CN112828910B - Tunnel cleaning and obstacle removing robot and construction method thereof - Google Patents
Tunnel cleaning and obstacle removing robot and construction method thereof Download PDFInfo
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- CN112828910B CN112828910B CN202110158190.XA CN202110158190A CN112828910B CN 112828910 B CN112828910 B CN 112828910B CN 202110158190 A CN202110158190 A CN 202110158190A CN 112828910 B CN112828910 B CN 112828910B
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- 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
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- 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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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Abstract
The invention discloses a tunnel cleaning and obstacle removing robot and a construction method thereof, and solves the problem of low tunnel cleaning efficiency in the prior art. The invention relates to a tunnel cleaning and obstacle removing robot, which comprises a robot body with a slag discharging function, wherein a walking mechanism is arranged at the lower part of the robot body, a multi-degree-of-freedom slag cleaning mechanism and a slag discharging device are arranged at the front end of the robot body, the slag discharging device is positioned below the multi-degree-of-freedom slag cleaning mechanism, and the discharge end of the slag discharging device is communicated with the robot body. According to the multi-degree-of-freedom tunnel slag removing device, sundries in all directions in the tunnel are flexibly and efficiently removed through the multi-degree-of-freedom slag removing mechanism, part of slag is collected through the slag removing mechanism and is discharged outwards through the robot body which is communicated with the slag discharging device and has the slag discharging function, the synchronous operation of cleaning and slag discharging is realized, and the tunnel cleaning efficiency is improved.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a tunnel cleaning and obstacle removing robot and a construction method thereof.
Background
Urban tunnel means that for the needs that the adaptation railway passes through big city and pass through in urban underground construct underground or under water and lay the building that the railway supplies rolling stock to pass through, debris such as grit, earth often can exist in urban tunnel, need often clear up the maintenance, in order to ensure urban tunnel keep clean and tidy, 1, generally all through artifical clearance to the debris clearance in the urban tunnel at present, there is not little danger, 2, can not clean up completely, lead to follow-up can often clear up, staff's work load has been increased, 3 cleaning device damages easily, the life of device has been reduced. A large amount of slag stones remain in the tunnel, and when manual clearing is adopted, the tunnel is low in efficiency, time and labor are wasted, and labor cost is greatly increased.
In the prior art, as in application publication No. CN111733742A, the urban tunnel cleaning and maintenance device rotates two groups of cleaning brushes through system control, so that the two groups of cleaning brushes can sweep dust from two sides to the middle of the two groups of cleaning brushes, the rotating wheel is driven to rotate through the output end of the motor, the rotating wheel drives the other group of rotating wheel to rotate through the belt, the other group of rotating wheel drives the rotating column to rotate, the rolling brushes can rotate through the roller to guide sundries into the dust collection box through the inclined plate, the uncleaned sundries such as gravels are cleaned through the dust suction port, the guided sundries of the dust suction port are guided into the dust suction box through the dust suction channel, and the sundries in the tunnel can be cleaned quickly. But the slag stones with large mass are not easy to clean and not easy to transport out. Therefore, the design of the robot for clearing and removing the obstacles in the tunnel improves the efficiency of clearing the ballast stones in the tunnel and ensures the normal operation of tunnel construction.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a tunnel cleaning and obstacle removing robot and a construction method thereof, and solves the problem of low tunnel cleaning efficiency in the prior art.
The technical scheme of the invention is realized as follows: the utility model provides a tunnel clearance and barrier removal robot, includes the robot that has the sediment function of arranging, and the lower part of robot is equipped with running gear, and the front end of robot is equipped with multi freedom slag cleaning mechanism and slag discharging device, and the slag discharging device is located multi freedom slag cleaning mechanism's below, and the discharge end and the robot intercommunication of slag discharging device.
The robot body comprises a hollow shell, a spiral conveyor is arranged in the shell, a connecting plate is arranged at the front end of the shell, an end cover is arranged at the rear end of the shell, a slag discharging port is formed in the end cover, the multi-degree-of-freedom slag removing mechanism is arranged on the connecting plate, a slag inlet is formed in the bottom of the shell, and a discharging end of the slag discharging device extends into the shell through the slag inlet.
