CN110228014B - Mobile robot for underground support dismantling operation - Google Patents
Mobile robot for underground support dismantling operation Download PDFInfo
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- CN110228014B CN110228014B CN201910564719.0A CN201910564719A CN110228014B CN 110228014 B CN110228014 B CN 110228014B CN 201910564719 A CN201910564719 A CN 201910564719A CN 110228014 B CN110228014 B CN 110228014B
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- rotating shaft
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- power box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/04—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for treating only selected parts of a surface, e.g. for carving stone or glass
- B24C1/045—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for treating only selected parts of a surface, e.g. for carving stone or glass for cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
- B24C3/065—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable with suction means for the abrasive and the waste material
- B24C3/067—Self-contained units for floorings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C5/00—Devices or accessories for generating abrasive blasts
- B24C5/02—Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
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- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
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- Manipulator (AREA)
Abstract
A mobile robot for underground support dismantling operation comprises a crawler walking type chassis, a hydraulic lifting platform, a hydraulic pump station, a high-pressure water pump station, a manipulator, a water jet cutter and a power box; the hydraulic lifting platform, the hydraulic pump station and the high-pressure water pump station are all arranged on the crawler walking type chassis, the power box is arranged at the top of the hydraulic lifting platform, the manipulator is arranged on the power box, and the water jet cutter is arranged on the claw part of the manipulator; the driving force of the hydraulic lifting platform and the driving force of the manipulator are both provided by a hydraulic pump station; the water jet cutter is connected with a high-pressure water pump station; the position of the water jet can be adjusted in three degrees of freedom through the manipulator, the manipulator clamps and fixes the water jet through the scissor type paw, and the opening and closing actions of the scissor type paw are controlled by the power box; the invention abandons the traditional manual support dismantling operation mode, can effectively reduce the labor intensity of workers, can further improve the operation efficiency and simultaneously reduces the safety risk of the workers.
Description
Technical Field
The invention belongs to the technical field of underground support dismantling, and particularly relates to a mobile robot for underground support dismantling operation.
Background
At present, the support dismantling operation of underground anchor rods and anchor cables is mainly completed manually, workers need to reach the top of a roadway by means of lifting equipment, the anchor rods or the anchor cables are cut off and dismantled by cutting tools, and dismantled components are finally recovered. However, when the support dismantling operation is performed in the conventional manual mode, the labor intensity of workers is high, the operation efficiency is low, and the tunnel roof is easy to collapse in the support dismantling process, so that the personal safety of the workers is dangerous.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a mobile robot for underground support dismantling operation, which abandons the traditional manual support dismantling operation mode, can effectively reduce the labor intensity of workers, can further improve the operation efficiency, and simultaneously reduces the safety risk of the workers.
In order to achieve the purpose, the invention adopts the following technical scheme: a mobile robot for underground support dismantling operation comprises a crawler walking type chassis, a hydraulic lifting platform, a hydraulic pump station, a high-pressure water pump station, a manipulator, a water jet cutter and a power box; the hydraulic lifting platform, the hydraulic pump station and the high-pressure water pump station are all arranged on the crawler walking type chassis, the power box is arranged at the top of the hydraulic lifting platform, the manipulator is arranged on the power box, and the water jet cutter is arranged on the manipulator; the driving force of the hydraulic lifting platform and the driving force of the manipulator are both provided by a hydraulic pump station; the water jet cutter is connected with a high-pressure water pump station.
The manipulator comprises a large arm, a small arm, a palm, a scissor type paw, a large arm driving oil cylinder, a small arm driving oil cylinder and a rotary base; the water jet cutter is clamped and fixed through a scissor type paw; one end of the large arm is hinged to the rotary base, the end part of the cylinder barrel of the large arm driving oil cylinder is hinged to the rotary base, the end part of the piston rod of the large arm driving oil cylinder is hinged to the middle part of the large arm, the other end of the large arm is hinged to the middle part of the small arm, the end part of the cylinder barrel of the small arm driving oil cylinder is hinged to the middle part of the large arm, the end part of the piston rod of the small arm driving oil cylinder is hinged to one end of the small arm; the scissors type paw is connected with a palm through a cross point hinge shaft, a push-pull rod guide hole is formed in the palm right below the cross point hinge shaft, a push-pull rod is arranged in the push-pull rod guide hole and can linearly move along the push-pull rod guide hole, a force transmission frame is fixedly arranged at the top of the push-pull rod, sliding blocks are arranged on two fingers below the cross point hinge shaft of the scissors type paw and can linearly move along the fingers of the scissors type paw, the force transmission frame is hinged with the sliding blocks, and a reset spring is sleeved on the push-pull rod between the force transmission frame and the palm; the driving force of the push-pull rod is provided by the power box; and a camera is arranged on the small arm.
