CN110587632B - Full-automatic locating drilling and explosion-pulling screw installation integrated machine - Google Patents
Full-automatic locating drilling and explosion-pulling screw installation integrated machine Download PDFInfo
- Publication number
- CN110587632B CN110587632B CN201911004702.6A CN201911004702A CN110587632B CN 110587632 B CN110587632 B CN 110587632B CN 201911004702 A CN201911004702 A CN 201911004702A CN 110587632 B CN110587632 B CN 110587632B
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- clamp
- explosion
- mounting seat
- placing
- lifting table
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- 238000005553 drilling Methods 0.000 title claims abstract description 37
- 238000009434 installation Methods 0.000 title claims abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 21
- 239000002184 metal Substances 0.000 claims abstract description 18
- 239000000428 dust Substances 0.000 claims description 8
- 238000004880 explosion Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000005422 blasting Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000009527 percussion Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- 238000010276 construction Methods 0.000 description 10
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009172 bursting Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Abstract
The invention discloses a full-automatic locating drilling and explosion-pulling screw installation integrated machine which comprises a lifting table, a supporting frame and a crawler-type movable chassis, wherein the lifting table, the supporting frame and the crawler-type movable chassis are sequentially arranged from bottom to top, a six-axis robot is arranged in the center of the lifting table, an industrial camera and an A clamp are arranged at the tail end joint of the six-axis robot, a first placing box for placing an impact drill, a second placing box for placing a screw driver, a material box for placing a plurality of explosion-pulling screws and a third placing box for placing a metal detector are respectively arranged on the periphery of the six-axis robot by the lifting table, the impact drill, the screw driver and the metal detector are all provided with a B clamp matched with the A clamp to form a quick-change device, and a lifting driving assembly for driving the lifting table to move up and down is arranged on the movable chassis. The invention improves the stability of the whole machine through the crawler-type movable chassis, and can process the installation of drilling and explosion-pulling screws within the diameter range of 900mm through the accurate movement of the six-axis robot, thereby realizing the automatic drilling and the installation of the explosion-pulling screws for buildings such as ceilings.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a full-automatic locating drilling and explosion-pulling screw installation integrated machine.
Background
When the floor and ceiling are decorated, the holes are drilled on the ceiling by a manual hand-held electric drill, and before the holes are drilled, the construction platform needs to be moved to the approximate area of the holes, and then a worker pushes a drill bit against the ceiling to work. During operation, because the electric drill has larger reaction force to people, the precision of construction drilling is easy to generate errors, and long-time operation can influence the pore canal formation because of poor holding force, thereby influencing the later construction. And the working area and the construction height of the manual construction platform are limited, and each time 2 to 4 drilling holes are drilled, the construction platform needs to be moved to the next construction position for continuous construction, so that time and labor are wasted, the efficiency is low, and for drilling holes of more than 3 meters, particularly for industrial plants, the floor height is high, the construction area is large, and the manual drilling holes are very inconvenient. Also, the electric drill can produce a large amount of dust and can disturb constructor sight when concrete drilling, leads to drilling position to take place the deviation easily, influences the precision of construction, and the workman can its healthy in the dust environment work for a long time moreover.
Disclosure of Invention
The invention solves the technical problems by providing a full-automatic locating drilling and explosion-pulling screw installation integrated machine aiming at the defects in the prior art so as to solve the problems in the prior art.
The technical scheme includes that the full-automatic locating drilling and explosion-pulling screw mounting integrated machine comprises a lifting table, a supporting frame and a crawler-type movable chassis, wherein the lifting table, the supporting frame and the crawler-type movable chassis are sequentially arranged from bottom to top; the six-axis robot is quickly switched among a drilling robot, a blasting screw installation robot and a metal detection robot which are respectively formed by the six-axis robot, the impact drill, the screw driver and the metal detector through a quick-change device.
As a further explanation of the above technical solution:
In the technical scheme, the axis of the clamp B is provided with a steel ball type locking plug, and the clamp A is correspondingly provided with a locking socket; the clamp B is provided with a locking pin on the outer circumference of the locking plug, and the clamp A is correspondingly provided with a locking hole; and a locking and separating air passage is arranged between the clamp A and the clamp B.
In the above technical scheme, strike and bore and be provided with first mount pad, the screwdriver is provided with the second mount pad, first mount pad and second mount pad are the L style of calligraphy, first mount pad and second mount pad all open the system in the inboard on long limit has the fixed slot, strike the fixed slot joint of boring and first mount pad and support and lean on the inboard of first mount pad minor face, strike the drill bit department of boring and be provided with dust absorption spare, screwdriver and the fixed slot joint of second mount pad and support and lean on the inboard of second mount pad minor face.
