CN111604879A - Multi-joint arm type shed dismantling/erecting robot for coal mine - Google Patents
Multi-joint arm type shed dismantling/erecting robot for coal mine Download PDFInfo
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- CN111604879A CN111604879A CN202010519334.5A CN202010519334A CN111604879A CN 111604879 A CN111604879 A CN 111604879A CN 202010519334 A CN202010519334 A CN 202010519334A CN 111604879 A CN111604879 A CN 111604879A
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- 239000003245 coal Substances 0.000 title claims abstract description 25
- 230000003068 static effect Effects 0.000 claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
- 239000003921 oil Substances 0.000 claims description 63
- 238000005065 mining Methods 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 10
- 238000010276 construction Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- LNSPFAOULBTYBI-UHFFFAOYSA-N [O].C#C Chemical group [O].C#C LNSPFAOULBTYBI-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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- 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
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- 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
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Abstract
The invention provides a multi-joint arm type canopy dismantling/erecting robot for a coal mine, which belongs to the technical field of coal mine equipment and comprises a mechanical arm, a machine body, a power system, a control system and a control system, wherein the mechanical arm is connected with the mechanical arm; the mechanical arm comprises a base, a first-stage horizontal rotary seat, a large arm, a second-stage horizontal rotary seat and a small arm; the manipulator comprises a base, a rotary drive, a static finger and a movable finger; a magnetic displacement sensor is arranged in the mechanical arm driving oil cylinder, and an encoder is arranged in the mechanical arm rotary driving; the control system has three control modes, namely a manual mode, a memory mode and an automatic mode. The robot can solve the practical problems of high strength and high danger coefficient of dismantling an old shed and erecting a new shed in the process of repairing the volatile roadway, and can also be used for shed erecting construction of newly digging the roadway.
Description
Technical Field
The invention belongs to the technical field of coal mine equipment, and particularly discloses a multi-joint arm type canopy dismantling/erecting robot for a coal mine.
Background
Along with the continuous reduction of shallow buried depth coal resources, the mining depth of coal mine miners is continuously increased, the surrounding rock of deep wells is generally softer and more fragile, the ground stress is large, the mining influence is strong, the roadway deformation speed is high, and the deformation is large, so that multiple supports such as U-shaped sheds, anchor rods and anchor cables are adopted in mines, the roadway still needs to be maintained regularly, an old shed which is seriously deformed needs to be dismantled in the maintenance process, and a new shed is erected after the roadway is expanded. At present, tunnel expansion is basically mechanized, but old shed dismantling before tunnel expansion and new shed erection after tunnel expansion are mainly completed manually, and two processes are mainly used for dismantling the old shed, wherein one process is oxygen-acetylene flame cutting, and the process needs to be carried out in an environment with good tunnel ventilation conditions and has higher potential safety hazard; the other method is to use a hydraulic saw to cut, and a hydraulic operation system is required to be equipped in the process; both the two shed-dismantling processes are not ideal, the labor intensity of workers is high, and the potential safety hazard is high. Patent CN210343398U discloses a mining roof support canopy erection hydraulic mechanical device, has walking, band-type brake, centre gripping, release, multi-angle rotation and flexible function, and in addition, new tunnel is in the tunnelling process, and partial entry driving machine has integrateed canopy erection device such as CN 102400696A-canopy erection machine and uses its entry driving machine, but above-mentioned patent can only accomplish the promotion or the lift task to the canopy roof beam, demolish old canopy and do not have corresponding equipment at present.
Disclosure of Invention
The invention aims to provide a multi-joint arm type canopy dismantling/erecting robot for a coal mine, which is simple to operate, good in adaptability and capable of completing tasks of removing an old canopy and lifting a new canopy, improves the practical problems of high strength and high danger coefficient of dismantling the old canopy and erecting the new canopy in the process of repairing a volatile roadway, and can also be used for canopy erecting construction of a newly excavated roadway.