The power box comprises a box body, a hydraulic motor, a driving rotating shaft, a rotating shaft sleeve, a first driven rotating shaft, a second driven rotating shaft and an electric push rod; the hydraulic motor is horizontally and fixedly arranged in the power box body, the driving force of the hydraulic motor is provided by a hydraulic pump station, the driving shaft of the hydraulic motor is fixedly connected with one end of the driving rotating shaft through a coupler, one end of the rotating shaft sleeve is sleeved at the other end of the driving rotating shaft, a guide sliding key is arranged between the rotating shaft sleeve and the driving rotating shaft, the rotating shaft sleeve can axially move but cannot rotate relative to the driving rotating shaft, and the driving rotating shaft is arranged in the power box body through a bearing seat; the end part of a push rod of the electric push rod is positioned in the rotating shaft sleeve, the end part of the push rod of the electric push rod is connected with the inner wall of the rotating shaft sleeve through a bearing, the end part of the push rod of the electric push rod is fixedly connected with the inner ring of the bearing, the inner wall of the rotating shaft sleeve is fixedly connected with the outer ring of the bearing, and the end part of the push rod of the electric push rod can rotate relative to the rotating shaft sleeve but cannot axially move; the axial center lines of the electric push rod, the rotating shaft sleeve, the driving rotating shaft and the hydraulic motor are overlapped; one end of the rotating shaft sleeve is fixedly provided with a driving straight gear, and the other end of the rotating shaft sleeve is fixedly provided with a driving helical gear; the first driven rotating shaft is horizontally arranged in the power box body through a bearing seat, the first driven rotating shaft is parallel to the driving rotating shaft, a driven straight gear is fixedly arranged on the first driven rotating shaft, and the driven straight gear is meshed with the driving straight gear; an electromagnetic band-type brake is mounted on the first driven rotating shaft, and a traction rope is connected between the first driven rotating shaft and the push-pull rod; the second driven rotating shaft is vertically arranged in the power box body through a bearing seat, the second driven rotating shaft is perpendicular to the driving rotating shaft, a driven helical gear is fixedly arranged on the second driven rotating shaft, and the driven helical gear is meshed with the driving helical gear; and the top end of the second driven rotating shaft extends to the outer side of the power box body and is fixedly connected with a rotary base of the manipulator.
The rotary base of the manipulator is fixedly connected with a switching support, a material receiving funnel is installed at the top end of the switching support and located under a water jet cutter, and a crawler walking type chassis under the material receiving funnel is connected with a wheel type material storage car hopper.
The invention has the beneficial effects that:
the mobile robot for underground support dismantling operation abandons the traditional manual support dismantling operation mode, can effectively reduce the labor intensity of workers, can further improve the operation efficiency, and simultaneously reduces the safety risk of the workers.
Drawings
FIG. 1 is a schematic diagram of a mobile robot for use in a down-hole support demolition operation according to the present invention;
FIG. 2 is an assembly view of the robot and power box of the present invention;
FIG. 3 is an assembly view of the water jet scalpel and scissor type paw of the present invention;
FIG. 4 is a schematic view of the internal structure of the power box of the present invention;
FIG. 5 is an assembly view of the electric push rod, the spindle sleeve and the active spindle of the present invention;
in the figure, 1-crawler walking chassis, 2-hydraulic lifting platform, 3-hydraulic pump station, 4-high pressure water pump station, 5-manipulator, 6-water knife, 7-power box, 8-big arm, 9-small arm, 10-palm, 11-scissor paw, 12-big arm driving oil cylinder, 13-small arm driving oil cylinder, 14-rotary base, 15-cross-point hinge shaft, 16-push-pull rod, 17-force transmission frame, 18-slide block, 19-reset spring, 20-camera, 21-hydraulic motor, 22-driving rotary shaft, 23-rotary shaft sleeve, 24-first driven rotary shaft, 25-second driven rotary shaft, 26-electric push rod, 27-coupler, 28-guide sliding key, 29-bearing, 30-driving straight gear, 31-driving helical gear, 32-driven straight gear, 33-electromagnetic band-type brake, 34-pulling rope, 35-driven helical gear, 36-switching bracket, 37-receiving hopper, 38-storage hopper.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 5, a mobile robot for underground support dismantling operation comprises a crawler walking type chassis 1, a hydraulic lifting platform 2, a hydraulic pump station 3, a high-pressure water pump station 4, a manipulator 5, a water jet cutter 6 and a power box 7; the hydraulic lifting platform 2, the hydraulic pump station 3 and the high-pressure water pump station 4 are all arranged on the crawler walking type chassis 1, the power box 7 is arranged at the top of the hydraulic lifting platform 2, the manipulator 5 is arranged on the power box 7, and the water jet cutter 6 is arranged on the manipulator 5; the driving force of the hydraulic lifting platform 2 and the driving force of the manipulator 5 are both provided by a hydraulic pump station 3; the water jet cutter 6 is connected with the high-pressure water pump station 4.