In the above technical scheme, the first mount pad and the second mount pad are provided with the round platform that is connected with B anchor clamps in the outside of minor face, and all are provided with the wedge platform in the minor face inboard.
In the above technical scheme, the second mounting seat is provided with a clamping assembly for clamping the explosion-pulling screw, the clamping assembly comprises a fixing seat, a connecting seat, a buffer spring, a cylindrical pin, an air cylinder and two clamps, the fixing seat is fixed on the outer side of the long side of the second mounting seat, the cylindrical pin is arranged between the fixing seat and the connecting seat, the buffer spring is sleeved on the cylindrical pin, the air cylinder and the two clamps are arranged on the connecting seat, the root parts of the two clamps are connected with the driving end of the air cylinder, the middle parts of the clamps are pivoted with the connecting seat to form a fulcrum, the tail ends of the clamps are provided with crescent chucks, and the explosion-pulling screw is clamped at the front end of a screw driver through the crescent chucks of the two clamps; the connecting seat is provided with a connecting column pivoted with the middle part of the clip.
In the technical scheme, the inner side surface of the crescent chuck is provided with anti-slip insections.
In the above technical scheme, the material box is provided with a plurality of material holes, the plurality of material holes are distributed on the material box according to a 20×10 matrix arrangement, and the explosion-pulling screw is inserted in the material holes
In the above technical scheme, a middle plate is arranged below the lifting platform, four upright posts are arranged between the lifting platform and the middle plate, the support frame comprises a support seat, four support columns and a base which are sequentially connected from top to bottom, the base is fixed on the movable chassis, and the four support columns are fixed between the support seat and the base; the base is provided with a main case and an operation panel, and the middle plate is provided with a control box connected with the six-axis robot; the lifting driving assembly is composed of four lifting push rods, the middle plate is located above the supporting seat, the lifting push rods are arranged between the supporting seat and the base along the supporting columns, and the driving ends of the lifting push rods are fixed with the middle plate.
In the technical scheme, the outer side of the upright post is provided with the diagonal bracing, and the lower end of the diagonal bracing is fixed with the movable chassis.
In the above technical scheme, the elevating platform is square, first box, second box, magazine, third are placed the box and are set gradually on the four corners of elevating platform along clockwise.
Compared with the prior art, the invention has the beneficial effects that: the invention has reasonable structure, novel design and strong practicability, improves the stability of the whole machine through the crawler-type movable chassis, can process the installation of drilling and explosion-pulling screws with the diameter of 900mm through the accurate movement of the six-axis robot, greatly improves the installation efficiency of the drilling and explosion-pulling screws of the ceilings, and realizes the automatic drilling and the installation of the explosion-pulling screws of the ceilings and other buildings.
Drawings
FIG. 1 is a schematic perspective view of the present invention (six-axis robot end joint replacement impact drill);
FIG. 2 is a schematic perspective view of the present invention (six-axis robot end joint replacement screwdriver);
FIG. 3 is a schematic view of a structure of a lifting platform;
fig. 4 is a schematic diagram of the structure of the screw driver and clamping assembly.
In the figure: 1. a mobile chassis; 21. a support base; 22. a support column; 23. diagonal bracing; 24. a base; 25. a main chassis; 26. an operation panel; 3. lifting the push rod; 41. a lifting table; 42. a column; 43. a middle plate; 44. a control box; 51. a first placement case; 52. a second placement box; 53. a magazine; 531. a material hole; 54. a third placement box; 6. a six-axis robot; 61. a, clamping; 611. locking the socket; 612. a locking hole; 62. b, clamping; 621. locking the plug; 622. a locking pin; 63. an industrial camera; 7. percussion drilling; 71. a dust collection member; 72. a first mount; 8. a screw driver; 81. a second mounting base; 82. a cylindrical pin; 83. a fixing seat; 84. a buffer spring; 85. a connecting seat; 86. a connecting column; 87. a clip; 88. a crescent chuck; 89. pulling and bursting the screw; 9. a metal detector; 101. a fixing groove; 102. a wedge-shaped table; 103. and (5) round tables.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The embodiments described by referring to the drawings are exemplary and intended to be illustrative of the application and are not to be construed as limiting the application. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a number", "a plurality" or "a plurality" is two or more, unless specifically defined otherwise. In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances. In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.
