CN113104710B - Intelligent maintenance equipment for head sheave of mine hoist - Google Patents
Intelligent maintenance equipment for head sheave of mine hoist Download PDFInfo
- Publication number
- CN113104710B CN113104710B CN202110385166.XA CN202110385166A CN113104710B CN 113104710 B CN113104710 B CN 113104710B CN 202110385166 A CN202110385166 A CN 202110385166A CN 113104710 B CN113104710 B CN 113104710B
- Authority
- CN
- China
- Prior art keywords
- oil
- module
- head sheave
- oil pump
- main body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012423 maintenance Methods 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 127
- 239000003921 oil Substances 0.000 claims description 200
- 238000007664 blowing Methods 0.000 claims description 42
- 239000000428 dust Substances 0.000 claims description 36
- 238000002347 injection Methods 0.000 claims description 35
- 239000007924 injection Substances 0.000 claims description 35
- 238000004140 cleaning Methods 0.000 claims description 20
- 238000007789 sealing Methods 0.000 claims description 16
- 210000000078 claw Anatomy 0.000 claims description 15
- 239000004519 grease Substances 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 8
- 239000010687 lubricating oil Substances 0.000 claims description 7
- 238000005461 lubrication Methods 0.000 abstract description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000009466 transformation Effects 0.000 abstract 1
- 229910000831 Steel Inorganic materials 0.000 description 10
- 239000010959 steel Substances 0.000 description 10
- 239000000446 fuel Substances 0.000 description 9
- 238000004088 simulation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000001050 lubricating effect Effects 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000003973 paint Substances 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 239000002828 fuel tank Substances 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000003889 chemical engineering Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- -1 ferrous metals Chemical class 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 239000007770 graphite material Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 150000002843 nonmetals Chemical class 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B15/00—Main component parts of mining-hoist winding devices
- B66B15/02—Rope or cable carriers
- B66B15/04—Friction sheaves; "Koepe" pulleys
-
- 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
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
- B66B19/06—Applications of signalling devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N9/00—Arrangements for supplying oil or unspecified lubricant from a moving reservoir or the equivalent
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Details Of Gearings (AREA)
- Cage And Drive Apparatuses For Elevators (AREA)
Abstract
The invention belongs to the field of mine transportation equipment, relates to overhead sheave maintenance equipment for a multi-rope friction hoist in mine hoisting equipment, and particularly relates to intelligent overhead sheave maintenance equipment for the mine hoist. The invention discloses intelligent maintenance equipment for a head sheave of a mine hoist, which comprises an unmanned aerial vehicle body device, an electric control assembly, a function implementation module, a movement mechanism and an automatic extending support frame. Unmanned aerial vehicle body device is including rotatory camera and remote control unit. The intelligent maintenance equipment is used for replacing manual climbing to maintain the head sheave, so that labor and time are saved, the labor intensity of people is reduced, and the intelligent maintenance equipment is not only suitable for new products, but also suitable for the transformation of old products. The invention can effectively avoid the safety accidents caused by improper maintenance of the head sheave of the elevator, particularly poor lubrication of the bearing bush, improve the operation safety of the friction elevator and realize the safe production of the mine friction elevator.
Description
Technical Field
The invention belongs to the field of mine transportation equipment, relates to overhead sheave maintenance equipment for a multi-rope friction hoist in mine hoisting equipment, and particularly relates to intelligent overhead sheave maintenance equipment for the mine hoist.
Background
The multi-rope friction type hoister is an important mining machinery transportation device, is suitable for hoisting systems of mines such as coal, nonferrous metals, ferrous metals, non-metals, chemical engineering and the like, a hoisting container is hung by a plurality of hoisting steel wire ropes, generally adopts an even number, and most commonly adopts 4 ropes or 6 ropes (the 4 ropes are taken as an example in the following description), so that the diameter of the hoisting steel wire rope is smaller than that of a single-rope hoister under the same load, and the diameter of a friction wheel is also smaller. Therefore, under the condition of lifting the same load, the multi-rope friction type hoister has the characteristics of small volume, light weight, material saving, easiness in manufacturing, easiness in mounting, convenience in transportation and the like. If an accident occurs, the possibility that a plurality of steel wire ropes are broken simultaneously is extremely low, so that the safety and reliability are better. The method is suitable for deep wells, and is the development direction of future mine transportation equipment.
The sheave device of the multi-rope friction type elevator is used for supporting the steel wire rope between the elevator friction wheel and the lifting container and changing the direction of the steel wire rope, namely the guiding function. The head sheave device has two structures, namely a common head sheave device and a novel head sheave device. Most of the head sheave devices are of a common head sheave structure and mainly comprise a bearing block, bearings at two ends, a head sheave shaft, a loose sheave, a fixed sheave, a bearing bush, a gasket, a hoop and the like. Wherein, the left end wheel is a fixed wheel and is connected with the head sheave shaft by a flat key; the 3 wheels on the right side are loose wheels, bearing bushes are arranged between the loose wheels and a head sheave shaft, and the bearing bushes and a loose wheel hub are connected by high-strength bolts; an oil storage tank is arranged in the bearing bush, and the flexible rotation of the movable wheel and the head sheave shaft is realized through lubricating grease. When the linear velocity of each steel rope is not identical, the loose wheel and the head sheave shaft can freely rotate relatively, so that sliding friction between the steel rope and the gasket is prevented, the gasket is prevented from being excessively worn, and the steel rope is protected. The head sheave device of the structure is wide in application and mature in technology.
The novel head sheave device adopts a rolling bearing to replace a bearing bush between a movable sheave and a head sheave shaft so as to reduce the problems in the using process. In the structure, 2 rolling bearings are respectively arranged between a hub and a shaft of each loose wheel and are used as supports, and the bearings are axially positioned through shaft sleeves. When the linear speed of each steel rope is not identical, each loose wheel and the shaft can freely and flexibly rotate relative to each other through a bearing. An oil filling hole is reserved on each movable hub, so that lubricating grease can be periodically filled into the bearing to meet the lubricating requirement. The bearing of the structure is limited in type selection, and related structural parts are large in processing difficulty and high in cost. If the design choice is not proper, the expected requirements may not be met.