The manipulator 5 comprises a large arm 8, a small arm 9, a palm 10, a scissor type paw 11, a large arm driving oil cylinder 12, a small arm driving oil cylinder 13 and a rotary base 14; the water jet cutter 6 is clamped and fixed through a scissor type paw 11; one end of the large arm 8 is hinged to the rotary base 14, the end part of the cylinder barrel of the large arm driving oil cylinder 12 is hinged to the rotary base 14, the end part of the piston rod of the large arm driving oil cylinder 12 is hinged to the middle part of the large arm 8, the other end of the large arm 8 is hinged to the middle part of the small arm 9, the end part of the cylinder barrel of the small arm driving oil cylinder 13 is hinged to the middle part of the large arm 8, the end part of the piston rod of the small arm driving oil cylinder 13 is hinged to one end of the small arm 9, and the palm; the scissors type paw 11 is connected with a palm 10 through a cross point hinge shaft 15, a push-pull rod guide hole is formed in the palm 10 right below the cross point hinge shaft 15, a push-pull rod 16 is arranged in the push-pull rod guide hole, the push-pull rod 16 can move linearly along the push-pull rod guide hole, a force transmission frame 17 is fixedly arranged at the top of the push-pull rod 16, sliding blocks 18 are respectively arranged on two fingers below the cross point hinge shaft 15 of the scissors type paw 11, the sliding blocks 18 can move linearly along the fingers of the scissors type paw 11, the force transmission frame 17 is hinged with the sliding blocks 18, and a reset spring 19 is sleeved on the push-pull rod 16 between the force transmission frame 17 and the palm 10; the driving force of the push-pull rod 16 is provided by the power box 7; a camera 20 is mounted on the arm 9.
The power box 7 comprises a box body, a hydraulic motor 21, a driving rotating shaft 22, a rotating shaft sleeve 23, a first driven rotating shaft 24, a second driven rotating shaft 25 and an electric push rod 26; the hydraulic motor 21 is horizontally and fixedly arranged in the power box 7, the driving force of the hydraulic motor 21 is provided by the hydraulic pump station 3, the driving shaft of the hydraulic motor 21 is fixedly connected with one end of the driving rotating shaft 22 through the coupler 27, one end of the rotating shaft sleeve 23 is sleeved at the other end of the driving rotating shaft 22, a guide sliding key 28 is arranged between the rotating shaft sleeve 23 and the driving rotating shaft 22, the rotating shaft sleeve 23 can axially move but can not rotate relative to the driving rotating shaft 22, and the driving rotating shaft 22 is arranged in the power box 7 through a bearing seat; the end part of the push rod of the electric push rod 26 is positioned in the rotating shaft sleeve 23, the end part of the push rod of the electric push rod 26 is connected with the inner tube wall of the rotating shaft sleeve 23 through a bearing 29, the end part of the push rod of the electric push rod 26 is fixedly connected with the inner ring of the bearing 29, the inner tube wall of the rotating shaft sleeve 23 is fixedly connected with the outer ring of the bearing 29, and the end part of the push rod of the electric push rod 26 can rotate relative to the rotating shaft sleeve 23 but cannot; the axial center lines of the electric push rod 26, the rotating shaft sleeve 23, the driving rotating shaft 22 and the hydraulic motor 21 are coincided; a driving straight gear 30 is fixedly arranged at one end of the rotating shaft sleeve 23, and a driving helical gear 31 is fixedly arranged at the other end of the rotating shaft sleeve 23; the first driven rotating shaft 24 is horizontally arranged in the box body of the power box 7 through a bearing seat, the first driven rotating shaft 24 is parallel to the driving rotating shaft 22, a driven straight gear 32 is fixedly arranged on the first driven rotating shaft 24, and the driven straight gear 32 is meshed and matched with the driving straight gear 30; an electromagnetic band-type brake 33 is arranged on the first driven rotating shaft 24, and a pulling rope 34 is connected between the first driven rotating shaft 24 and the push-pull rod 16; the second driven rotating shaft 25 is vertically arranged in the box body of the power box 7 through a bearing seat, the second driven rotating shaft 25 is perpendicular to the driving rotating shaft 22, a driven helical gear 35 is fixedly arranged on the second driven rotating shaft 25, and the driven helical gear 35 is meshed with the driving helical gear 31; the top end of the second driven rotating shaft 25 extends to the outer side of the box body of the power box 7 and is fixedly connected with the rotary base 14 of the manipulator 5.
