CN111531471A - Magnetic attraction special robot working system and implementation method thereof - Google Patents
Magnetic attraction special robot working system and implementation method thereof Download PDFInfo
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- CN111531471A CN111531471A CN202010470001.8A CN202010470001A CN111531471A CN 111531471 A CN111531471 A CN 111531471A CN 202010470001 A CN202010470001 A CN 202010470001A CN 111531471 A CN111531471 A CN 111531471A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims abstract description 66
- 239000004576 sand Substances 0.000 claims abstract description 49
- 238000005488 sandblasting Methods 0.000 claims abstract description 34
- 239000007921 spray Substances 0.000 claims abstract description 29
- 238000007789 sealing Methods 0.000 claims abstract description 28
- 238000001179 sorption measurement Methods 0.000 claims abstract description 10
- 239000004744 fabric Substances 0.000 claims description 16
- 238000004140 cleaning Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000000926 separation method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000013535 sea water Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000001012 protector Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 241000221535 Pucciniales Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000000274 adsorptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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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
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/086—Descaling; Removing coating films
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
-
- 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
- B24C3/062—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
-
- 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
-
- 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
-
- 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
-
- 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
- B24C9/006—Treatment of used abrasive material
-
- 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
- B25J11/0065—Polishing or grinding
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Environmental & Geological Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a magnetic special robot working system and an implementation method thereof, wherein the magnetic special robot working system comprises a derusting robot, a remote controller, an electric control cabinet and a sand blasting device; the rust removal robot comprises a driving module, a magnetic adsorption module, a mechanical arm module, a rust removal module, a control box module and a machine body; the driving module and the magnetic adsorption module are fixed at the bottom of the machine body and used for ensuring that the rust removal robot is adsorbed on the outer surface of the ship and moves forwards, backwards and turns; the mechanical arm module is used for fixing the derusting module and the machine body, the derusting module comprises a spray gun, a sand outlet pipe and a sand return pipe, the sand outlet pipe and the sand return pipe are fixed at the tail end of the spray gun, and the sand outlet pipe and the sand return pipe are respectively connected to a sand blasting device; a sealing cover is arranged on the side wall of the spray gun, and the top of the sealing cover is communicated with the sand return pipe; the control box module is used for receiving a control instruction sent by the remote controller; the electric control cabinet is used for providing electric energy for the derusting robot and the sand blasting device; by adopting the sealing cover, the self-adaption can be carried out on the uneven outer surface, and the environmental adaptability of the rust removal operation is improved.
Description
Technical Field
The invention belongs to the technical field of ship equipment, and particularly relates to a magnetic special robot working system and an implementation method thereof.
Background
With the development of marine technology, more and more ships are used for the development of marine services. However, since seawater contains various chemical substances, seawater is severely corrosive to the main steel plates of ships; meanwhile, seawater contains various marine organisms, and there are many adsorptive organisms among the marine organisms, which are adsorbed on ships and then cause the ship body to rust as the use time increases. After the ship body rusts, the rust has serious corrosivity on the ship body, if the rust on the ship body is not removed, the corrosion of the rust on the ship body is more and more serious along with the increase of the rust, namely, if the rust removing treatment is not carried out for a long time, the service life of the ship is seriously influenced, and therefore, the rust removing on the ship body of the marine ship is a means for prolonging the service life of the ship.
The modes of rust removal for ships generally comprise two rust removal modes of mechanical rust removal and chemical rust removal, wherein the mechanical rust removal generally comprises electric rust removal, sand blasting rust removal, high-pressure water abrasive rust removal and shot blasting rust removal. The sand blasting and rust removal mainly realizes rust removal on the metal surface by the jet erosion effect of particles. The existing sand blasting and rust removing equipment can only adapt to a relatively smooth rust removing target, cannot adapt to a convex surface existing on a ship, and has the problem that sand grains are leaked out due to the fact that the rust removing effect is general and at the convex surface position.
Disclosure of Invention
The invention aims to provide a magnetic special robot working system and an implementation method thereof, and aims to solve the problem that the existing sand blasting and rust removing equipment cannot normally work on a convex surface on a ship.
The invention provides the following technical scheme:
a magnetic special robot working system is characterized by comprising a derusting robot, a remote controller, an electric control cabinet and a sand blasting device; the rust removal robot comprises a driving module, a magnetic adsorption module, a mechanical arm module, a rust removal module, a control box module and a machine body; the driving module and the magnetic adsorption module are fixed at the bottom of the machine body and used for ensuring that the rust removal robot is adsorbed on the outer surface of the ship and moves forwards, backwards and turns; the mechanical arm module is used for fixing the derusting module and the machine body, the derusting module comprises a spray gun, a sand outlet pipe and a sand return pipe, the sand outlet pipe and the sand return pipe are fixed at the tail end of the spray gun, a sealing hairbrush is fixed at the top of the spray gun, and the sand outlet pipe and the sand return pipe are respectively connected to a sand blasting device; the side wall of the spray gun is provided with a sealing cover, and the top of the sealing cover is communicated with a sand return pipe; the control box module is used for receiving a control instruction sent by the remote controller and driving the rust removal robot to operate; and the electric control cabinet is used for providing electric energy for the rust removal robot and the sand blasting device and controlling the start and stop of the rust removal robot and the sand blasting device.
Preferably, the sealing cover comprises a lower ring seat and an upper ring seat which are arranged at the bottom and the top of the spray gun, at least two spring columns are connected between the upper ring seat and the lower ring seat, and the spring columns are arranged in an array along the axial lead of the spray gun; a cover rod is movably arranged on each spring post and extends to the outer side of the bottom of the spray gun; the sealing cover also comprises cover cloth and a connecting pipe, the top of the cover cloth is fixed on the upper ring seat, and the bottom of the cover cloth is respectively fixed at the bottom of the cover rod; the cover cloth is provided with a conduit and is connected to the sand return pipe through the conduit.
Preferably, the spring post comprises a rod body and two springs sleeved on the rod body, a sliding block is fixed between the two springs, and the sliding block is movably sleeved on the rod body and connected with the cover rod.
Preferably, the bottom of the cover rod is provided with a permanent magnet or an electromagnet for adsorbing the surface of the ship, and the electromagnet is connected to the control box module through a lead.
Preferably, the bottom of the cover rod is provided with a cleaning brush, the cover rod is provided with a vibrator, and the vibrator is connected to the control box module through a lead.
Preferably, the cover cloth is unfolded into a fan shape and made of elastic wear-resistant materials.
A method for realizing a magnetic special robot working system comprises the following steps:
s1, checking whether the working states of the rust removing robot, the remote controller, the electric control cabinet and the sand blasting device are intact; s2, adjusting the tightness between the derusting module and the outer surface of the ship through the mechanical arm module; s3, starting the derusting robot and the sand blasting device through the electric control cabinet; s4, operating the remote controller to control the rust removing robot to move and work on the outer surface of the ship; s5, enabling the sand grains to leave the sand blasting device from the sand outlet pipe and return to the sand blasting device through the sand return pipe, and circularly working to perform rust removal operation on the surface of the ship; s6, when the rust removing robot passes through the convex surface, the sealing surface is compensated through the sealing cover to ensure the normal operation of the spray gun, the sand outlet pipe and the sand return pipe; and S7, closing the derusting robot and the sand blasting device through the electric control cabinet after the operation is finished.
The invention has the beneficial effects that:
according to the magnetic special robot working system and the implementation method thereof, compared with the traditional manual rust removal operation, the rust removal efficiency is high and the rust removal cost is low through the rust removal robot, the remote controller, the electric control cabinet and the sand blasting device; the rust removal robot adopts a modular design, and is convenient to maintain, load, unload and transport; by adopting the sealing cover, the self-adaption can be carried out on the uneven outer surface, and the environmental adaptability of the rust removal operation is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of a rust removing robot of the present invention;
FIG. 2 is a schematic structural diagram of a mechanical arm module and a derusting module;
FIG. 3 is a schematic diagram of a rust removing structure;
FIG. 4 is a schematic view of the operating state of the sealing boot;
fig. 5 is a flow chart of a method of operation of the present invention.
Detailed Description
Example 1
The magnetic special robot working system comprises a derusting robot 1, a remote controller, an electric control cabinet and a sand blasting device;
as shown in fig. 1-3, the rust removing robot 1 includes a driving module, a magnetic adsorption module, a mechanical arm module 2, a rust removing module 3, a control box module and a machine body; the driving module comprises driving wheels and driven wheels, the two driving wheels are fixed at the front part of the machine body and provide power through a servo motor and a speed reducer, and the servo motor is connected to the control box module through a lead; the driven wheel is a universal wheel and is arranged in the center of the rear part of the machine body; the magnetic adsorption module respectively comprises permanent magnets arranged on the driving wheel and the driven wheel, and the machine body is ensured to be adsorbed on the outer surface of the ship; arm module 2 mainly comprises revolving stage, pendulum rod and electric putter, and the pendulum rod is installed on the revolving stage, under the drive of revolving stage, can carry out the horizontal hunting in the certain extent, installs electric putter between pendulum rod and the revolving stage, can drive the pendulum rod and rotate from top to bottom within the certain extent, and then the distance between control rust cleaning device and the boats and ships surface.
The driving module and the magnetic adsorption module are fixed at the bottom of the machine body and used for ensuring that the rust removing robot 1 is adsorbed on the outer surface of a ship and moves forwards, backwards and turns; the mechanical arm module 2 is used for fixing the derusting module 3 and the machine body, the derusting module 3 comprises a spray gun 31, a sand outlet pipe 32 and a sand return pipe 33, the sand outlet pipe 32 and the sand return pipe 33 are fixed at the tail end of the spray gun 31, a sealing brush is fixed at the top of the spray gun 31, and the sand outlet pipe 32 and the sand return pipe 33 are respectively connected to a sand blasting device; a sealing cover 4 is arranged on the side wall of the spray gun 31, and the top of the sealing cover 4 is communicated with a sand return pipe 33; the control box module is used for receiving a control instruction sent by the remote controller and driving the rust removal robot 1 to operate; the electric control cabinet is used for providing electric energy for the rust removal robot 1 and the sand blasting device and controlling starting and stopping.
As shown in fig. 4, the sealing cover 4 includes a lower ring seat 42 and an upper ring seat 41 disposed at the bottom and the top of the spray gun 31, at least two spring columns 43 are connected between the upper ring seat 41 and the lower ring seat 42, and the spring columns 43 are arranged in an array along the axial line of the spray gun 31; a cover rod 44 is movably arranged on each spring post 43, and the cover rod 44 extends to the outer side of the bottom of the spray gun 31; the sealing cover 4 further comprises a cover cloth 45 and a connecting pipe, the top of the cover cloth 45 is fixed on the upper ring seat 41, and the bottoms of the cover cloth 45 are respectively fixed on the bottoms of the cover rods 44; the cover cloth 45 is provided with a conduit 46 and is connected to the sand return pipe 33 through the conduit 46; the spring column 43 comprises a rod body and two springs sleeved on the rod body, a sliding block is fixed between the two springs, the sliding block is movably sleeved on the rod body and connected with the cover rod 44, and the cover cloth 45 is unfolded to be fan-shaped and made of elastic wear-resistant materials.
In addition, the magnetic special robot working system is also provided with a separation sensor and an anti-falling device, the separation sensor device is used for detecting the distance between the derusting robot 1 and the outer surface of a ship, the distance between the separation sensor device and the surface of a derusted part is 0-20 mm when the magnetic special robot working system works normally, and if the distance between the separation sensor device and the surface of the derusted part is more than 20mm, the wall climbing robot is considered to be in a side-turning and falling state; the falling protector is fixed on the surface of the ship through magnetic force adsorption, and when the falling speed of the rust removing robot 1 exceeds 2m/s, the falling protector automatically locks and pulls up the rust removing robot 1.
Example 2
On the basis of the embodiment 1, the bottom of the cover 44 is provided with a permanent magnet or an electromagnet for adsorbing the surface of the ship, and the electromagnet is connected to the control box module through a lead; the suction sealing effect of the seal cover 4 can be increased.
Example 3
On the basis of embodiment 1, the bottom of the cover rod 44 is provided with a cleaning brush, and the cover rod 44 is provided with a vibrator which is connected to the control box module through a lead. Because the surface of the ship body has a plurality of attachments, the working condition of the derusting robot 1 is greatly influenced, and the derusting operation of the derusting robot 1 is not facilitated. The cleaning brush is driven by the vibrator to clean ship attachments and certain rust on the surface in the walking process, so that better working conditions are created for the spray gun 31.
As shown in fig. 5, the implementation method of the magnetic special robot working system includes the following steps:
s1, checking whether the working states of the rust removing robot 1, the remote controller, the electric control cabinet and the sand blasting device are intact;
s2, adjusting the tightness between the derusting module 3 and the outer surface of the ship through the mechanical arm module 2;
s3, starting the derusting robot 1 and the sand blasting device through the electric control cabinet;
s4, operating the remote controller to control the rust removing robot 1 to move and work on the outer surface of the ship;
s5, enabling the sand particles to leave the sand blasting device from the sand outlet pipe 32 and return to the sand blasting device through the sand return pipe 33, and circularly working to perform rust removal operation on the surface of the ship;
s6, when the derusting robot 1 passes through the convex surface 5, the sealing surface is compensated by the sealing cover 4 to ensure the normal operation of the spray gun 31, the sand outlet pipe 32 and the sand return pipe 33;
and S7, closing the derusting robot 1 and the sand blasting device through the electric control cabinet after the operation is finished.
Labeled as:
1 derusting robot
2 mechanical arm module
3 derusting module 31 spray gun 32 sand outlet pipe 33 sand return pipe
4 the upper ring seat 42 and the lower ring seat 43 of the sealing cover 41, the spring post 44, the cover rod 45, the cover cloth 46 and the conduit
5 convex surface.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A magnetic special robot working system is characterized by comprising a derusting robot, a remote controller, an electric control cabinet and a sand blasting device;
the rust removal robot comprises a driving module, a magnetic adsorption module, a mechanical arm module, a rust removal module, a control box module and a machine body;
the driving module and the magnetic adsorption module are fixed at the bottom of the machine body and used for ensuring that the rust removal robot is adsorbed on the outer surface of the ship and moves forwards, backwards and turns; the mechanical arm module is used for fixing the derusting module and the machine body, the derusting module comprises a spray gun, a sand outlet pipe and a sand return pipe, the sand outlet pipe and the sand return pipe are fixed at the tail end of the spray gun, a sealing hairbrush is fixed at the top of the spray gun, and the sand outlet pipe and the sand return pipe are respectively connected to a sand blasting device; the side wall of the spray gun is provided with a sealing cover, and the top of the sealing cover is communicated with a sand return pipe;
the control box module is used for receiving a control instruction sent by the remote controller and driving the rust removal robot to operate;
and the electric control cabinet is used for providing electric energy for the rust removal robot and the sand blasting device and controlling the start and stop of the rust removal robot and the sand blasting device.
2. The magnetic special robot working system according to claim 1, wherein the sealing cover comprises a lower ring seat and an upper ring seat which are arranged at the bottom and the top of the spray gun, at least two spring columns are connected between the upper ring seat and the lower ring seat, and the spring columns are arranged in an array along the axial lead of the spray gun; a cover rod is movably arranged on each spring post and extends to the outer side of the bottom of the spray gun; the sealing cover also comprises cover cloth and a connecting pipe, the top of the cover cloth is fixed on the upper ring seat, and the bottom of the cover cloth is respectively fixed at the bottom of the cover rod; the cover cloth is provided with a conduit and is connected to the sand return pipe through the conduit.
3. The magnetic special robot working system as claimed in claim 2, wherein the spring post comprises a rod body and two springs sleeved on the rod body, a sliding block is fixed between the two springs, and the sliding block is movably sleeved on the rod body and connected with the cover rod.
4. The magnetic special robot working system as claimed in claim 2, wherein the bottom of the hood rod is provided with a permanent magnet or an electromagnet for adsorbing the surface of the ship, and the electromagnet is connected to the control box module through a wire.
5. The magnetic special robot working system as claimed in claim 2, wherein the bottom of the cover rod is provided with a cleaning brush, the cover rod is provided with a vibrator, and the vibrator is connected to the control box module through a wire.
6. The magnetically-attracted special robot working system of claim 2, wherein the cover cloth is fanned out and made of an elastic wear-resistant material.
7. The implementation method of the magnetic special robot working system is characterized by comprising the following steps:
s1, checking whether the working states of the rust removing robot, the remote controller, the electric control cabinet and the sand blasting device are intact;
s2, adjusting the tightness between the derusting module and the outer surface of the ship through the mechanical arm module;
s3, starting the derusting robot and the sand blasting device through the electric control cabinet;
s4, operating the remote controller to control the rust removing robot to move and work on the outer surface of the ship;
s5, enabling the sand grains to leave the sand blasting device from the sand outlet pipe and return to the sand blasting device through the sand return pipe, and circularly working to perform rust removal operation on the surface of the ship;
s6, when the rust removing robot passes through the convex surface, the sealing surface is compensated through the sealing cover to ensure the normal operation of the spray gun, the sand outlet pipe and the sand return pipe;
and S7, closing the derusting robot and the sand blasting device through the electric control cabinet after the operation is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010470001.8A CN111531471A (en) | 2020-05-28 | 2020-05-28 | Magnetic attraction special robot working system and implementation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010470001.8A CN111531471A (en) | 2020-05-28 | 2020-05-28 | Magnetic attraction special robot working system and implementation method thereof |
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| CN111531471A true CN111531471A (en) | 2020-08-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589679A (en) * | 2020-11-17 | 2021-04-02 | 湖北宜化肥业有限公司 | Filter gas-staggering disc penetrating water utilization device and method |
| WO2023137935A1 (en) * | 2022-01-21 | 2023-07-27 | 北京史河科技有限公司 | Reversible dust removal robot |
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| EP0391441A2 (en) * | 1989-04-07 | 1990-10-10 | Tilghman Wheelabrator Limited | Portable blasting machine for the abrasive blasting of walls |
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