The head sheave device is an important part in mine hoist equipment, and due to the special operating characteristics of the head sheave device, the loss can be reduced only by regular inspection and maintenance, and the service life is prolonged. The main detection contents of the maintenance work are as follows: whether all fasteners of the head sheave device are loosened, whether a head sheave rope groove and a hub of a movable wheel are excessively worn, whether the head sheave swings seriously and has abnormal sound in operation, whether the temperature and vibration of a bearing exceed standards, whether a head sheave bearing bush needs oil injection, whether maintenance tools and accessories on a head sheave platform are left, whether the head sheave needs cleaning work and the like. These works usually require three to four workers to climb up to a head sheave platform of about 50 m height along a vertical ladder outside the derrick with heavy tools and auxiliary materials, and the working environment is dangerous and labor-intensive. The oiling maintenance time is long. Time and labor are wasted, production is influenced, and equipment capable of replacing manual maintenance operation is urgently needed.
In the maintenance work of the head sheave described above, the maintenance of lubrication of the head sheave is a routine work required to be performed on the mine at least once per week. Under the condition that the bearing bush of the head sheave device is poorly lubricated, when the head sheave runs, a lubricating oil film between the bearing bush and a head sheave shaft is blocked, the sliding lubrication state between the bearing bush and the head sheave shaft is changed into a dry friction state, so that abnormal sound is generated on the head sheave, at the moment, the friction force between the head sheave shaft and the bearing bush caused by relative running is born by a fixing bolt between the bearing bush and a hub, and the fixing bolt can be gradually sheared under long-time forward and backward movement and impact. If the screw is not found in time and is used continuously after being cut off, the cut screw can form an annular groove at the end face of the inner hole of the loose wheel hub, and abnormal sound can be generated on the head sheave. Meanwhile, the inner hole of the traveling wheel hub is abraded due to the relative movement of the bearing bush and the traveling wheel hub. Therefore, the bearing bush in the head sheave is the key for the operation of the head sheave, the rotation of the bearing bush is not flexible, the service life of the head sheave is influenced, and the benefit of mine enterprises is directly related. Therefore, the head sheave must be regularly filled with grease to avoid accidents.
Lubrication of the head sheave bearing bushes has various modes, and can be intensively divided into three main types:
the first is a manual oil injection mode: when oil is filled, people must climb a derrick about 50 meters to reach the top sheave. The lubrication effect of the lubrication mode is the best, but a large amount of physical force is consumed for lubricating and climbing, and the lubrication mode is unsafe. When needing to add oil fat, stop the car, the oil filler point on wheel hub is received with oil pipe to the manual work, and it is lubricated for the axle sleeve oiling fat with the grease pump, and the lubrication effect of this kind of mode is good, but workman intensity of labour is big, and work efficiency is low, and the security is poor.
The second is a way of improving the lubrication condition: various lubrication conditions are improved, such as self-lubrication in a rotary clutch mode, novel graphite material self-lubrication and change of a shaft sleeve into a rolling bearing, so that the oiling period is prolonged. This way reduces the manual involvement, but the lubrication effect is not as good as the manual lubrication way.
The third is an automatic lubrication mode: the center part of the shaft is processed with a deep hole and a radial oil hole, the shaft is connected by adopting a rotary joint, and the shaft rotates and is filled with oil, so that automatic control can be realized, but the shaft has the defects that the shaft is unfavorable for the conventional improved product because the head sheave shaft is not processed with a deep hole; and secondly, the crown wheel shaft is difficult to machine deep holes, and the strength of the shaft is weakened.
The use site environment of the head sheave device is severe, the head sheave device needs to be maintained regularly, and after the head sheave device is improperly used and not maintained timely, the head sheave device is disassembled and detected, so that the problem that most head sheaves have is not a single problem. In recent years, with the integration of coal resources, mine equipment is updated, the lifting capacity and specification of the hoister are increased, for example, 1 group of head sheave devices are purchased again due to untimely maintenance in use, and particularly, the production cost is quite high for a large-specification hoister.
Disclosure of Invention
The invention provides intelligent maintenance equipment for a head sheave of a mine hoist, aiming at the problems that a head sheave device needs to be maintained frequently and a bearing bush needs to be lubricated by oil periodically.
The invention is realized by adopting the following technical scheme: an intelligent maintenance device for a mine hoist head sheave comprises an unmanned aerial vehicle body device, an electric control assembly, a function implementation module and a motion mechanism, wherein the unmanned aerial vehicle body device comprises a rotary camera and a remote control device; the function implementation module comprises an infrared thermometer and a sound sensor, the movement mechanism is fixed below the unmanned aerial vehicle body device and used for being connected with and moving the function implementation module, and the electric control assembly comprises a power supply component and a control component. Power supply unit implements module and motion power supply for unmanned aerial vehicle body device, function, and control unit still is used for implementing module and motion to the function and controls, and the function is implemented module and motion's control button integration on remote control unit.
The intelligent maintenance equipment is utilized to inspect the head sheave device, a rotating camera on the unmanned aerial vehicle body device transmits a shot head sheave device video stream to the remote control device, the deflection condition of the head sheave device, the obvious loosening condition of bolts, the existence of foreign matters on a platform, the existence of rust and turbidity of the head sheave and a support, the abrasion condition of a wheel groove and a shaft, the wire breakage, strand breakage and the like of a steel wire rope can be observed on the remote control device, and the dynamic diagnosis function is achieved by early warning in time; the motion mechanism can also be connected with a sound sensor, and the sound sensor transmits a detected sound signal back to the remote control device through the electric control assembly, so that whether noise or abnormal sound exists or not is judged; the movement mechanism can also be connected with an infrared thermometer, the infrared thermometer is aligned with the head sheave shaft to measure the temperature of the head sheave shaft, and the measured data is transmitted back to the remote control device through the electric control assembly.