A switching support 36 is fixedly connected to the rotary base 14 of the manipulator 5, a material receiving funnel 37 is installed at the top end of the switching support 36, the material receiving funnel 37 is located under the water jet cutter 6, and the crawler walking chassis 1 under the material receiving funnel 37 is connected with a wheel type material storage car hopper 38.
The one-time use process of the present invention is described below with reference to the accompanying drawings:
in the initial stage, the scissor type gripper 11 is in the open state, the driving spur gear 30 and the driven spur gear 32 are in the engaged state, and the driving helical gear 31 and the driven helical gear 35 are in the disengaged state.
A worker firstly sends a selected water jet scalpel 6 between the opened scissor type claws 11 on the ground, then starts the hydraulic motor 21, drives the first driven rotating shaft 24 to rotate forward through the driving rotating shaft 22, the rotating shaft sleeve 23, the driving straight gear 30 and the driven straight gear 32 in sequence to tighten the pulling rope 34, and realizes the pull-down action of the push-pull rod 16 in the tightening process of the pulling rope 34, at the moment, the reset spring 19 is compressed, the sliding block 18 slides downwards and drives the scissor type claws 11 to close gradually until the scissor type claws 11 finish clamping and fixing the water jet scalpel 6, and then locks the first driven rotating shaft 24 through the electromagnetic band-type brake 33 to lock the clamping state of the scissor type claws 11 on the water jet scalpel 6.
After the water jet cutter 6 is installed, a remote control robot is driven to a working area by a worker on the ground, and the worker can acquire real-time images through the camera 20 to observe and monitor the working area on site.
After the robot reaches the work area, control fluid pressure type elevating platform 2 and rise, with 5 lifts to the operating position of manipulator, remove water sword 6 to strutting the cutting point through manipulator 5, 5 concrete removal operation processes of manipulator do: firstly, starting an electric push rod 26, dragging a rotating shaft sleeve 23 to change the position of the rotating shaft sleeve on a driving rotating shaft 22, separating a driving straight gear 30 from a driven straight gear 32, simultaneously meshing a driving bevel gear 31 and a driven bevel gear 35 with each other, then starting a hydraulic motor 21, sequentially passing through the driving rotating shaft 22, the rotating shaft sleeve 23, the driving bevel gear 31 and the driven bevel gear 35 to drive a second driven rotating shaft 25 to rotate, further driving a manipulator 5 on a rotary base 14 to rotate, and realizing the adjustment of the circumferential position of a water knife 6; then, respectively starting the large arm driving oil cylinder 12 and the small arm driving oil cylinder 13 to realize the position adjustment of the water jet cutter 6 in the vertical plane; the adjustment of the space position of the water jet cutter 6 is realized through the linkage of the hydraulic motor 2, the large arm driving oil cylinder 12 and the small arm driving oil cylinder 13.
After the water jet cutter 6 moves to a supporting cutting point, the high-pressure water pump station 4 is started, the anchor rod or the anchor cable to be removed is supported by the water jet cutter 6 to be cut and removed, the cut part can directly fall into the material receiving hopper 37 below, and then falls into the material storage car hopper 38 through the material receiving hopper 37 to complete recovery.