In order to achieve the aim, the invention provides a multi-joint arm type canopy dismantling/erecting robot for a coal mine, which comprises a mechanical arm and a mechanical arm; the mechanical arm comprises a base, a first-stage horizontal rotary seat, a large arm, a second-stage horizontal rotary seat and a small arm; the first-level horizontal rotary seat is hinged with the base and can rotate in the horizontal plane relative to the base; the large arm is hinged with the first-level horizontal rotary seat and can rotate in a vertical plane relative to the first-level horizontal rotary seat; the second-level horizontal rotary seat is hinged with the big arm and can rotate in the horizontal plane relative to the big arm; the small arm is hinged with the secondary horizontal rotary seat and can rotate in a vertical plane relative to the secondary horizontal rotary seat; the manipulator comprises a base, a rotary drive, a static finger and a movable finger; the base is hinged with the small arm and can rotate in a vertical plane relative to the small arm; the shell of the rotary drive is fixedly connected with the base, and the output shaft of the rotary drive is fixedly connected with the static finger; the movable finger is hinged with the static finger and can rotate relative to the static finger to realize clamping and releasing.
Furthermore, the mechanical arm further comprises a first-stage horizontal rotary oil cylinder, one end of the first-stage horizontal rotary oil cylinder is hinged with the base, and the other end of the first-stage horizontal rotary oil cylinder is hinged with the first-stage horizontal rotary seat to drive the first-stage horizontal rotary seat to rotate in the horizontal plane relative to the base.
Furthermore, the mechanical arm further comprises a large arm oil cylinder, one end of the large arm oil cylinder is hinged with the first-level horizontal rotary seat, the other end of the large arm oil cylinder is hinged with the large arm, and the large arm is driven to rotate in a vertical plane relative to the first-level horizontal rotary seat.
Furthermore, the mechanical arm further comprises a second-stage horizontal rotary oil cylinder, one end of the second-stage horizontal rotary oil cylinder is hinged with the large arm, and the other end of the second-stage horizontal rotary oil cylinder is hinged with a second-stage horizontal rotary seat to drive the second-stage horizontal rotary seat to rotate in the horizontal plane relative to the large arm.
Furthermore, the mechanical arm further comprises a small arm oil cylinder, one end of the small arm oil cylinder is hinged with the second-level horizontal rotary seat, the other end of the small arm oil cylinder is hinged with the small arm, and the small arm is driven to rotate in a vertical plane relative to the second-level horizontal rotary seat.
Furthermore, the mechanical arm further comprises a mechanical arm oil cylinder, wherein one end of the mechanical arm oil cylinder is hinged with the small arm, the other end of the mechanical arm oil cylinder is hinged with the base, and the mechanical arm is driven to rotate in the vertical plane relative to the small arm.
Furthermore, an upper hinge point and a lower hinge point are arranged on the base, the lower hinge point is hinged with the small arm, and the upper hinge point is hinged with a base connecting rod; the small arm is hinged with a small arm connecting rod, the small arm connecting rod is hinged with a base connecting rod, and a manipulator oil cylinder is hinged with a hinged point of the small arm connecting rod and the base connecting rod; the small arm, the base connecting rod and the small arm connecting rod form a four-bar linkage.
Furthermore, the manipulator also comprises a clamping oil cylinder, one end of the clamping oil cylinder is hinged with the static finger, the other end of the clamping oil cylinder is hinged with the movable finger, and the movable finger is driven to rotate relative to the static finger.