The multi-degree-of-freedom slag removing mechanism comprises a six-degree-of-freedom platform and an orange-peel grab bucket, wherein one end of the six-degree-of-freedom platform is connected with the robot body, and the other end of the six-degree-of-freedom platform is connected with the orange-peel grab bucket. The six-degree-of-freedom platform comprises a movable platform and a static platform, the movable platform is connected with the static platform through a driving oil cylinder group, two adjacent oil cylinders in the driving oil cylinder group are arranged in a V shape, and the orange-peel grab bucket is arranged on the movable platform. The orange-peel grab bucket comprises a polygonal connecting seat, each corner of the polygonal connecting seat is hinged with an arc-shaped grab bucket, and the back surface of the arc-shaped grab bucket is connected with the polygonal connecting seat through a telescopic oil cylinder; the inner arc surface of the arc grab bucket is provided with an arc clamping plate.
The slag discharging device comprises a scraper conveyor and a door-shaped frame arranged at the lower part of the robot body, the door-shaped frame is connected with a slag collecting mechanism through a swinging mechanism, the front end of the scraper conveyor is connected with the slag collecting mechanism, and the other end of the scraper conveyor penetrates through the door-shaped frame to extend into the robot body; and telescopic supporting legs are arranged at the bottom of the door-shaped frame.
The slag collecting mechanism comprises a bucket, a slag raking assembly is arranged on the bucket, a slag hole is formed in the rear portion of the bucket, and a machine head wheel for supporting the scraper conveyor is arranged at the slag hole. The swing mechanism comprises a V-shaped oil cylinder group, the V-shaped oil cylinder group is symmetrically connected to the bucket and the door-shaped frame, the V-shaped oil cylinder group comprises a propelling oil cylinder and an adjusting oil cylinder, and the adjusting oil cylinder and the propelling oil cylinder are arranged in a V-shaped parallel connection mode. The slag removing assembly comprises slag removing wheels symmetrically arranged on two sides of the slag hole, and the slag removing wheels are connected with a driving piece arranged on the bucket to drive the two slag removing wheels to rotate towards the slag hole.
A construction method of the tunnel cleaning and obstacle removing robot comprises the following steps: s1: clearing the tunnel: the robot controls the multi-degree-of-freedom slag removing mechanism to swing with six degrees of freedom, and digging and grabbing waste slag in the tunnel;
s2: for the rocks with large volume and mass in the tunnel, the orange-peel grab bucket of the multi-degree-of-freedom slag removal mechanism grabs the rocks and sends the rocks out of the tunnel through a slag car;
s3: for the slag stones with small volume and small mass in the tunnel, the orange-peel grab bucket of the multi-degree-of-freedom slag removing mechanism sends the slag stones to a bucket of a slag discharging device, then the bucket sends the slag stones into a robot body through a scraper conveyor, and then the slag stones are discharged through a screw conveyor;
s4: obstacle removing in the tunnel: the robot multi-degree-of-freedom slag removing mechanism is matched with the slag discharging device to perform advanced detection, and the obstacles are removed and discharged through the steps S2 or S3.
According to the multi-degree-of-freedom tunnel slag removing device, sundries in all directions in the tunnel are flexibly and efficiently removed through the multi-degree-of-freedom slag removing mechanism, part of slag is collected through the slag removing mechanism and is discharged outwards through the robot body which is communicated with the slag discharging device and has the slag discharging function, the synchronous operation of cleaning and slag discharging is realized, and the tunnel cleaning efficiency is improved. The orange-peel grab bucket of the multi-degree-of-freedom slag removing mechanism can adjust the extension length, the height and the inclination angle under the action of the six-degree-of-freedom platform, and flexibly and accurately clean obstacles at various positions in the tunnel. The slag collecting mechanism of the slag discharging device moves up and down, left and right and back and forth in a small range under the action of the swing mechanism, slag stones in all directions in the tunnel are quickly cleaned, and the slag discharging efficiency is improved. The invention has the advantages of ingenious design, compact structure, easy adjustment and control of cleaning and obstacle removing actions, convenience and flexibility, suitability for different tunnel constructions, construction efficiency improvement, construction safety guarantee and higher popularization value.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view showing the connection state of the slag discharging device and the robot body according to the present invention.
FIG. 3 is a schematic view of the multiple-degree-of-freedom slag removal mechanism of the present invention.
Fig. 4 is a schematic view of a orange-peel bucket of the present invention.
FIG. 5 is a schematic view of a slag tapping apparatus.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, the embodiment 1, a tunnel cleaning and obstacle removing robot, includes a robot body 2 with a slag discharging function, and slag stones in the cleaning process can be discharged outwards through the robot body. The lower part of the robot body 2 is provided with a traveling mechanism 3, the traveling mechanism can be a crawler-type traveling mechanism or a wheel-type traveling mechanism according to needs, and the traveling mechanism provides support and power for the movement of the whole robot. The front end of robot body 2 is equipped with multi freedom scarfing cinder mechanism 1 and slag discharging device 4, and slag discharging device 4 is located multi freedom scarfing cinder mechanism 1's below, and multi freedom scarfing cinder mechanism is used for the clearance to debris in the tunnel, and the robot body 2 that some slag stones of clearance in-process are collected and are linked together through slag discharging device 4 through slag discharging mechanism outwards discharges, realizes going on in step of clearance and slagging tap, improves tunnel cleaning efficiency.