After the underground support dismantling operation is finished, the hydraulic lifting platform 2 falls back to the initial position, the manipulator 5 falls back to the low position again, the electric push rod 26 is started, the rotating shaft sleeve 23 is pushed back to the initial position, the driving bevel gear 31 and the driven bevel gear 35 are restored to the separated state, the driving spur gear 30 and the driven spur gear 32 are restored to the meshed state, then the electromagnetic band-type brake 33 is unlocked for locking the first driven rotating shaft 24, the hydraulic motor 21 is started, the first driven rotating shaft 24 rotates reversely to release the pulling rope 34, under the spring force of the reset spring 19, the pushing and pulling rod 16 is restored to the upward movement, the sliding block 18 slides upward and drives the scissor type paw 11 to gradually open until the scissor type paw 11 releases the clamping and fixing of the water knife 6, and at the moment, the water knife 6 can be taken down for additional storage.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (2)
1. The utility model provides a portable robot that is used for strutting in pit to demolish operation which characterized in that: the device comprises a crawler walking chassis, a hydraulic lifting platform, a hydraulic pump station, a high-pressure water pump station, a manipulator, a water knife and a power box; the hydraulic lifting platform, the hydraulic pump station and the high-pressure water pump station are all arranged on the crawler walking type chassis, the power box is arranged at the top of the hydraulic lifting platform, the manipulator is arranged on the power box, and the water jet cutter is arranged on the manipulator; the driving force of the hydraulic lifting platform and the driving force of the manipulator are both provided by a hydraulic pump station; the water jet cutter is connected with a high-pressure water pump station; the manipulator comprises a large arm, a small arm, a palm, a scissor type paw, a large arm driving oil cylinder, a small arm driving oil cylinder and a rotary base; the water jet cutter is clamped and fixed through a scissor type paw; one end of the large arm is hinged to the rotary base, the end part of the cylinder barrel of the large arm driving oil cylinder is hinged to the rotary base, the end part of the piston rod of the large arm driving oil cylinder is hinged to the middle part of the large arm, the other end of the large arm is hinged to the middle part of the small arm, the end part of the cylinder barrel of the small arm driving oil cylinder is hinged to the middle part of the large arm, the end part of the piston rod of the small arm driving oil cylinder is hinged to one end of the small arm; the scissors type paw is connected with a palm through a cross point hinge shaft, a push-pull rod guide hole is formed in the palm right below the cross point hinge shaft, a push-pull rod is arranged in the push-pull rod guide hole and can linearly move along the push-pull rod guide hole, a force transmission frame is fixedly arranged at the top of the push-pull rod, sliding blocks are arranged on two fingers below the cross point hinge shaft of the scissors type paw and can linearly move along the fingers of the scissors type paw, the force transmission frame is hinged with the sliding blocks, and a reset spring is sleeved on the push-pull rod between the force transmission frame and the palm; the driving force of the push-pull rod is provided by the power box; a camera is arranged on the small arm; the power box comprises a box body, a hydraulic motor, a driving rotating shaft, a rotating shaft sleeve, a first driven rotating shaft, a second driven rotating shaft and an electric push rod; the hydraulic motor is horizontally and fixedly arranged in the power box body, the driving force of the hydraulic motor is provided by a hydraulic pump station, the driving shaft of the hydraulic motor is fixedly connected with one end of the driving rotating shaft through a coupler, one end of the rotating shaft sleeve is sleeved at the other end of the driving rotating shaft, a guide sliding key is arranged between the rotating shaft sleeve and the driving rotating shaft, the rotating shaft sleeve can axially move but cannot rotate relative to the driving rotating shaft, and the driving rotating shaft is arranged in the power box body through a bearing seat; the end part of a push rod of the electric push rod is positioned in the rotating shaft sleeve, the end part of the push rod of the electric push rod is connected with the inner wall of the rotating shaft sleeve through a bearing, the end part of the push rod of the electric push rod is fixedly connected with the inner ring of the bearing, the inner wall of the rotating shaft sleeve is fixedly connected with the outer ring of the bearing, and the end part of the push rod of the electric push rod can rotate relative to the rotating shaft sleeve but cannot axially move; the axial center lines of the electric push rod, the rotating shaft sleeve, the driving rotating shaft and the hydraulic motor are overlapped; one end of the rotating shaft sleeve is fixedly provided with a driving straight gear, and the other end of the rotating shaft sleeve is fixedly provided with a driving helical gear; the first driven rotating shaft is horizontally arranged in the power box body through a bearing seat, the first driven rotating shaft is parallel to the driving rotating shaft, a driven straight gear is fixedly arranged on the first driven rotating shaft, and the driven straight gear is meshed with the driving straight gear; an electromagnetic band-type brake is mounted on the first driven rotating shaft, and a traction rope is connected between the first driven rotating shaft and the push-pull rod; the second driven rotating shaft is vertically arranged in the power box body through a bearing seat, the second driven rotating shaft is perpendicular to the driving rotating shaft, a driven helical gear is fixedly arranged on the second driven rotating shaft, and the driven helical gear is meshed with the driving helical gear; and the top end of the second driven rotating shaft extends to the outer side of the power box body and is fixedly connected with a rotary base of the manipulator.