Further, the multi-joint arm type shed dismantling/erecting robot for the coal mine further comprises a machine body, a power system, a control system and a control system; the base is fixedly connected on the machine body; the first-stage horizontal rotary oil cylinder, the large arm oil cylinder, the second-stage horizontal rotary oil cylinder, the small arm oil cylinder and the manipulator oil cylinder are all provided with magnetic displacement sensors, encoders are arranged in rotary drives, the magnetic displacement sensors input oil cylinder stroke data to a control system in real time, and the encoders input rotary drive angle data to the control system in real time; the power system provides power for the movement of the machine body, the mechanical arm and the mechanical arm; the control system comprises a local operating system and a remote control system; the control system is provided with three control modes, namely a manual mode, a memory mode and an automatic mode; under the manual mode, the whole machine depends on the local operating system or the remote control system to execute the component to complete the corresponding instruction; in a memory mode, the whole machine operates an execution part to complete corresponding instructions by depending on a local operating system or a remote control system, and meanwhile, a control system records output data of a magnetic displacement sensor and an encoder in real time; in the automatic mode, the execution section reproduces the operation flow of the memory data recorded in the memory mode.
Furthermore, the power system comprises an explosion-proof engine system and a hydraulic system, the explosion-proof engine outputs power to drive the hydraulic pump and provide power for the hydraulic system, the hydraulic system drives the travelling wheels to travel through the motor and the speed reducer on the one hand to provide power for the whole machine to travel, and meanwhile, a hydraulic oil source is provided for the mechanical arm and the oil cylinder of the mechanical arm.
The invention has the following beneficial effects:
1. the robot can simulate the actions of the arms, the wrists and the fingers of a human in all directions through the mechanical arms and the mechanical arms, and complete the grabbing and lifting actions on the shed beam and the shed legs;
2. the robot can complete the tasks of old shed dismantling and new shed erection by grabbing and lifting shed beams and shed legs;
3. the robot is compatible with a manual mode, a memory mode and an automatic mode, and can memorize and reproduce a standard flow under simple and uniform environmental conditions, so that the labor intensity of workers is greatly reduced.
Drawings
FIG. 1 is a front view of a multi-articulated arm type canopy removal/erection robot for a coal mine;
FIG. 2 is a front view of the robot arm;
FIG. 3 is a top view of the robot arm;
FIG. 4 is a cross-sectional view of the robot;
FIG. 5 is a schematic view of a magnetic displacement sensor mounting;
figure 6 is a schematic view of a demolition/erection leg.
Wherein, the names corresponding to the reference numbers are:
1-a mechanical arm; 1.1-base; 1.2-a first-level horizontal rotary seat; 1.3-big arm; 1.4-two-stage horizontal rotary base; 1.5-forearm; 1.6-base link; 1.7-small arm connecting rod; 1.8-a first-level horizontal rotary oil cylinder; 1.9-big arm cylinder; 1.10-two-stage horizontal rotary oil cylinder; 1.11-small arm oil cylinder; 1.12-manipulator oil cylinder; 2-a manipulator; 2.1-base; 2.2-rotation driving; 2.3-quiet finger; 2.4-finger movement; 2.5-clamping the oil cylinder; 3-body; 4-a power system; 5-a manipulation system; 6-a control system; 7-a magnetic displacement sensor; 8-coder.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides a multi-joint arm type canopy dismantling/erecting robot for a coal mine, which comprises a mechanical arm 1, a mechanical arm 2, a machine body 3, a power system 4, a control system 5 and a control system 6.