As shown in fig. 1-4, a full-automatic locating drilling and explosion-pulling screw installation integrated machine comprises a lifting table 41, a supporting frame and a crawler-type movable chassis 1 which are sequentially arranged from bottom to top, wherein a six-axis robot 6 is arranged in the center of the lifting table 41, an industrial camera 63 and an A clamp 61 are arranged at the tail end joint of the six-axis robot 6, a first placing box 51 for placing an impact drill 7, a second placing box 52 for placing a screw driver 8, a material box 53 for placing a plurality of explosion-pulling screws 89 and a third placing box 54 for placing a metal detector 9 are respectively arranged on the periphery of the lifting table 41, the impact drill 7, the screw driver and the metal detector 9 are all provided with a B clamp 62 matched with the A clamp 61 to form a quick-change device, and a lifting driving assembly for driving the lifting table 41 to move up and down is arranged on the movable chassis 1; the six-axis robot 6 is quickly switched between a drilling robot, a blasting screw 89 mounting robot and a metal detection robot which are respectively formed by the impact drill 7, the screw driver 8 and the metal detector 9 through a quick-change device, and the six-axis robot 6 in the embodiment adopts a surfing cooperative robot.
The axis of the clamp B62 is provided with a steel ball type locking plug 621, and the clamp A61 is correspondingly provided with a locking socket 611; the B clamp 62 is provided with a locking pin 622 on the outer circumference of a locking plug 621, and the A clamp 61 is correspondingly provided with a locking hole 612; a locking and separating air passage is arranged between the A clamp 61 and the B clamp 62.
The impact drill 7 is provided with first mount pad 72, the screwdriver is provided with second mount pad 81, first mount pad 72 and second mount pad 81 are the L style of calligraphy, the inboard system of first mount pad 72 and second mount pad 81 on the long limit has fixed slot 101 all, the inboard of the fixed slot 101 joint of impact drill 7 and first mount pad 72 and the short side of support first mount pad 72, the drill bit department of impact drill 7 is provided with dust catcher 71, the screwdriver is with the fixed slot 101 joint of second mount pad 81 and support the inboard of the short side of second mount pad 81.
The first mount 72 and the second mount 81 are each provided with a round table 103 connected to the B jig 62 on the outer side of the short side, and are each provided with a wedge table 102 on the inner side of the short side.
The second mounting seat 81 is provided with a clamping assembly for clamping the explosion-pulling screw 89, the clamping assembly comprises a fixing seat 83, a connecting seat 85, a buffer spring 84, a cylindrical pin 82, an air cylinder and two clamps 87, the fixing seat 83 is fixed on the outer side of the long side of the second mounting seat 81, the cylindrical pin 82 is arranged between the fixing seat 83 and the connecting seat 85, the buffer spring 84 is sleeved on the cylindrical pin 82, the air cylinder and the two clamps 87 are arranged on the connecting seat 85, the root parts of the two clamps 87 are connected with the driving end of the air cylinder, the middle parts of the clamps 87 are pivoted with the connecting seat 85 to form a pivot, the tail ends of the clamps 87 are provided with crescent chucks 88, and the explosion-pulling screw 89 is clamped at the front end of a screw driver through the crescent chucks 88 of the two clamps 87; the connecting seat 85 is provided with a connecting column 86 pivotally connected to the middle of the clip 87.
The inner side of the crescent chuck 88 is provided with anti-slip insections.
The material box 53 is provided with a plurality of material holes 531, the material holes 531 are distributed on the material box 53 according to a 20 x 10 matrix arrangement, and the explosion-pulling screw 89 is inserted in the material holes 531
A middle plate 43 is arranged below the lifting table 41, four upright posts 42 are arranged between the lifting table 41 and the middle plate 43, the support frame comprises a support seat 21, four support columns 22 and a base 24 which are sequentially connected from top to bottom, the base 24 is fixed on the mobile chassis 1, and the four support columns 22 are fixed between the support seat 21 and the base 24; the base 24 is provided with a main case 25 and an operation panel 26, and the middle plate 43 is provided with a control case 44 connected with the six-axis robot 6; the lifting drive assembly consists of four lifting push rods 3, a middle plate 43 is positioned above the supporting seat 21, the lifting push rods 3 are arranged between the supporting seat 21 and the base 24 along the supporting columns 22, and the driving ends of the lifting push rods 3 are fixed with the middle plate 43.
The outside of the upright post 42 is provided with an inclined strut 23, and the lower end of the inclined strut 23 is fixed with the mobile chassis 1.
The lifting table 41 is square, and the first placing box 51, the second placing box 52, the magazine 53, and the third placing box 54 are sequentially disposed on four corners of the lifting table 41 in the clockwise direction.