2. A mobile robot for use in a downhole support demolition operation according to claim 1, wherein: the rotary base of the manipulator is fixedly connected with a switching support, a material receiving funnel is installed at the top end of the switching support and located under a water jet cutter, and a crawler walking type chassis under the material receiving funnel is connected with a wheel type material storage car hopper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910564719.0A CN110228014B (en) | 2019-06-27 | 2019-06-27 | Mobile robot for underground support dismantling operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910564719.0A CN110228014B (en) | 2019-06-27 | 2019-06-27 | Mobile robot for underground support dismantling operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110228014A CN110228014A (en) | 2019-09-13 |
| CN110228014B true CN110228014B (en) | 2020-12-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910564719.0A Active CN110228014B (en) | 2019-06-27 | 2019-06-27 | Mobile robot for underground support dismantling operation |
Country Status (1)
| Country | Link |
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| CN (1) | CN110228014B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3815495A1 (en) * | 1988-05-06 | 1989-11-23 | Hoelter Heinz | Electronic control for underground shield-type support |
| CN1137767A (en) * | 1993-09-14 | 1996-12-11 | 亚历山大宾兹尔有限无限股份两合公司 | Burner holder for mechanised or automated arc welding or cutting torches, especially machine or robot burners |
| CN102689309A (en) * | 2012-05-29 | 2012-09-26 | 江南大学 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
| CN105945966A (en) * | 2016-06-30 | 2016-09-21 | 中国人民武装警察部队工程大学 | Intelligent water jet cutter explosive-handling robot |
| CN107443351A (en) * | 2017-09-06 | 2017-12-08 | 哈尔滨工程大学 | A kind of high-pressure water jet dismantles robot |
| CN206998642U (en) * | 2017-07-17 | 2018-02-13 | 贵州航谷动力科技有限公司 | A kind of high-pressure grinding material water jet cutter |
| CN109332812A (en) * | 2018-11-22 | 2019-02-15 | 筑梦高科建筑有限公司 | A kind of structure non-destructive waterpower robot for disassembling work |
-
2019
- 2019-06-27 CN CN201910564719.0A patent/CN110228014B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3815495A1 (en) * | 1988-05-06 | 1989-11-23 | Hoelter Heinz | Electronic control for underground shield-type support |
| CN1137767A (en) * | 1993-09-14 | 1996-12-11 | 亚历山大宾兹尔有限无限股份两合公司 | Burner holder for mechanised or automated arc welding or cutting torches, especially machine or robot burners |
| CN102689309A (en) * | 2012-05-29 | 2012-09-26 | 江南大学 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
| CN105945966A (en) * | 2016-06-30 | 2016-09-21 | 中国人民武装警察部队工程大学 | Intelligent water jet cutter explosive-handling robot |
| CN206998642U (en) * | 2017-07-17 | 2018-02-13 | 贵州航谷动力科技有限公司 | A kind of high-pressure grinding material water jet cutter |
| CN107443351A (en) * | 2017-09-06 | 2017-12-08 | 哈尔滨工程大学 | A kind of high-pressure water jet dismantles robot |
| CN109332812A (en) * | 2018-11-22 | 2019-02-15 | 筑梦高科建筑有限公司 | A kind of structure non-destructive waterpower robot for disassembling work |
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| Publication number | Publication date |
|---|---|
| CN110228014A (en) | 2019-09-13 |
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