According to the intelligent maintenance equipment for the head sheave of the mine hoist, the function implementation module further comprises an elastic screw module, and the elastic screw module comprises an automatic six-claw manipulator, a mechanical claw support frame and a mechanism bearing connecting seat; a mechanical claw support frame is fixed on the mechanism bearing connecting seat, and an automatic six-claw manipulator is connected to the mechanical claw support frame. When the mechanism is used, the mechanism bearing connecting seat is connected with the moving mechanism, and after the elastic screw module is adjusted in place through the moving mechanism, the screws are screwed up by the automatic six-claw manipulator.
Foretell mine winder head sheave intelligent maintenance equipment, the module is implemented to the function still includes the oiling module, the oiling module includes the oil tank cap, the oil tank main part, the grease gun, oil pump and sealing washer, the inside oil pump storehouse that is provided with of oil tank main part, oil pump storehouse and oil tank main part height, the oil pump is installed in the oil pump storehouse, be provided with into oil pipe and go out oil pipe on the oil pump storehouse, it all with oil pump connection to advance oil pipe and go out oil pipe, it still connects with the grease gun of installing in the oil tank main part to go out oil pipe, space between oil tank main part inner wall and the oil pump storehouse outer wall is the oil storage space, be provided with the sealing washer in oil pump storehouse and the oil tank main part, oil tank cap and oil tank main part, oil pump storehouse sealing connection. When carrying out the oiling, the staff removes head sheave oiling pipe position through remote control unit remote control unmanned aerial vehicle body device, and in rethread motion inserted the oiling gun of oiling module into oiling pipe glib talker, the oil pump was started, pours into lubricating oil into in the head sheave axle bush. The rotating camera transmits the shot picture back to the remote control device, so that the staff can conveniently inject oil.
The intelligent maintenance equipment for the head sheave of the mine hoist comprises a function implementation module, and the function implementation module also comprises an oil injection module, wherein the oil injection module comprises an oil tank cover, an oil tank main body, an oil injection gun, an oil pump, a sealing ring and two automatic six-claw manipulators; two automatic six claw manipulators are all installed on the oil tank main part, and the grease gun is installed on one of them automatic six claw manipulator. When carrying out the oiling, the staff removes head sheave oiling pipe position through remote control unit remote control unmanned aerial vehicle body device, uses another automatic six claw manipulator to unscrew the glib talker on the head sheave oil pipe, and the automatic six claw manipulator of installation grease gun stretches out the grease gun, and when the grease gun aimed at oil pipe, this automatic six claw manipulator was screwed up it in oil piping connection department, refueled. When the robot is in a non-working state, the six-claw mechanical arm and the oil gun can be retracted for a large distance, and the robot is guaranteed not to collide with the head sheave.
The two different oil injection schemes are adopted, the oil injection gun of the first oil injection scheme is directly pushed into the oil nozzle, and the oil injection scheme of the second scheme is that the oil nozzle is screwed off and then the oil injection gun is directly connected with an oil pipe; both schemes can realize oil injection. The unmanned aerial vehicle is used for replacing manpower to inject oil into the head sheave, so that the head sheave has good lubricating performance of manual oil injection, saves labor and time, reduces labor intensity of people, and is suitable for not only new products but also old products.
According to the intelligent maintenance equipment for the head sheave of the mine hoist, the oil injection window is further formed in the side wall of the oil tank body and used for observing the volume of lubricating oil.
Foretell mine winder head sheave intelligent maintenance equipment, function implementation module still include clean the functional module, clean the functional module and include emulation robotic arm and mechanism and bear the connecting seat, the mechanism bears and is connected with emulation robotic arm on the connecting seat. When the device is used, the mechanism bearing connecting seat is connected with the moving mechanism, and after the cleaning function module is adjusted in place through the moving mechanism, the simulated mechanical arm can clean the head sheave after grasping the brush; the simulation mechanical arm can also remove foreign matters on the head sheave; the simulated mechanical arm can also hold the small spray can to spray paint.
According to the intelligent maintenance equipment for the head sheave of the mine hoist, the function implementation module further comprises a dust blowing module, and the dust blowing module comprises a blowing nozzle, a dust blowing mechanism box body, an air pump and a top cover; the air pump is installed in the dust blowing mechanism box body, and the dust blowing mechanism box body is provided with the blow gun, and the blow gun is connected with the air pump, still can have the air inlet on the dust blowing mechanism box body, and the top cap lid is on the dust blowing mechanism box body. When the dust blowing device is used, the top cover is connected with the motion adapter plate in the motion mechanism, and after the dust blowing module is adjusted in place through the motion mechanism, the dust blowing module blows dust to the head sheave.
The intelligent maintenance equipment for the head sheave of the mine hoist comprises a movement mechanism, a lifting mechanism and a lifting mechanism, wherein the movement mechanism comprises a mechanism vertical supporting rod, a linear motor, a movement sliding block, two movement connecting rods, a mechanism movement supporting rod and a movement adapter plate; mechanism vertical support rod is connected in the below of unmanned aerial vehicle body device, linear electric motor fixes the body of rod back at mechanism vertical support rod, the motion slider is U type structure, the motion slider is detained to mechanism vertical support rod from mechanism vertical support rod back, the backplate and the linear electric motor output shaft of motion slider, the both sides board of motion slider is sliding connection respectively on the both sides face of mechanism vertical support rod, the one end of a motion connecting rod articulates on a curb plate of motion slider, the other end is articulated with a side of mechanism motion bracing piece, the both sides face of mechanism motion bracing piece all articulates the motion connecting rod, the one end of mechanism motion bracing piece and the bottom of mechanism vertical support rod are articulated, the other end and the motion keysets of mechanism motion bracing piece are connected, the motion keysets is used for connecting with the function implementation module. Linear electric motor drives the vertical direction of motion slider and reciprocates for mechanism's motion bracing piece can rotate round the bottom pin joint with mechanism's vertical support bar, realizes that motion mechanism implements the module with the function and removes, accomplishes maintenance work.
