, and is filter, pressure sensor, combination
Formula accumulator, three-position four-way valve, automatically controlled overflow valve, manual switch valve, oil return filter, pressure gauge, oil outlet and oil return opening provide peace
Attaching mouth；Combined type accumulator, including four accumulators, compared with single big accumulator, combined type accumulator increases hydraulic pressure system
The rigidity of system, the problem of causing hydraulic system pressure to decline rapidly when avoiding the repairing of single accumulator；Controller passes through control
Three-position four-way valve processed, to control the stretching motion of hydraulic cylinder；With except ice hammer is connected by shaft coupling, controller passes through hydraulic cylinder
The stretching motion of hydraulic cylinder is controlled, and then controls the percussion action for removing ice hammer, realizes the removing function of icicle；When controller controls
When three-position four-way valve is located at left position, the piston rod of hydraulic cylinder stretches out, while combined type accumulator removes ice hammer to hydraulic system repairing
It is quickly moved with the piston rod of hydraulic cylinder, icicle is fiercely impacted, when controller control three-position four-way valve is located at middle position,
Hydraulic system is out of service, when controller control three-position four-way valve is located at right position, except ice hammer is shunk with the piston rod of hydraulic cylinder,
Hydraulic system oil return, while combined type accumulator oil return accumulation of energy, left position, middle position and the right position that system passes through control three-position four-way valve
Continuous switching, the final icicle for realizing robot removes function；Pressure sensor, real-time monitoring system pressure, if pressure mistake
Height, then system alarm；Pressure gauge, is shown using Redundancy Design as the supplement of pressure sensor on the spot in real time by two altogether
Hydraulic system pressure reads the pressure value of hydraulic system convenient for staff；Automatically controlled overflow valve, for controlling hydraulic system work
Upper limit of pressure realizes the protection to hydraulic system；Manual switch valve, once hydraulic system pressure control failure, operator
System decompression is manually carried out, causes oil spout live when overhauling after preventing hydraulic system from building the pressure；Oil return filter, to hydraulic oil
Oil return is filtered, and guarantees the cleannes of hydraulic oil in hydraulic oil container；
There are four supporting legs for icicle collector design, are bolted on bottom plate, and upper grooves structure removes ice hammer for collecting
The icicle smashed carries out the post-processing of trash ice column, and ground is avoided to form ground icing because trash ice falls；The lower section of icicle collector
For hydraulic oil container and cooling water tank, the trash ice column collected using icicle collector, to the hydraulic oil and cooling water in hydraulic oil container
Water in case cools down, and avoids system overheat, at the same time, the heat that the heat and gasoline engine generated using hydraulic system is generated
Amount melts the trash ice column in icicle collector；The side design of icicle collector has square hole, and square hole is sized to be slightly smaller than ice
The openings of sizes of water collection tank, the ice water convenient for melting on icicle collector flow directly into ice water collecting box；Ice water collecting box
It is designed as L-type, is tightly attached to gasoline engine side, hydraulic oil container is placed on above ice water collecting box, and the ice water that ice water collecting box is collected is not
It is only capable of cooling down to hydraulic oil container and gasoline engine, it is thus also avoided that the ice water of thawing freezes again in ice water collecting box, increases
The difficulty of staff's subsequent processing；Gasoline fuel tank and cooling water tank are placed on above gasoline engine；Cooling water tank designs for T-type,
Water is filled in cooling water tank, can cool down to gasoline engine, gasoline engine is avoided to shut down because of overheat, influences the work of robot
Efficiency.