Further, as shown in fig. 2, the robot body 2 includes a hollow housing 201, a screw conveyor 202 is disposed in the housing 201, and the length and size of the housing and the screw conveyor are matched to ensure smooth slag discharge. The front end of the shell 201 is provided with a connecting plate 203 for connecting with a multi-degree-of-freedom slag removing mechanism, the rear end of the shell is provided with an end cover 204, the end cover 204 is provided with a slag discharging port, and the slag discharging port can be provided with a gate as required to control the opening and closing of the slag discharging port. The multi-degree-of-freedom slag removing mechanism 1 is arranged on the connecting plate 203 to form a multi-degree-of-freedom swinging mechanism with a supporting point of the connecting plate, so that the tunnel can be flexibly cleaned. The bottom of shell 201 is equipped with into slag notch 205, and the discharge end of slag discharging device 4 stretches into in the shell 201 through into slag notch 205, and slag discharging device sends the slag charge into in the shell, then transports backward through the screw conveyer in the shell.
Further, the multi-degree-of-freedom slag removal mechanism 1 comprises a six-degree-of-freedom platform 101 and an orange-peel type grab bucket 102, wherein one end of the six-degree-of-freedom platform 101 is connected with a connecting plate 203 of the robot body 2, and the other end of the six-degree-of-freedom platform is connected with the orange-peel type grab bucket 102. The orange-peel grab bucket 102 can adjust the extension length, the height and the inclination angle under the action of the six-degree-of-freedom platform 101, and flexibly and accurately clean obstacles at various positions in the tunnel.
As shown in fig. 3, in embodiment 1, a robot for clearing and removing obstacles in a tunnel, a platform 101 with six degrees of freedom includes a movable platform 101-1 and a stationary platform 101-2, the movable platform 101-1 is connected with the stationary platform 101-2 through a driving oil cylinder group 101-3, two adjacent oil cylinders in the driving oil cylinder group 101-3 are arranged in a V shape, the driving oil cylinder group 101-3 preferably includes 3 groups of 6 driving oil cylinders, and a orange-peel grab bucket 102 is arranged on the movable platform 101-1. Preferably, as shown in fig. 4, the orange-petal grab bucket 102 includes a polygonal connecting seat 1023, two driving oil cylinders in the same group are arranged in a V shape, and the adjustment of the angle and the pose of the orange-petal grab bucket 102 is realized by matching with the telescopic moving platform, so that the swing is more flexible and is easy to control. All articulated on each angle of multiangular connecting seat 1023 have arc grab bucket 1021, and 5 horn seats or 6 horn seats can be adopted to the multiangular connecting seat, and the arc grab bucket is connected with multiangular connecting seat 1023 through flexible hydro-cylinder 1022 at the back of arc grab bucket 1021, and under the effect of flexible hydro-cylinder, the arc grab bucket luffing motion realizes opening and shutting of orange petal grab bucket, snatchs the barrier. For the gripping power that improves orange-peel grab bucket, be equipped with cambered surface splint 1024 on the intrados of arc grab bucket 1021, can improve the gripping area, can guarantee again to transport the slabstone in-process, the slabstone does not drop, improves efficiency of construction and construction factor of safety.
Further, as shown in fig. 5, the slag discharging device 4 includes a scraper conveyor 406 and a gate 407 disposed at a lower portion of the robot body 2, and the gate is located below the connecting plate 203 to provide support for the scraper conveyor. The portal frame 407 is connected with a slag collecting mechanism through a swing mechanism, the slag collecting mechanism is used for shoveling and collecting slag stones, the slag collecting mechanism moves up and down, left and right and back and forth in a small range under the action of the swing mechanism, and the slag stones in all directions in the tunnel are quickly cleaned. The front end of the scraper conveyor 406 is connected with the slag collecting mechanism, the other end of the scraper conveyor passes through the door-shaped frame 407 and extends into the robot body 2, and slag stones or wastes shoveled and collected by the slag collecting mechanism are conveyed into a robot shell through the scraper conveyor, so that continuous and quick slag discharge is realized. The bottom of door type frame 407 is equipped with flexible landing leg 405, improves the stability of device. Preferably, the slag collecting mechanism comprises a bucket 401, a slag removing assembly 402 is arranged on the bucket 401, a slag hole 408 is formed in the rear portion of the bucket 401, a head wheel for supporting a scraper conveyor 406 is arranged at the slag hole 408, the follow-up of the feed end of the scraper conveyor and the bucket is realized, and the flexible and efficient slag removal is realized.