The motion mechanism further comprises a motor support and a servo motor, the other end of the motion supporting rod of the mechanism is connected with the motor support, the servo motor is installed in the motor support, and an output shaft of the servo motor is connected with the motion adapter plate. The servo motor can drive the motion adapter plate to rotate 360 degrees, the function implementation module rotates 360 degrees, and maintenance work can be completed from any angle.
Foretell mine winder head sheave intelligent maintenance equipment still is connected with the automatic support frame that stretches out on the cantilever of unmanned aerial vehicle body device. When the device falls to the ground, the automatic extending support frame automatically extends out, and stable descending and placement are guaranteed.
The intelligent maintenance equipment can complete maintenance of all head sheaves, avoids safety accidents possibly caused by manual climbing of the head sheaves, improves the efficiency and the operation safety of maintenance of the head sheaves of the friction elevator, realizes safe production and labor reduction and efficiency improvement of the mine friction elevator, and has the following beneficial effects compared with the prior art:
(1) the intelligent inspection device realizes intelligent inspection of the head sheave device and is matched with intelligent maintenance functions of tightening screws, cleaning, spraying paint, blowing dust and the like.
(2) The invention relates to an intelligent oiling device for a head sheave, which aims to overcome the defects of high danger degree, high difficulty, time and labor waste of an artificial oiling method in the prior art.
(3) The invention relates to an intelligent oiling device for a head sheave, which aims to solve the technical problem that the effect and the efficiency are poor in the existing automatic oiling technology.
(4) The invention provides an intelligent maintenance method for a hoisting machine head sheave, which realizes intelligent maintenance functions of tightening screws, cleaning, spraying paint, blowing dust and the like by a manual remote control robot instead of a human.
Drawings
FIG. 1 is a front view of the device of the present invention.
Fig. 2 is a left side view of the device of the present invention.
Fig. 3 is a top view of the apparatus of the present invention.
Fig. 4 is a schematic diagram of the movement mechanism moving to the highest state, in which the rotation angle of the movement support rod of the mechanism is 90 degrees.
Fig. 5 is a schematic diagram of the movement mechanism moving to the lowest state, where the rotation angle of the movement support rod of the mechanism is 0 degree.
Fig. 6 is a schematic view of the device when the motion mechanism is operated to the highest state.
Fig. 7 is a schematic view of the device in the lowest state of the motion mechanism.
Fig. 8 is a schematic view of the remote control device when the touch screen is retracted.
Fig. 9 is a schematic diagram of the remote control device with the touch screen open.
Fig. 10 is a schematic view of a device oiling assembly scheme.
Fig. 11 is a schematic view of a oiling module scheme.
FIG. 12 is an overall view of the oiling module scheme.
Fig. 13 is a schematic view of the device threading assembly.
FIG. 14 is a schematic view of a turnbuckle module.
FIG. 15 is a general view of a turnbuckle module.
FIG. 16 is a schematic view of the device cleaning assembly.
Fig. 17 is a schematic diagram of cleaning function module cleaning.
FIG. 18 is a cleaning function module cleaning assembly diagram.
FIG. 19 is a schematic view of an apparatus purge assembly.
Fig. 20 is a cleaning schematic diagram of the cleaning function module.
FIG. 21 is a cleaning function block cleaning overview.
FIG. 22 is a schematic view of a dust blowing assembly of the apparatus.
Figure 23 is a schematic view of a dust blowing module.
FIG. 24 is an overall view of the dust blowing module.
FIG. 25 is a schematic view of the device with an automatically extending support frame assembly.
FIG. 26 is a schematic view of a second embodiment of the oiling assembly of the device.
Fig. 27 is a schematic view of a second oiling module scheme.
FIG. 28 is a schematic view of a second embodiment of the oiling module.
Fig. 29 is a schematic view of a head sheave apparatus.
Fig. 30 is a partially enlarged view of fig. 29.
In the figure: 1-an unmanned aerial vehicle body device, 2-a rotary camera, 3-an electric control assembly, 4-a function implementation module, 5-a motion mechanism, 6-a remote control device, 7-an automatic extending support frame, 8-a nozzle tip and 9-a fixed head sheave; 10-traveling head sheave and 11-oil pipe.
41-oiling module, 42-tightening screw module, 43-cleaning function module and 44-dust blowing module.
411-oil tank cover, 412-oil tank body, 413-oil gun, 414-oil storage space, 415-oil pump, 416-oil filling window and 417-sealing ring.
421-an automatic six-claw manipulator, 422-a mechanical claw support frame and 423-a mechanism bearing connecting seat.
431-simulation mechanical arm, 432-brush, 433-mechanism bearing connecting seat, 434-foreign body.
441-blowing nozzle, 442-dust blowing mechanism box body, 443-air pump and 444-top cover.
51-mechanism vertical supporting rod, 52-linear motor, 53-motion sliding block, 54-motion connecting rod, 55-mechanism motion supporting rod, 56-motor support, 57-servo motor and 58-motion adapter plate.
61-antenna, 62-remote control device body, 63-linear motor up and down remote control button, 64-servo motor forward and reverse rotation remote control button, 65-touch screen switch button, 66-display screen, 67-unmanned aerial vehicle up and down and left and right fine adjustment button, 68-switch, 69-unmanned aerial vehicle control rocker, 610-normal work indicator light, 611-work alarm indicator light, 612-camera control rocker, 613-touch screen.