The mechanical arm 1 comprises a base 1.1, a first-stage horizontal rotary seat 1.2, a large arm 1.3, a second-stage horizontal rotary seat 1.4, a small arm 1.5, a base connecting rod 1.6, a small arm connecting rod 1.7, a first-stage horizontal rotary oil cylinder 1.8, a large arm oil cylinder 1.9, a second-stage horizontal rotary oil cylinder 1.10, a small arm oil cylinder 1.11 and a manipulator oil cylinder 1.12. The first-level horizontal rotary seat 1.2 is hinged with the base 1.1, and the hinged shaft is positioned in the vertical plane. The large arm 1.3 is hinged with the first-level horizontal rotary seat 1.2, and the hinged shaft is positioned in the horizontal plane. The second-level horizontal rotary seat 1.4 is hinged with the big arm 1.3, and the hinged shaft is positioned in the vertical plane. The small arm 1.5 is hinged with the second-level horizontal rotary seat 1.4, and a hinged shaft is positioned in a horizontal plane. The manipulator 2 is hinged with the small arm 1.5, and a hinged shaft is positioned in a horizontal plane. One end of the first-level horizontal rotary oil cylinder 1.8 is hinged with the base 1.1, and the other end is hinged with the first-level horizontal rotary seat 1.2, so that the first-level horizontal rotary seat 1.2 is driven to rotate in the horizontal plane relative to the base 1.1. One end of the large arm oil cylinder 1.9 is hinged with the first-level horizontal rotary seat 1.2, and the other end is hinged with the large arm 1.3, so that the large arm 1.3 is driven to rotate in a vertical plane relative to the first-level horizontal rotary seat 1.2. One end of the second-stage horizontal rotary oil cylinder 1.4 is hinged with the big arm 1.3, and the other end is hinged with the second-stage horizontal rotary seat 1.4, so that the second-stage horizontal rotary seat 1.4 is driven to rotate in the horizontal plane relative to the big arm 1.3. One end of the small arm oil cylinder 1.11 is hinged with the second-level horizontal rotary seat 1.4, the other end is hinged with the small arm 1.5, and the small arm 1.5 is driven to rotate in a vertical plane relative to the second-level horizontal rotary seat 1.4. One end of a manipulator oil cylinder 1.12 is hinged with the small arm 1.5, and the other end of the manipulator oil cylinder drives the manipulator 2 to rotate relative to the small arm 1.5 in a vertical plane through a base connecting rod 1.6 and a small arm connecting rod 1.7. Through the structure, the mechanical arm 1 can be folded and unfolded randomly in the horizontal plane and the vertical plane, and the arm action of a human can be simulated in all directions, so that the mechanical arm can be driven to reach any position in the working range.
The manipulator 2 comprises a base 2.1, a rotary drive 2.2, a static finger 2.3, a movable finger 2.4 and a clamping oil cylinder 2.5. The base 2.1 is hinged with the small arm 1.5 through a lower hinge point and is hinged with the base connecting rod 1.6 through an upper hinge point, a shell of the rotary drive 2.2 is fixedly connected with the base 2.1, an output shaft of the rotary drive 2.2 is fixedly connected with the static finger 2.3, the static finger 2.3 is driven to rotate and rotate in the whole circle in the vertical plane relative to the small arm 1.5 through the manipulator oil cylinder 1.12 and the rotary drive 2.2, the wrist action of a human is simulated, and therefore the static finger 2.3 and the movable finger 2.4 can face the direction of a shed beam or a shed leg. The left lower side of the movable finger 2.4 is hinged with the static finger 2.3, one end of the clamping oil cylinder 2.5 is hinged with the static finger 2.3, the other end of the clamping oil cylinder is hinged with the movable finger 2.4, the movable finger 2.4 is driven to rotate relative to the static finger 2.3, the action of fingers of a human is simulated, and the clamping of the shed beam and the shed legs is completed.
The primary horizontal rotary oil cylinder 1.8, the large arm oil cylinder 1.9, the secondary horizontal rotary oil cylinder 1.10, the small arm oil cylinder 1.11 and the manipulator oil cylinder 1.12 are all provided with a magnetic displacement sensor 7, an encoder 8 is arranged in the rotary drive 2.2, the magnetic displacement sensor 7 inputs oil cylinder stroke data to the control system 6 in real time, and the encoder 8 inputs angle data of the rotary drive 2.2 to the control system 6 in real time.
The machine body 3 includes a main frame, a traveling part, and other structural members. The base 1.1 is fixedly connected with the machine body 1.
The power system 4 comprises an explosion-proof engine system and a hydraulic system, the explosion-proof engine outputs power to drive a hydraulic pump and provide power for the hydraulic system, the hydraulic system drives a walking wheel to walk through a motor and a speed reducer on the one hand and provides power for the walking of the whole machine, and meanwhile, a hydraulic oil source is provided for oil cylinders used by the mechanical arm 1 and the mechanical arm 2.