The operation panel 26 is composed of a display screen and a keyboard which are connected with the main case 25, or the operation panel 26 is a display screen which can be operated by touch, the industrial camera 63 is connected with the display screen, and the image shot by the camera is displayed on the display screen, so that a person below clearly checks whether the positions of the ceiling, which are required to be drilled and the explosion-pulling screw 89 to be installed, are accurate.
The lifting operation of the lifting push rod 3, whether the impact drill 7 works and the output torque and the rotation speed of the impact drill 7 are controlled through the main machine box 25, whether the screw driver 8 works and the output torque and the rotation speed of the screw driver 8 are controlled, whether the metal detector 9 works and whether the control cylinder works are controlled, the main machine box 25 is electrically connected with the control box 44 of the six-axis robot 6, the movement of the six-axis robot in the three-dimensional space is controlled through the control box 44, and the actions among the six-axis robot 6, the impact drill 7, the screw driver 8, the metal detector 9, the lifting push rod 3 and the cylinder are coordinated through control software in the main machine box 25, so that the automatic locating drilling, the metal detection and the explosion-pulling screw 89 are completed.
In the working process of the invention, the lifting platform 41 is lifted to a certain height by manually and remotely operating the lifting push rod 3, the lifting platform is moved to a rough drilling position by moving the chassis 1, the industrial camera 63 shoots a picture of a ceiling upwards, parameters such as a drilling area, the depth of a hole and the like are marked and edited by the operating panel 26, the metal detector 9 is assembled at the tail end joint of the six-axis robot 6 to form a metal detection robot, whether reinforcing steel bars and the distribution condition of the reinforcing steel bars exist in the drilling area are scanned, the drilling positions are marked by the operating panel 26 (a plurality of the reinforcing steel bars can be marked at one time), the impact drill 7 is assembled at the tail end joint of the six-axis robot 6 to form a drilling robot and aligned with the marked drilling positions, dust in the drilling process is sucked away by the dust suction piece 71 at the front end of the impact drill 7, after the drilling operation of the plurality of marked holes is completed, the explosion screw 89 is assembled by the six-axis robot 6 tail end joint assembly of the six-axis robot 6 to form an explosion screw 89, the explosion screw 89 is assembled, the clamping assembly of the explosion screw 89 is clamped from the material box 53, the explosion screw 89 is inserted into the drilled hole, and the explosion screw 89 is rotated by the screw nut to complete the installation of the screw 89.
The invention has reasonable structure, novel design and strong practicability, improves the stability of the whole machine through the crawler-type movable chassis 1, can process the installation of drilling and explosion-pulling screws 89 within the diameter range of 900mm through the accurate movement of the six-axis robot 6, greatly improves the installation efficiency of the drilling and explosion-pulling screws 89 of the ceilings, and realizes the automatic drilling and the installation of the explosion-pulling screws 89 of the ceilings and other buildings.
The above description should not be taken as limiting the scope of the invention, and any modifications, equivalent changes and modifications made to the above embodiments according to the technical principles of the present invention still fall within the scope of the technical solutions of the present invention.
Claims (3)
1. The full-automatic locating drilling and explosion-pulling screw mounting integrated machine is characterized by comprising a lifting table, a supporting frame and a crawler-type movable chassis which are sequentially arranged from bottom to top, wherein a six-axis robot is arranged in the center of the lifting table, an industrial camera and an A clamp are arranged at the tail end joint of the six-axis robot, a first placing box for placing an impact drill, a second placing box for placing a screw driver, a material box for placing a plurality of explosion-pulling screws and a third placing box for placing a metal detector are respectively arranged on the periphery of the six-axis robot by the lifting table, the impact drill, the screw driver and the metal detector are all provided with a B clamp which is matched with the A clamp to form a quick-change device, and a lifting driving assembly for driving the lifting table to move up and down is arranged on the movable chassis; the six-axis robot is quickly switched among a drilling robot, a blasting screw installation robot and a metal detection robot which are respectively formed by the six-axis robot, a percussion drill, a screwdriver and a metal detector through a quick-change device, the axis of the B clamp is provided with a steel ball type locking plug, and the A clamp is correspondingly provided with a locking socket; the clamp B is provided with a locking pin on the outer circumference of the locking plug, and the clamp A is correspondingly provided with a locking hole; the screw driver is characterized in that a locking and separating gas circuit is arranged between the clamp A and the clamp B, a first mounting seat is arranged on the impact drill, a second mounting seat is arranged on the screwdriver, the first mounting seat and the second mounting seat are both L-shaped, fixing grooves are formed in the inner sides of long sides of the first mounting seat and the second mounting seat, the impact drill is clamped with the fixing grooves of the first mounting seat and abuts against the inner sides of the short sides of the first mounting seat, a dust collection piece is arranged at the drill bit of the impact drill, the fixing grooves of the screwdriver and the second mounting seat are clamped with the fixing grooves of the second mounting seat and abut against the inner sides of the short sides of the second mounting seat, round tables connected with the clamp B are arranged on the outer sides of the short sides of the first mounting seat and the second mounting seat respectively, wedge-shaped tables are arranged on the inner sides of the short sides of the first mounting seat and the second mounting seat respectively, the clamping components for clamping the pull-explosion screw seat are arranged on the fixing seats, the fixing seats comprise fixing seats, connecting pins, buffer springs, cylindrical pins, cylinders and two clamps, the fixing seats are fixed on the outer sides of the long sides of the second mounting seat, the root parts are arranged between the fixing seats and the cylindrical pins, the two clamping seats are connected with the cylindrical pins, the ends of the two clamping seats are pivoted with the cylindrical clamps, and the ends of the cylindrical clamps are pivoted with the cylindrical clamps, and the ends are arranged at the ends of the cylindrical clamps, and the ends, and the cylindrical clamps are pivoted with the ends; the connecting seat is provided with a connecting column pivoted with the middle part of the clamp, the inner side surface of the crescent chuck is provided with anti-slip insection, the material box is provided with a plurality of material holes, the material holes are distributed on the material box in a20 x 10 matrix arrangement, the explosion-pulling screws are inserted in the material holes, a middle plate is arranged below the lifting table, four upright posts are arranged between the lifting table and the middle plate, the supporting frame comprises a supporting seat, four supporting columns and a base which are sequentially connected from top to bottom, the base is fixed on the movable chassis, and the four supporting columns are fixed between the supporting seat and the base; the base is provided with a main case and an operation panel, the operation panel consists of a display screen and a keyboard which are connected with the main case, and the middle plate is provided with a control box connected with the six-axis robot; the lifting driving assembly is composed of four lifting push rods, the middle plate is located above the supporting seat, the lifting push rods are arranged between the supporting seat and the base along the supporting columns, and the driving ends of the lifting push rods are fixed with the middle plate.
2. The full-automatic locating drilling and explosion-pulling screw installation integrated machine according to claim 1, wherein an inclined strut is arranged on the outer side of the upright post, and the lower end of the inclined strut is fixed with the movable chassis.
3. The full-automatic locating drilling and explosion-pulling screw installation integrated machine according to claim 2, wherein the lifting table is square, and the first placing box, the second placing box, the material box and the third placing box are sequentially arranged on four corners of the lifting table in a clockwise direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911004702.6A CN110587632B (en) | 2019-10-22 | 2019-10-22 | Full-automatic locating drilling and explosion-pulling screw installation integrated machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911004702.6A CN110587632B (en) | 2019-10-22 | 2019-10-22 | Full-automatic locating drilling and explosion-pulling screw installation integrated machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110587632A CN110587632A (en) | 2019-12-20 |
| CN110587632B true CN110587632B (en) | 2024-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911004702.6A Active CN110587632B (en) | 2019-10-22 | 2019-10-22 | Full-automatic locating drilling and explosion-pulling screw installation integrated machine |
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| NO346361B1 (en) * | 2020-04-29 | 2022-06-27 | Conrobotix As | CONTROL SYSTEM FOR OPERATING WORKING OPERATIONS WITH TOOLS IN A ROBOT ADAPTED FOR TOOL HANDLING |
| CN111515668B (en) * | 2020-05-19 | 2021-06-11 | 广东电网有限责任公司东莞供电局 | Manipulator assembly |
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| CN212706791U (en) * | 2020-07-17 | 2021-03-16 | 智建机械技术有限公司 | Automatic positioning drilling and anchor bolt fixing robot |
| CN112170885B (en) * | 2020-09-02 | 2021-08-27 | 中车青岛四方机车车辆股份有限公司 | Automatic drilling equipment |
| CN112975362B (en) * | 2021-02-05 | 2022-05-03 | 保利长大海外工程有限公司 | Fastener construction equipment capable of adjusting installation posture |
| CN112959518A (en) * | 2021-03-04 | 2021-06-15 | 智建机械技术有限公司 | Construction robot |
| CN113414589B (en) * | 2021-05-31 | 2022-08-12 | 中铁工程服务有限公司 | Anchoring robot |
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