Detailed Description
The invention relates to intelligent maintenance equipment for a head sheave of a mine hoist, which comprises an unmanned aerial vehicle body device 1, an electric control assembly 3, a function implementation module 4, a movement mechanism 5 and an automatic extending support frame 7.
Unmanned aerial vehicle body device 1 is including rotatory camera 2 and remote control unit 6.
The motion mechanism 5 comprises a mechanism vertical support rod 51, a linear motor 52, a motion slide block 53, two motion connecting rods 54, a mechanism motion support rod 55, a motor bracket 56, a servo motor 57 and a motion adapter plate 58; the mechanism vertical supporting rod 51 is connected below the unmanned aerial vehicle body device 1, the linear motor 52 is fixed on the back of the rod body of the mechanism vertical supporting rod 51, the moving slide block 53 is of a U-shaped structure, the moving slide block 53 is buckled to the mechanism vertical supporting rod 51 from the back of the mechanism vertical supporting rod 51, the back plate of the moving slide block 53 is connected with the output shaft of the linear motor 52, the two side plates of the moving slide block 53 are respectively connected on the two side surfaces of the mechanism vertical supporting rod 51 in a sliding way, one end of a moving connecting rod 54 is hinged on one side plate of the moving slide block 53, the other end of the moving connecting rod is hinged with one side surface of the mechanism moving supporting rod 55, the two side surfaces of the mechanism moving supporting rod 55 are both hinged with the moving connecting rod 54, one end of the mechanism moving supporting rod 55 is hinged with the bottom of the mechanism vertical supporting rod 51, the other end of the mechanism moving supporting rod 55 is connected with the motor bracket 56, the servo motor 57 is installed in the motor bracket 56, the output shaft of the servomotor 57 is connected to a motion adapter plate 58, and the motion adapter plate 58 is used for being connected to each function implementation module 4. The linear motor 52 drives the moving slide block 53 to move up and down vertically, so that the mechanism moving support rod 55 can rotate around a hinge point with the bottom of the mechanism vertical support rod 51, and the rotation angle of the mechanism moving support rod 55 is 0-90 degrees. The servo motor 57 can drive the motion adapter plate 58 to rotate 360 degrees.
The function implementation module 4 comprises an infrared thermometer, a sound sensor, an oil injection module 41, a screw tightening module 42, a cleaning function module 43 and a dust blowing module 44.
The oiling module comprises two technical schemes, wherein the first scheme is as follows: the fuel injection module 41 includes a fuel tank cap 411, a fuel tank main body 412, a fuel gun 413; the oil pump 415, the oil filling window 416 and the sealing ring 417, the inside of the oil tank main body 412 is provided with a tubular oil pump bin, the oil pump bin and the oil tank main body 412 are equal in height, the oil pump 415 is installed in the oil pump bin, the oil pump bin is provided with an oil inlet pipe and an oil outlet pipe, the oil inlet pipe and the oil outlet pipe are both connected with the oil pump 415, the oil outlet pipe is further connected with the oil filling gun 413, the annular space between the inner wall of the oil tank main body 412 and the outer wall of the oil pump bin is an oil storage space 414, the oil pump bin and the oil tank main body 412 are provided with the sealing ring 417, the oil tank cover 411 is hermetically connected with the oil tank main body 412 and the oil pump bin, and the side wall of the oil tank main body 412 is further provided with the oil filling window 416 for observing the capacity of lubricating oil. The tank cap 411 of the oil injection module 41 is connected with the motion adapter plate 58 in the motion mechanism 5, after the oil injection module 41 is adjusted to the right position by the motion mechanism 5, the oil injection gun 413 is inserted into the head sheave bearing bush oil injection pipe, and the oil pump 415 injects lubricating oil into the head sheave bearing bush.
The second scheme is as follows: the function implementation module 4 further comprises an oil injection module 41, the oil injection module 41 comprises an oil tank cover 411, an oil tank main body 412, an oil injection gun 413, an oil pump 415, an oil injection window 416, a sealing ring 417 and two automatic six-claw manipulators, an oil pump bin is arranged inside the oil tank main body 412, the oil pump bin and the oil tank main body 412 are equal in height, the oil pump 415 is installed in the oil pump bin, an oil inlet pipe and an oil outlet pipe are arranged on the oil pump bin, the oil inlet pipe and the oil outlet pipe are both connected with the oil pump 415, the oil outlet pipe is also connected with the oil injection gun 413, the space between the inner wall of the oil tank main body 412 and the outer wall of the oil pump bin is an oil storage space 414, the oil pump bin and the oil tank main body 412 are provided with the sealing ring 417, and the oil tank cover 411 is connected with the oil tank main body 412 and the oil pump bin in a sealing manner; both of the automated six-claw robots are mounted on the tank body 412, and the grease gun 413 is mounted on one of the automated six-claw robots. The side wall of the tank main body 412 is also provided with a filling window 416 for observing the volume of the lubricating oil. The fuel tank cover 411 of the fuel injection module 41 is connected with the motion adapter plate 58 in the motion mechanism 5, after the fuel injection module 41 is adjusted in place through the motion mechanism 5, the fuel nipple on the head sheave oil pipe is unscrewed by using another automatic six-claw manipulator, the automatic six-claw manipulator for installing the fuel gun stretches out the fuel gun, and when the fuel gun is aligned with the oil pipe, the automatic six-claw manipulator is screwed at the joint of the oil pipe to perform fuel injection.
The tightening and loosening screw module 42 comprises an automatic six-claw manipulator 421, a mechanical claw support frame 422 and a mechanism bearing connection seat 423; a mechanical claw support frame 422 is fixed on the mechanism bearing connecting seat 423, and the mechanical claw support frame 422 is connected with an automatic six-claw manipulator 421; the mechanism bearing connecting seat 423 is connected with a motion adapter plate 58 in the motion mechanism 5, and after the elastic screw module 42 is adjusted in place through the motion mechanism 5, the automatic six-claw manipulator 421 tightens screws.