The manipulation system 5 includes a native operating system and a remote control system.
The control system 6 is provided with three control modes of a manual mode, a memory mode and an automatic mode, wherein in the manual mode, the whole machine operates execution components such as each oil cylinder, a rotary drive and a motor by depending on an operating system or a remote control system of the machine to complete corresponding instructions; in a memory mode, the whole machine operates execution components such as oil cylinders, rotary drives, motors and the like to complete corresponding instructions by depending on a local operating system or a remote control system, and meanwhile, a control system records output data of a magnetic displacement sensor 7 and an encoder 8 in real time; in the automatic mode, execution components such as oil cylinders, rotary drives, motors and the like perform manual operation according to the memory data recorded in the memory mode.
The multi-joint arm type shed dismantling/erecting robot for the coal mine has the following partial parameters:
(1) the weight (kg) of the whole machine is as follows: 20000
(2) Installed power: 75kw
(3) 3300-5000 of the tunnel height (mm)
(4) Adapt to the width (mm) of the roadway of 4000-6000
(5) Maximum adaptive gradient: 12 DEG or less
(6) The manipulator adapts to the U-shaped beam: 25U, 29U, 36U and 40U
(7) Maximum grip force of manipulator (kN): not less than 30
(8) Maximum opening degree (mm) of manipulator: 315.
at present, the roadway repairing machine on the market has the functions of walking, crushing, digging, loading, transferring, anchoring and protecting and the like, but workers still need to do a large amount of work before and after the roadway repairing machine works, wherein the dismantling of an old shed and the erection of a new shed account for most of workload. The multi-joint arm type canopy dismantling/erecting robot for the coal mine can complete the tasks of dismantling an old canopy before repairing a roadway and erecting a new canopy after repairing the old canopy, can be used for the task of erecting a canopy in a newly excavated roadway, replaces the existing manual scaffold erecting construction process, can reduce the labor intensity of workers to a greater extent, and improves the operation safety of the workers.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A multi-joint arm type canopy dismantling/erecting robot for coal mines is characterized by comprising mechanical arms and mechanical hands;
the mechanical arm comprises a base, a first-level horizontal rotary seat, a large arm, a second-level horizontal rotary seat and a small arm;
the first-stage horizontal rotary seat is hinged with the base and can rotate in a horizontal plane relative to the base;
the large arm is hinged with the first-level horizontal rotary seat and can rotate in a vertical plane relative to the first-level horizontal rotary seat;
the second-stage horizontal rotary seat is hinged with the large arm and can rotate in a horizontal plane relative to the large arm;
the small arm is hinged with the secondary horizontal rotary seat and can rotate in a vertical plane relative to the secondary horizontal rotary seat;
the manipulator comprises a base, a rotary drive, a static finger and a movable finger;
the base is hinged with the small arm and can rotate in a vertical plane relative to the small arm;
the shell of the rotary drive is fixedly connected with the base, and the output shaft of the rotary drive is fixedly connected with the static finger;
the movable finger is hinged with the static finger and can rotate relative to the static finger to realize clamping and releasing.
2. The multi-jointed arm type canopy removing/erecting robot for coal mines as recited in claim 1, wherein the mechanical arm further comprises a primary horizontal rotary cylinder, one end of the primary horizontal rotary cylinder is hinged to the base, and the other end of the primary horizontal rotary cylinder is hinged to the primary horizontal rotary base, so as to drive the primary horizontal rotary base to rotate in a horizontal plane relative to the base.
3. The multi-jointed arm type canopy removing/erecting robot for coal mines as claimed in claim 2, wherein the mechanical arm further comprises a large arm cylinder, one end of the large arm cylinder is hinged to the primary horizontal rotating base, and the other end of the large arm cylinder is hinged to the large arm, so that the large arm is driven to rotate in a vertical plane relative to the primary horizontal rotating base.