Further, the swing mechanism comprises a V-shaped oil cylinder group, the V-shaped oil cylinder group is symmetrically connected to the bucket 401 and the door-shaped frame 407, and under the action of the V-shaped oil cylinder group, the position and posture of the bucket can be adjusted. The V-shaped oil cylinder group comprises a propelling oil cylinder 403 and an adjusting oil cylinder 404, the propelling oil cylinder is positioned below the adjusting oil cylinder, the adjusting oil cylinder 404 and the propelling oil cylinder 403 are arranged in a V-shaped parallel connection mode, and the height and the swing angle of the bucket can be adjusted by matching with the telescopic effect. The slag removing assembly 402 comprises slag removing wheels 402-1 symmetrically arranged at two sides of a slag hole 408, and the slag removing wheels 402-1 are connected with a driving piece arranged on the bucket 401 to drive the two slag removing wheels to rotate towards the slag hole 408, so that the slag soil in the bucket is quickly transferred to the scraper conveyor, the blockage is prevented, and the slag removing efficiency is improved.
Example 3: a construction method of the tunnel cleaning and obstacle removing robot according to embodiment 2, comprising the following steps: s1: clearing the tunnel: the controller of the robot controls the multi-degree-of-freedom slag removing mechanism 1 to swing with six degrees of freedom, the slag in the tunnel is dug and grabbed, the digging and grabbing point can be adjusted through a driving oil cylinder group of the six-degree-of-freedom platform to move up, down, left, right and front and back, the digging and grabbing range is wide, and the cleaning efficiency is improved;
s2: for the rocks with large volume and large mass in the tunnel, the orange-peel grab bucket 102 of the multi-degree-of-freedom slag removal mechanism 1 grabs the rocks and sends the rocks out of the tunnel through a slag car; although the orange-peel grab 102 has some crushing capacity, for large harder stones, tapping can be performed directly by a tapping car.
S3: for the small-volume and small-mass slag stones in the tunnel, the orange-peel grab bucket 102 of the multi-degree-of-freedom slag removing mechanism 1 sends the slag stones to a bucket 401 of a slag discharging device 4, then the bucket 401 sends the slag stones into the robot body 2 through a scraper conveyor 406, and then the slag stones are discharged through a screw conveyor 202; realize the synchronous of clearance and slagging tap and go on, improve tunnel cleaning efficiency.
S4: obstacle removing in the tunnel: the robot multi-degree-of-freedom slag removing mechanism 1 is matched with the slag discharging device 4 for advanced detection, and obstacles are removed and discharged through the steps S2 or S3, so that the integration of slag removing and obstacle removing is realized, and the working efficiency is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides a tunnel clearance and troubleshooting robot which characterized in that: the robot comprises a robot body (2) with a slag discharging function, wherein a traveling mechanism (3) is arranged at the lower part of the robot body (2), a multi-degree-of-freedom slag cleaning mechanism (1) and a slag discharging device (4) are arranged at the front end of the robot body (2), the slag discharging device (4) is positioned below the multi-degree-of-freedom slag cleaning mechanism (1), and the discharge end of the slag discharging device (4) is communicated with the robot body (2);
the slag discharging device (4) comprises a scraper conveyor (406) and a door-shaped frame (407) arranged at the lower part of the robot body (2), the door-shaped frame (407) is connected with a slag collecting mechanism through a swinging mechanism, the front end of the scraper conveyor (406) is connected with the slag collecting mechanism, and the other end of the scraper conveyor (406) penetrates through the door-shaped frame (407) and extends into the robot body (2); the bottom of the door-shaped frame (407) is provided with telescopic support legs (405).
2. The tunnel cleaning and obstacle evacuation robot of claim 1, wherein: the robot comprises a robot body (2) and is characterized in that the robot body comprises a hollow shell (201), a spiral conveyor (202) is arranged in the shell (201), a connecting plate (203) is arranged at the front end of the shell (201), an end cover (204) is arranged at the rear end of the shell (201), a slag discharging port is formed in the end cover (204), a multi-degree-of-freedom slag removing mechanism (1) is arranged on the connecting plate (203), a slag feeding port (205) is formed in the bottom of the shell (201), and a discharging end of a slag discharging device (4) extends into the shell (201) through the slag feeding port (205).
3. The tunnel cleaning and obstacle evacuation robot of claim 1 or 2, characterized in that: the multi-degree-of-freedom slag removing mechanism (1) comprises a six-degree-of-freedom platform (101) and an orange-peel grab bucket (102), wherein one end of the six-degree-of-freedom platform (101) is connected with the robot body (2), and the other end of the six-degree-of-freedom platform is connected with the orange-peel grab bucket (102).
4. The tunnel cleaning and obstacle evacuation robot of claim 3, wherein: the six-degree-of-freedom platform (101) comprises a movable platform (101-1) and a static platform (101-2), the movable platform (101-1) is connected with the static platform (101-2) through a driving oil cylinder group (101-3), two adjacent oil cylinders in the driving oil cylinder group (101-3) are arranged in a V shape, and a orange-peel grab bucket (102) is arranged on the movable platform (101-1).
5. The tunnel cleaning and obstacle evacuation robot of claim 4, wherein: the orange-peel grab bucket (102) comprises a polygonal connecting seat (1023), each corner of the polygonal connecting seat (1023) is hinged with an arc-shaped grab bucket (1021), and the back of each arc-shaped grab bucket (1021) is connected with the polygonal connecting seat (1023) through a telescopic oil cylinder (1022); the inner arc surface of the arc grab bucket (1021) is provided with an arc clamping plate (1024).
6. A tunnel cleaning and obstacle evacuation robot according to claim 1 or 2 or 4 or 5, characterized in that: the slag collecting mechanism comprises a bucket (401), a slag skimming assembly (402) is arranged on the bucket (401), a slag hole (408) is formed in the rear portion of the bucket (401), and a machine head wheel for supporting the scraper conveyor (406) is arranged at the position of the slag hole (408).
7. The tunnel cleaning and obstacle evacuation robot of claim 6, wherein: the swing mechanism comprises a V-shaped oil cylinder group, the V-shaped oil cylinder group is symmetrically connected to the bucket (401) and the door-shaped frame (407), the V-shaped oil cylinder group comprises a propelling oil cylinder (403) and an adjusting oil cylinder (404), and the adjusting oil cylinder (404) and the propelling oil cylinder (403) are arranged in a V-shaped parallel connection mode.
8. The tunnel cleaning and obstacle evacuation robot of claim 7, wherein: the slag removing assembly (402) comprises slag removing wheels (402-1) symmetrically arranged at two sides of a slag hole (408), and the slag removing wheels (402-1) are connected with a driving piece arranged on the bucket (401) to drive the two slag removing wheels to rotate towards the slag hole (408).
9. A construction method of a tunnel cleaning and obstacle removing robot as claimed in any one of claims 2 to 8, wherein: the method comprises the following steps: s1: clearing the tunnel: the robot controls the multi-degree-of-freedom slag removing mechanism (1) to swing with six degrees of freedom, and digging and grabbing waste slag in the tunnel;
s2: for the rocks with large volume and large mass in the tunnel, the rocks are grabbed by a orange-peel grab bucket (102) of the multi-degree-of-freedom slag removal mechanism (1) and are sent out of the tunnel through a slag car;
s3: for small-volume and small-mass slag stones in the tunnel, the orange-peel grab bucket (102) of the multi-degree-of-freedom slag removing mechanism (1) sends the slag stones to a bucket (401) of a slag discharging device (4), then the bucket (401) sends the slag stones into a robot body (2) through a scraper conveyor (406), and then the slag stones are discharged through a spiral conveyor (202);
s4: obstacle removing in the tunnel: the robot multi-degree-of-freedom slag removing mechanism (1) is matched with the slag discharging device (4) for advanced detection, and obstacles are removed and discharged through the steps S2 or S3.
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| CN202110158190.XA CN112828910B (en) | 2021-02-05 | 2021-02-05 | Tunnel cleaning and obstacle removing robot and construction method thereof |
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| CN202110158190.XA CN112828910B (en) | 2021-02-05 | 2021-02-05 | Tunnel cleaning and obstacle removing robot and construction method thereof |
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| CN112828910B true CN112828910B (en) | 2022-04-19 |
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| CN113319564B (en) * | 2021-08-03 | 2021-10-12 | 成都岁生科技有限责任公司 | Sleeper spring disassembling robot and bogie vibration damping device disassembling system |
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| JPH10184279A (en) * | 1996-12-24 | 1998-07-14 | Ishikawajima Harima Heavy Ind Co Ltd | Excavated muck conveyor for tunnel boring machine |
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| CN112828910A (en) | 2021-05-25 |
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