The cleaning function module 43 comprises a simulation mechanical arm 431 and a mechanism bearing connecting seat 433, the simulation mechanical arm 431 is connected to the mechanism bearing connecting seat 433, the mechanism bearing connecting seat 433 is connected with a motion adapter plate 58 in the motion mechanism 5, and after the cleaning function module 43 is adjusted in place through the motion mechanism 5, the simulation mechanical arm 431 can clean the head sheave after grasping the brush 432; the simulated mechanical arm 431 can also remove foreign matters 434 on the head sheave; the simulated robotic arm 431 may also hold a small spray can to spray paint on the head sheave.
The dust blowing module 44 comprises a blowing nozzle 441, a dust blowing mechanism box 442, an air pump 443 and a top cover 444; the air pump 443 is installed in the dust blowing mechanism box 442, the dust blowing mechanism box 442 is provided with the blowing nozzle 441, the blowing nozzle 441 is connected with the air pump 443, the dust blowing mechanism box 442 can also be provided with an air inlet, and the top cover 444 covers the dust blowing mechanism box 442; the top cover 444 is connected with the motion adapter plate 58 in the motion mechanism 5, and after the dust blowing module 44 is adjusted to be in place through the motion mechanism 5, the dust blowing module 44 blows dust to the head sheave.
The remote control device 6 comprises an antenna 61, a remote control device body 62, a linear motor up-down remote control button 63, a servo motor forward-reverse rotation remote control button 64, a touch screen switch button 65, a display screen 66, an unmanned aerial vehicle up-down left-right fine tuning button 67, a switch 68, an unmanned aerial vehicle control rocker 69, a normal work indicator lamp (green) 610, a work alarm indicator lamp (red) 611, a camera control rocker 612 and a touch screen 613; control buttons of the linear motor 52 and the servo motor 57 in the moving mechanism 5 are integrated in the touch screen 613, a control button of the oil pump 415 in the oiling module 41, a control button of the air pump 443 in the dust blowing module 44, a control button of the automatic six-claw manipulator 421 in the tightening and loosening screw module 42, and a control button of the simulation manipulator 431 in the cleaning function module 43 are also integrated in the touch screen 613, a control button of the infrared thermometer is also integrated in the touch screen 613, and the touch screen 613 can remind when data measured by the infrared thermometer and the sound sensor exceeds a set threshold value.
The electric control component 3 comprises a storage battery for supplying power to the unmanned aerial vehicle body device 1, the function implementation module 4 and the motion mechanism 5, a single chip microcomputer module for controlling the linear motor 52, the servo motor 57, the oil pump 415, the air pump 443 and the infrared thermometer to work, a control system matched with the automatic six-claw manipulator 421 and a control system matched with the simulation manipulator 431.
The head sheave structure of the four-rope friction hoist is shown in fig. 29 and 30: 1. the head sheave is installed on the head sheave platform above the derrick, the part of the head sheave larger than 180 degrees is exposed in the air, no barrier is arranged around the head sheave, and good conditions are created for the operation of the unmanned aerial vehicle of the intelligent maintenance equipment. 2. The head sheave oil pipe passes through the head sheave along the radial direction, divides the head sheave into two 180 degrees, and can be filled with oil from any side to lubricate the head sheave. Because the head sheave on the head sheave platform always has an oil pipe nozzle exposed outside, the unmanned aerial vehicle can always find the nozzle on the left hand side or the right hand side of the head sheave. Therefore, the oiling mechanism of the unmanned aerial vehicle can ensure that the oiling machine and the oil pipe can be oiled in a straight line as long as the oiling mechanism can rotate 90 degrees to the maximum. (this is realized by servo linear electric motor 52, motion slider 53, vertical support rod 51 and mechanism motion bracing piece 55 cooperation) 3 oil pipe draws forth in the direction of the vertical axis of the head sheave instead of pasting at will the head sheave spoke, for guaranteeing perpendicular best oiling mode, unmanned aerial vehicle oiling mechanism has designed 360 degrees rotary mechanism of well servo motor 57 to guarantee to reach above-mentioned purpose. 4. Various functional modules of unmanned aerial vehicle area can be according to the convenient change of work needs.
Claims (8)
1. The utility model provides a mine winder head sheave intelligent maintenance equipment which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body device (1), an electric control assembly (3), a function implementation module (4) and a movement mechanism (5), wherein the unmanned aerial vehicle body device (1) comprises a rotary camera (2) and a remote control device (6); the function implementation module (4) comprises an infrared thermometer and a sound sensor, the movement mechanism (5) is fixed below the unmanned aerial vehicle body device (1) and is used for connecting and moving the function implementation module (4), the electric control assembly (3) is the unmanned aerial vehicle body device (1), the function implementation module (4) and the movement mechanism (5) supply power, the electric control assembly (3) is further used for controlling the function implementation module (4) and the movement mechanism (5), control buttons of the function implementation module (4) and the movement mechanism (5) are integrated on the remote control device (6), the function implementation module (4) further comprises a tightening screw module (42), the tightening screw module (42) comprises an automatic six-claw manipulator (421), a mechanical claw support frame (422) and a first mechanism bearing connection seat (423); a mechanical claw support frame (422) is fixed on a first mechanism bearing connecting seat (423), an automatic six-claw mechanical arm (421) is connected on the mechanical claw support frame (422), a function implementation module (4) further comprises an oil injection module (41), the oil injection module (41) comprises an oil tank cover (411), an oil tank main body (412), an oil injection gun (413), an oil pump (415) and a sealing ring (417), an oil pump bin is arranged inside the oil tank main body (412), the oil pump bin and the oil tank main body (412) are equal in height, the oil pump (415) is installed in the oil pump bin, the oil pump bin is provided with an oil inlet pipe and an oil outlet pipe, the oil inlet pipe and the oil outlet pipe are both connected with the oil pump (415), the oil outlet pipe is also connected with the oil injection gun (413) installed on the oil tank main body, the space between the inner wall of the oil tank main body (412) and the outer wall of the oil pump bin is an oil storage space (414), the oil pump bin and the oil tank main body (412) are provided with the sealing ring (417), the oil tank cover (411) is connected with the oil tank main body (412) and the oil pump bin in a sealing way.