3. high-speed rail tunnel according to claim 1 icicle removes robot, which is characterized in that gantry elevator structure includes
Support column, lifting motor A, lifting motor B, crossbeam, T-type thread lead screw and heavily loaded sliding block, gantry elevator structure make machine
People's operation height range is 2m~3m, improves the adaptability of robot；Support column is fixed on bottom plate, and support post design has
Dovetail groove guide rail provides guiding role for heavily loaded moving up and down for sliding block, while support column includes two, respectively lifting motor
A and lifting motor B provides installation interface；Lifting motor A and lifting motor B are connect with T-type thread lead screw respectively, are planer-type liter
Descending mechanism provides power, while to avoid power dispute problem, controller implements power closed-loop control to lifting motor A, to lifting electricity
Machine B enforcing location closed-loop control；The collective effect of lifting motor A and lifting motor B drive the rotation of T-type thread lead screw, T-type spiral shell
For line lead screw by the movement for being converted to heavily loaded sliding block of motor, T-type thread lead screw can be self-locking, guarantees to provide reliable branch for crossbeam
Support；Crossbeam provides installation interface for U-shaped transition piece, and crossbeam is bolted with heavily loaded sliding block, the bearing capacity of heavily loaded sliding block
By force, crossbeam can be driven to move up and down；System controls lifting motor A and lifting motor B to adjust horizontal depth of beam, passes through T-type spiral shell
The self-locking function of line lead screw makes crossbeam reliably be fixed on a certain height and position, so that control removes the height of ice hammer；U-shaped transition
Part is mounted on the middle position of crossbeam, provides installation interface for hydraulic cylinder, infrared camera and support base；The piston rod of hydraulic cylinder
It is connect with ice hammer is removed by shaft coupling, system controls the quick movement of hydraulic cylinder, so that removing ice hammer quick washing, and then completes clear
Except the work of icicle；Except ice hammer passes through support base, and guiding role is provided by the linear bearing of support base, linear bearing can subtract
Friction during few deicing hammering blow；Infrared camera is fixed on support base, and captured in real-time simultaneously feeds back to display screen, for work
Make personnel's real-time monitoring except the icicle of ice hammer removes situation, whether in place to judge the removing work of robot.
4. high-speed rail tunnel according to claim 1 icicle removes robot, which is characterized in that robot has full-automatic
Cleaning module or semi-automatic cleaning module；Under full-automatic cleaning module, staff sets the ginseng such as length of tunnel, height
Number, video information of the robot according to parameter and the infrared camera acquisition of setting, carries out the autonomous operation of de-icing work, machine
People's automatic running to icicle position and independently carries out icicle removing, after the completion of robot judge that icicle is removed, except ice hammer stops rushing
It hits, while gantry elevator structure playbacks, robot runs out tunnel；Under semi-automatic cleaning module, by staff to machine
Device people carries out remote control or controls on the spot, and staff passes through the shooting situation of infrared camera, judges whether to need machine
People implements to remove work；When staff judges the position icicle in need being purged, staff passes through controller
It is raised up to suitable face height to control gantry elevator structure, the removing work of ice hammer is removed by HYDRAULIC CONTROL SYSTEM,
The shooting situation of staff's real-time monitoring infrared camera shoots situation when staff passes through, and judges that icicle removing finishes
When, except ice hammer stops removing work, staff controls the playback of gantry elevator structure, and controls robot and run out tunnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910118580.7A CN109826150A (en) | 2019-02-17 | 2019-02-17 | High-speed rail tunnel icicle removes robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910118580.7A CN109826150A (en) | 2019-02-17 | 2019-02-17 | High-speed rail tunnel icicle removes robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109826150A true CN109826150A (en) | 2019-05-31 |
Family
ID=66863610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910118580.7A Pending CN109826150A (en) | 2019-02-17 | 2019-02-17 | High-speed rail tunnel icicle removes robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109826150A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110158529A (en) * | 2019-06-28 | 2019-08-23 | 新昌宠信机械科技有限公司 | Railcar is cleared up safely and effectively drained to a kind of high-speed rail tunnel icicle |
| CN111495845A (en) * | 2020-04-30 | 2020-08-07 | 陈灼骁 | Decontamination cleaning tool for field electric power device |
| CN112756290A (en) * | 2021-01-11 | 2021-05-07 | 史琼 | Multifunctional high-altitude robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090090754A (en) * | 2008-02-22 | 2009-08-26 | (주)빅텍스 | Tunnel cleaning method and apparatus using dry-ice |
| CN203296017U (en) * | 2013-05-13 | 2013-11-20 | 梁拓 | Snow melting device |
| CN103918636A (en) * | 2014-04-29 | 2014-07-16 | 青岛农业大学 | Intelligent spraying method based on image processing and spraying robot based on image processing |
| CN203892061U (en) * | 2014-05-15 | 2014-10-22 | 杨帆 | Snowplow waste heat utilization device |
| CN206956652U (en) * | 2017-07-11 | 2018-02-02 | 山东东泰工程咨询有限公司 | A kind of tunnel vault deicer |
| CN207195332U (en) * | 2017-09-04 | 2018-04-06 | 上海意称液压系统有限公司 | The hydraulic control system of oscillation bearing testing machine |
| CN108739723A (en) * | 2018-04-03 | 2018-11-06 | 广西科技大学 | The intelligence spray robot of bi-directional data exchange remote control can be realized based on crawler body |
| CN208067462U (en) * | 2018-01-31 | 2018-11-09 | 济南誉腾工贸有限公司 | A kind of aluminium flash cutter device |
| CN208346741U (en) * | 2018-06-06 | 2019-01-08 | 牛峥 | Electrified railway tunnels deicer |
-
2019
- 2019-02-17 CN CN201910118580.7A patent/CN109826150A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090090754A (en) * | 2008-02-22 | 2009-08-26 | (주)빅텍스 | Tunnel cleaning method and apparatus using dry-ice |
| CN203296017U (en) * | 2013-05-13 | 2013-11-20 | 梁拓 | Snow melting device |
| CN103918636A (en) * | 2014-04-29 | 2014-07-16 | 青岛农业大学 | Intelligent spraying method based on image processing and spraying robot based on image processing |
| CN203892061U (en) * | 2014-05-15 | 2014-10-22 | 杨帆 | Snowplow waste heat utilization device |
| CN206956652U (en) * | 2017-07-11 | 2018-02-02 | 山东东泰工程咨询有限公司 | A kind of tunnel vault deicer |
| CN207195332U (en) * | 2017-09-04 | 2018-04-06 | 上海意称液压系统有限公司 | The hydraulic control system of oscillation bearing testing machine |
| CN208067462U (en) * | 2018-01-31 | 2018-11-09 | 济南誉腾工贸有限公司 | A kind of aluminium flash cutter device |
| CN108739723A (en) * | 2018-04-03 | 2018-11-06 | 广西科技大学 | The intelligence spray robot of bi-directional data exchange remote control can be realized based on crawler body |
| CN208346741U (en) * | 2018-06-06 | 2019-01-08 | 牛峥 | Electrified railway tunnels deicer |
Non-Patent Citations (2)
| Title |
|---|
| 杨襄壁: "《液压破碎锤设计理论、计算方法与引用》", 3 November 2012, 合肥工业大学出版社 * |
| 梁红勇: "永磁涡流联轴器在大功率皮带机的应用", 《科技与创新》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110158529A (en) * | 2019-06-28 | 2019-08-23 | 新昌宠信机械科技有限公司 | Railcar is cleared up safely and effectively drained to a kind of high-speed rail tunnel icicle |
| CN111495845A (en) * | 2020-04-30 | 2020-08-07 | 陈灼骁 | Decontamination cleaning tool for field electric power device |
| CN112756290A (en) * | 2021-01-11 | 2021-05-07 | 史琼 | Multifunctional high-altitude robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109826150A (en) | High-speed rail tunnel icicle removes robot | |
| CN109114048B (en) | Hydraulic induction conversion automatic control advance and retreat method and hydraulic induction conversion automatic advance and retreat control system | |
| CN107437743A (en) | Dust arrester inside a kind of power distribution cabinet | |
| CN106684762B (en) | A kind of overhead transmission line twister remove device | |
| CN108131550B (en) | A kind of railroad ties service sleeve oiling equipment | |
| CN112275386A (en) | Broken sorting unit of old and useless lithium cell | |
| CN205666544U (en) | A machine is led in electric wire netting construction | |
| CN107489587A (en) | Formula of healing up water wave generator | |
| CN214737736U (en) | Tunnel defroster | |
| CN206916725U (en) | A kind of grid sewage-removing machine grab bucket | |
| EA039359B1 (en) | Advance and retreat automatic control method based on hydraulic sensing conversion and advance and retreat automatic control system based on hydraulic sensing conversion | |
| CN112517548A (en) | Movable deicing machine for tunnel | |
| CN209429188U (en) | A kind of coal-mine water-house silt cleaning device | |
| CN107938586A (en) | The automatic formula track that switches tracks is removed obstacles and diagnostic device | |
| CN210178402U (en) | Coal mine operation ventilation unit | |
| CN102261057A (en) | Bridge type trash remover | |
| CN205925947U (en) | Totally enclosed cutting remove system of motor overhead coal pulverizer | |
| CN108674234B (en) | Wireless charging system of electric automobile | |
| CN214376952U (en) | Artificial intelligence type temporary traffic commanding device | |
| CN108796159A (en) | A kind of modular removable formula blast furnace discharge yard combination dust-extraction unit | |
| CN115679919A (en) | Ship lock float cleaning device and method | |
| CN109888963A (en) | A kind of homopolar machine protective device of range sensor control | |
| CN112895947B (en) | Charging pile with alarm function for new energy automobile | |
| CN109510149A (en) | A kind of anti-icing slag splashes and can be from the deicing of high-voltage wires equipment of loss of weight | |
| CN201620322U (en) | Multi-functional railway rescue machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190531 |