4. The multi-jointed arm type canopy removing/erecting robot for coal mines as recited in claim 3, wherein said mechanical arm further comprises a secondary horizontal swivel cylinder, one end of the secondary horizontal swivel cylinder is hinged to the large arm, and the other end of the secondary horizontal swivel cylinder is hinged to the secondary horizontal swivel base, so as to drive the secondary horizontal swivel base to rotate in a horizontal plane relative to the large arm.
5. The multi-jointed arm type canopy removing/erecting robot for coal mines as claimed in claim 4, wherein the mechanical arm further comprises a small arm cylinder, one end of the small arm cylinder is hinged to the secondary horizontal rotating base, and the other end of the small arm cylinder is hinged to the small arm, so that the small arm is driven to rotate in a vertical plane relative to the secondary horizontal rotating base.
6. The multi-jointed arm coal mining demolition/erection robot of claim 5, wherein the manipulator further comprises a manipulator cylinder hinged to the small arm at one end and hinged to the base at the other end, for driving the manipulator to rotate in a vertical plane relative to the small arm.
7. The multi-jointed arm type canopy removing/erecting robot for coal mines as claimed in claim 6, wherein the base is provided with an upper hinge point and a lower hinge point, the lower hinge point is hinged with the small arm, and the upper hinge point is hinged with a base connecting rod;
the manipulator oil cylinder is hinged with a hinged point of the small arm connecting rod and the base connecting rod;
the small arm, the base connecting rod and the small arm connecting rod form a four-bar linkage.
8. The multi-jointed arm type canopy removing/erecting robot for coal mines as recited in claim 7, wherein the robot further comprises a clamping cylinder, one end of the clamping cylinder is hinged to the fixed finger, and the other end of the clamping cylinder is hinged to the movable finger, so as to drive the movable finger to rotate relative to the fixed finger.
9. The multi-jointed arm demolition/scaffolding robot for coal mines of claim 8, further comprising a body, a power system, a manipulation system, and a control system;
the base is fixedly connected on the machine body;
the first-stage horizontal rotary oil cylinder, the large arm oil cylinder, the second-stage horizontal rotary oil cylinder, the small arm oil cylinder and the manipulator oil cylinder are all provided with magnetic displacement sensors, encoders are arranged in rotary drives, the magnetic displacement sensors input oil cylinder stroke data to a control system in real time, and the encoders input rotary drive angle data to the control system in real time;
the power system provides power for the movement of the machine body, the mechanical arm and the mechanical arm;
the control system comprises a local operating system and a remote control system;
the control system is provided with three control modes, namely a manual mode, a memory mode and an automatic mode; under the manual mode, the whole machine depends on the local operating system or the remote control system to execute the component to complete the corresponding instruction; in a memory mode, the whole machine operates an execution part to complete corresponding instructions by depending on a local operating system or a remote control system, and meanwhile, a control system records output data of a magnetic displacement sensor and an encoder in real time; in the automatic mode, the execution section reproduces the operation flow of the memory data recorded in the memory mode.
10. The multi-jointed arm type canopy removing/erecting robot for coal mines as claimed in claim 9, wherein the power system comprises an explosion-proof engine system and a hydraulic system, the explosion-proof engine outputs power to drive a hydraulic pump and provide power for the hydraulic system, the hydraulic system drives a walking wheel to walk through a motor and a reducer on one hand to provide power for the walking of the whole machine, and simultaneously provides a hydraulic oil source for the mechanical arm and a cylinder of the mechanical arm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113669093A (en) * | 2021-09-02 | 2021-11-19 | 安徽佳乐矿山设备有限公司 | Anchor rod arm accurate guide system and anchor rod trolley using same |
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| CN110216651A (en) * | 2019-05-14 | 2019-09-10 | 广西科技大学 | I-shaped canopy removes special purpose robot under a kind of mine |
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