2. The intelligent maintenance equipment for the head sheave of the mine hoist as claimed in claim 1, wherein: the function implementation module (4) further comprises an oil injection module (41), the oil injection module (41) comprises an oil tank cover (411), an oil tank main body (412), an oil injection gun (413), an oil pump (415), a sealing ring (417) and two automatic six-claw mechanical arms, an oil pump bin is arranged inside the oil tank main body (412), the oil pump bin and the oil tank main body (412) are equal in height, the oil pump (415) is installed in the oil pump bin, an oil inlet pipe and an oil outlet pipe are arranged on the oil pump bin, the oil inlet pipe and the oil outlet pipe are both connected with the oil pump (415), the oil outlet pipe is also connected with the oil injection gun (413), a space between the inner wall of the oil tank main body (412) and the outer wall of the oil pump bin is an oil storage space (414), the oil pump bin and the oil tank main body (412) are provided with the sealing ring (417), and the oil tank cover (411) is connected with the oil tank main body (412) and the oil pump bin in a sealing manner; two automatic six-claw manipulators are mounted on the oil tank main body (412), and the grease gun (413) is mounted on one of the automatic six-claw manipulators.
3. The intelligent maintenance device for the head sheave of the mine hoist as claimed in claim 1 or 2, wherein: the side wall of the oil tank main body (412) is also provided with an oil filling window (416) for observing the volume of lubricating oil.
4. The intelligent maintenance device for the head sheave of the mine hoist as claimed in claim 1 or 2, wherein: the function implementation module (4) further comprises a cleaning function module (43), the cleaning function module (43) comprises an artificial mechanical arm (431) and a second mechanism bearing connecting seat (433), and the artificial mechanical arm (431) is connected to the second mechanism bearing connecting seat (433).
5. The intelligent maintenance device for the head sheave of the mine hoist as claimed in claim 1 or 2, wherein: the function implementation module (4) further comprises a dust blowing module (44), and the dust blowing module (44) comprises a blowing nozzle (441), a dust blowing mechanism box body (442), an air pump (443) and a top cover (444); the air pump (443) is installed in the dust blowing mechanism box body (442), the dust blowing mechanism box body (442) is provided with the blowing nozzle (441), the blowing nozzle (441) is connected with the air pump (443), the dust blowing mechanism box body (442) can also be provided with an air inlet, and the top cover (444) covers the dust blowing mechanism box body (442).
6. The intelligent maintenance equipment for the head sheave of the mine hoist as claimed in claim 1, wherein: the movement mechanism (5) comprises a mechanism vertical support rod (51), a linear motor (52), a movement sliding block (53), two movement connecting rods (54), a mechanism movement support rod (55) and a movement adapter plate (58); the mechanism vertical supporting rod (51) is connected below the unmanned aerial vehicle body device (1), the linear motor (52) is fixed on the back of the rod body of the mechanism vertical supporting rod (51), the moving slide block (53) is of a U-shaped structure, the moving slide block (53) is buckled to the mechanism vertical supporting rod (51) from the back of the mechanism vertical supporting rod (51), the back plate of the moving slide block (53) is connected with the output shaft of the linear motor (52), the two side plates of the moving slide block (53) are respectively connected on the two side surfaces of the mechanism vertical supporting rod (51) in a sliding manner, one end of a moving connecting rod (54) is hinged on one side plate of the moving slide block (53), the other end of the moving connecting rod is hinged with one side surface of the mechanism moving supporting rod (55), the two side surfaces of the mechanism moving supporting rod (55) are both hinged with the moving connecting rod (54), one end of the mechanism moving supporting rod (55) is hinged with the bottom of the mechanism vertical supporting rod (51), the other end of the mechanism movement supporting rod (55) is connected with a movement adapter plate (58), and the movement adapter plate (58) is used for being connected with the function implementation module (4) in an adapter mode.
7. The intelligent maintenance equipment for the head sheave of the mine hoist as claimed in claim 6, wherein: the movement mechanism (5) further comprises a motor support (56) and a servo motor (57), the other end of the mechanism movement support rod (55) is connected with the motor support (56), the servo motor (57) is installed in the motor support (56), and an output shaft of the servo motor (57) is connected with a movement adapter plate (58).
8. The intelligent maintenance device for the head sheave of the mine hoist as claimed in claim 6 or 7, wherein: still be connected with on the cantilever of unmanned aerial vehicle body device (1) and stretch out support frame (7) automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110385166.XA CN113104710B (en) | 2021-04-09 | 2021-04-09 | Intelligent maintenance equipment for head sheave of mine hoist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110385166.XA CN113104710B (en) | 2021-04-09 | 2021-04-09 | Intelligent maintenance equipment for head sheave of mine hoist |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113104710A CN113104710A (en) | 2021-07-13 |
| CN113104710B true CN113104710B (en) | 2022-06-21 |
Family
ID=76715590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110385166.XA Active CN113104710B (en) | 2021-04-09 | 2021-04-09 | Intelligent maintenance equipment for head sheave of mine hoist |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113104710B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118003351B (en) * | 2024-04-09 | 2024-07-05 | 华中科技大学 | Multi-rotor flying flexible mechanical arm device capable of operating fasteners |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10222472A1 (en) * | 2002-05-22 | 2003-12-11 | Klaus Flores | Device for height positioning of service cabin for servicing device for offshore wind power system has guide device to/from which servicing device can be coupled/decoupled |
| CN102577755A (en) * | 2012-02-17 | 2012-07-18 | 中国农业大学 | Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot |
| CN105069507A (en) * | 2015-07-16 | 2015-11-18 | 广州极飞电子科技有限公司 | Maintenance method and apparatus for unmanned aerial vehicle |
| CN105127133A (en) * | 2015-09-23 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Electrified cleaning insulator device based on unmanned aerial vehicle |
| CN105569735A (en) * | 2016-02-25 | 2016-05-11 | 中国矿业大学(北京) | Underground robot communication control system based on Wifi |
| CN106094867A (en) * | 2016-08-01 | 2016-11-09 | 深圳供电局有限公司 | Multifunctional power equipment inspection unmanned aerial vehicle |
| CN107894779A (en) * | 2017-11-23 | 2018-04-10 | 哈尔滨工程大学 | It is a kind of based on environmental monitoring system and method in the ore deposit with cable unmanned plane |
| CN110091708A (en) * | 2018-01-30 | 2019-08-06 | 陈云河 | Inside bag type fuel tank |
| CN110162098A (en) * | 2019-07-03 | 2019-08-23 | 安徽理工大学 | A kind of mining unmanned plane |
| CN111232773A (en) * | 2019-11-12 | 2020-06-05 | 恒大智慧科技有限公司 | Elevator control method and system based on unmanned aerial vehicle monitoring and storage medium |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MY129702A (en) * | 2001-12-19 | 2007-04-30 | Inventio Ag | Support construction |
| CN103979101B (en) * | 2014-04-25 | 2016-02-24 | 哈尔滨飞机工业集团有限责任公司 | Steering engine for unmanned plane hydraulic actuated work-saving device |
| CN104401487B (en) * | 2014-11-19 | 2016-06-01 | 中国航空工业经济技术研究院 | A kind of can the logistics unmanned gyroplane of ground running |
-
2021
- 2021-04-09 CN CN202110385166.XA patent/CN113104710B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10222472A1 (en) * | 2002-05-22 | 2003-12-11 | Klaus Flores | Device for height positioning of service cabin for servicing device for offshore wind power system has guide device to/from which servicing device can be coupled/decoupled |
| CN102577755A (en) * | 2012-02-17 | 2012-07-18 | 中国农业大学 | Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot |
| CN105069507A (en) * | 2015-07-16 | 2015-11-18 | 广州极飞电子科技有限公司 | Maintenance method and apparatus for unmanned aerial vehicle |
| CN105127133A (en) * | 2015-09-23 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Electrified cleaning insulator device based on unmanned aerial vehicle |
| CN105569735A (en) * | 2016-02-25 | 2016-05-11 | 中国矿业大学(北京) | Underground robot communication control system based on Wifi |
| CN106094867A (en) * | 2016-08-01 | 2016-11-09 | 深圳供电局有限公司 | Multifunctional power equipment inspection unmanned aerial vehicle |
| CN107894779A (en) * | 2017-11-23 | 2018-04-10 | 哈尔滨工程大学 | It is a kind of based on environmental monitoring system and method in the ore deposit with cable unmanned plane |
| CN110091708A (en) * | 2018-01-30 | 2019-08-06 | 陈云河 | Inside bag type fuel tank |
| CN110162098A (en) * | 2019-07-03 | 2019-08-23 | 安徽理工大学 | A kind of mining unmanned plane |
| CN111232773A (en) * | 2019-11-12 | 2020-06-05 | 恒大智慧科技有限公司 | Elevator control method and system based on unmanned aerial vehicle monitoring and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 面向井下无人机自主飞行的人工路标辅助位姿估计方法;单春艳等;《煤炭学报》;20190815;第393-404页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113104710A (en) | 2021-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5465446A (en) | High-rise building cleaning machine | |
| CN113104710B (en) | Intelligent maintenance equipment for head sheave of mine hoist | |
| CN211468604U (en) | Walking mechanism of intelligent service robot of express delivery factory | |
| CN208787529U (en) | A kind of long nozzle robot of the intelligent automation operation on continuous casting platform | |
| CN202001810U (en) | Portable grease supply device | |
| CN108941526A (en) | A kind of long nozzle robot of the intelligent automation operation on continuous casting platform | |
| CN210589311U (en) | Automatic traveling system of mine intrinsically safe track inspection robot | |
| CN202967802U (en) | Steel wire rope lubricating device | |
| CN108483267B (en) | Beam crane and safety monitoring management system | |
| CN107127750A (en) | It is a kind of can trouble free service under combustible environment hydraulic driving mechanical device | |
| CN218369642U (en) | Wheel type driving rotary warehouse cleaning machine | |
| CN218537101U (en) | Intelligent oiling robot for unmanned aerial vehicle throwing | |
| CN218600798U (en) | Novel cable impact vibration rain test machine | |
| CN115415909A (en) | Crane maintenance robot | |
| CN114436097A (en) | Maintenance robot, intelligent maintenance system device and maintenance method for cage guide rope | |
| CN201321467Y (en) | Steel-smelting spray gun lifting device | |
| CN114516035A (en) | Industrial robot under adverse circumstances | |
| CN107906352A (en) | Automatic intelligent wire rope oiling station | |
| CN220215412U (en) | Bridge support maintenance device | |
| CN201436153U (en) | Supporting device for conveyor belt | |
| CN208036276U (en) | A kind of tool car | |
| CN114394238A (en) | Intelligent oiling robot and method for unmanned aerial vehicle throwing | |
| CN219102008U (en) | Gear ring grease injection device of scraping machine | |
| CN220980278U (en) | Oiling device of crown block quick rope sheave bearing | |
| CN109237284B (en) | Crane steel wire rope oiling machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |