CN113799154A - Warehouse cleaning robot - Google Patents
Warehouse cleaning robot Download PDFInfo
- Publication number
- CN113799154A CN113799154A CN202111365724.2A CN202111365724A CN113799154A CN 113799154 A CN113799154 A CN 113799154A CN 202111365724 A CN202111365724 A CN 202111365724A CN 113799154 A CN113799154 A CN 113799154A
- Authority
- CN
- China
- Prior art keywords
- assembly
- warehouse
- telescopic
- lifting assembly
- lifting
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Abstract
The invention provides a warehouse cleaning robot, which relates to the technical field of warehouse cleaning equipment of a cement warehouse, and comprises a platform mounting frame, a lifting assembly, a telescopic assembly and an operating assembly; the upper end of the lifting component is rotatably arranged on the platform mounting rack. The warehouse cleaning robot provided by the invention can be arranged above a warehouse, and when dust on the inner wall of the warehouse needs to be cleaned, the telescopic assembly enables the operation assembly to move towards the inner wall of the warehouse, so that the operation assembly can clean the inner wall of the warehouse; the lifting assembly can enable the telescopic assembly to move in the height direction, so that the operation assembly moves in the height direction to clean the inner wall of the warehouse in the height direction; the detection component can detect the cleaning effect of the operation component, ensure the cleanness of the operation component for cleaning the inner wall of the warehouse, and further enable the working personnel not to be in the warehouse, and avoid working under the high-concentration dust environment.
Description
Technical Field
The invention relates to the technical field of cement silo cleaning equipment, in particular to a silo cleaning robot.
Background
In the process of storing cement powder, the powder of cement is easy to stick on the wall of the silo, so that the service efficiency of the powder silo is low, the serious person causes material breaking and production stopping, and the normal operation of a cement plant is influenced, therefore, the powder needs to be cleaned regularly.
The bin cleaning method of the powder bin mainly adopts manual cleaning. The manual cleaning efficiency is low, the time and the labor are wasted, the personal safety of the warehouse cleaning workers cannot be guaranteed, the operation in the high-concentration dust environment is prone to asthma, bronchitis, pneumoconiosis and the like, the occupational health is not mentioned, the whole warehouse cleaning operation process is also serious pollution to the air and the surrounding environment, and the method is not in accordance with the concept of environmental protection.
Disclosure of Invention
The invention aims to provide a bin cleaning robot, and aims to solve the technical problems that the manual cleaning efficiency of a powder bin is low and the personal safety is harmed.
The invention provides a warehouse cleaning robot, which comprises a platform mounting rack, a lifting assembly, a telescopic assembly and an operating assembly, wherein the platform mounting rack is arranged on the platform mounting rack;
the upper end of the lifting assembly is rotatably arranged on the platform mounting frame, the lower end of the lifting assembly is hinged with the telescopic assembly, and the operating assembly is arranged at one end of the telescopic assembly, which is far away from the lifting assembly;
the lifting assembly enables the telescopic assembly to lift in the height direction, and the telescopic assembly is used for adjusting the distance between the operation assembly and the inner wall of the warehouse;
the lower extreme of lifting unit is provided with determine module, determine module is used for detecting the clearance effect of operation subassembly.
In an optional embodiment, the platform mounting frame comprises an upper support frame and a base, a mounting hole is formed in the base, the lifting assembly is arranged in the mounting hole, and a turntable bearing connected with the lifting assembly is arranged at the upper end of the mounting hole.
In an optional embodiment, the lifting assembly comprises a hollow telescopic rod and a steel wire winding and unwinding device, one end of the telescopic rod is connected with the turntable bearing, and the other end of the telescopic rod is connected with the detection assembly; the steel wire winding and unwinding device is arranged on the upper support frame, and a steel wire of the steel wire winding and unwinding device is inserted from the upper end of the telescopic rod and is connected with the lower end of the telescopic rod.
In an alternative embodiment, the handling assembly includes a robotic arm coupled to the telescoping assembly and a handling end removably coupled to the robotic arm.
In an alternative embodiment, the operating end is one of a gripper, a pneumatic hammer, a hydraulic wrist, and an auger.
In an optional embodiment, the lower end of the lifting assembly is provided with two telescopic assemblies, and the two telescopic assemblies are symmetrically arranged on two sides of the lifting assembly.
In an alternative embodiment, the turntable bearing comprises an outer ring connected to the base and an inner ring in rotational fit with the outer ring, the inner ring being connected to the telescoping rod.
In an alternative embodiment, the inner ring further comprises a driving device, and the driving device is connected with the outer gear of the inner ring.
In an alternative embodiment, the detection assembly comprises a connecting rod connected with the lifting assembly and a detection piece detachably connected with the connecting rod;
the connecting rod sets up perpendicularly lifting unit's lower extreme, just the detection piece sets up the connecting rod is kept away from lifting unit's one end.
In an alternative embodiment, the connecting rod is provided with a driving arm connected to the telescopic assembly, and the driving arm enables the telescopic assembly to swing in a vertical direction.
The warehouse cleaning robot provided by the invention can be arranged above a warehouse, and when dust on the inner wall of the warehouse needs to be cleaned, the telescopic assembly enables the operation assembly to move towards the inner wall of the warehouse, so that the operation assembly can clean the inner wall of the warehouse; the lifting assembly can enable the telescopic assembly to move in the height direction, so that the operation assembly moves in the height direction to clean the inner wall of the warehouse in the height direction; the detection component can detect the cleaning effect of the operation component, ensure the cleanness of the operation component for cleaning the inner wall of the warehouse, and further enable the working personnel not to be in the warehouse, and avoid working under the high-concentration dust environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a warehouse cleaning robot provided in an embodiment of the present invention.
Icon: 100-a platform mounting frame; 101-upper support frame; 102-a base; 200-a steel wire winding and unwinding device; 300-a slewing bearing; 400-a telescopic rod; 500-a telescoping assembly; 600-a mechanical arm; 700-an operation end; 800-a drive arm; 900-a detection component; 901-connecting rods; 902-a detection member; 110-mounting holes.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, 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.
Examples
Referring to fig. 1, the present invention provides a warehouse cleaning robot, which includes a platform mounting frame 100, a lifting assembly, a telescopic assembly 500 and an operating assembly;
the upper end of the lifting assembly is rotatably arranged on the platform mounting frame 100, the lower end of the lifting assembly is hinged with the telescopic assembly 500, and the operating assembly is arranged at one end of the telescopic assembly 500 far away from the lifting assembly;
the lifting assembly lifts the telescopic assembly 500 in the height direction, and the telescopic assembly 500 is used for adjusting the distance between the operating assembly and the inner wall of the warehouse;
the lower extreme of lifting unit is provided with determine module 900, determine module 900 is used for detecting the clearance effect of operating element.
In some embodiments, the platform mounting 100 of the warehouse cleaning robot is installed at the upper end of the warehouse, and the lifting assembly moves the telescopic assembly 500 in the height direction, so that the operation assembly connected with the telescopic assembly 500 can move along the height direction and clean the inner wall of the warehouse.
Due to the difference of the operation components, the distance between the telescopic component 500 and the inner wall of the warehouse is different, and the operation components and the inner wall of the warehouse have proper distance through the adjustment of the telescopic component 500; and when the inner wall of the warehouse does not need to be cleaned, the telescopic assembly 500 is retracted, enabling the operating assembly to be retracted.
The detection assembly 900 is used for detecting the condition of the inner wall of the warehouse cleaned by the operation assembly, and the cleaning effect of the operation assembly is ensured through the detection of the detection assembly 900.
Personnel need not enter into the warehouse, just can judge through detecting the brill subassembly, and the clearance condition of warehouse inner wall has avoided the staff to operate under high concentration dust environment.
In an alternative embodiment, the platform mounting frame 100 includes an upper support frame 101 and a base 102, a mounting hole 110 is formed in the base 102, the lifting assembly is disposed in the mounting hole 110, and a turntable bearing 300 connected to the lifting assembly is disposed at an upper end of the mounting hole 110.
In order to clean the operation assembly on the periphery of the warehouse, a turntable bearing 300 is arranged on the base 102 of the platform mounting frame 100, and the lifting assembly is connected with the turntable bearing 300; thus, 360-degree circumferential rotation of the lifting assembly is realized, and the telescopic assembly 500 connected with the lifting assembly can drive the operation assembly to clean the circumferential side of the warehouse.
In an alternative embodiment, the lifting assembly comprises a hollow telescopic rod 400 and a steel wire winding and unwinding device 200, one end of the telescopic rod 400 is connected with the turntable bearing 300, and the other end is connected with the detection assembly 900; the steel wire winding and unwinding device 200 is arranged on the upper support frame 101, and the steel wire of the steel wire winding and unwinding device 200 is inserted from the upper end of the telescopic rod 400 and connected with the lower end of the telescopic rod 400.
The steel wire winding and unwinding device 200 comprises a winding and unwinding motor and a winding and unwinding roller, and a steel wire is wound on the winding and unwinding roller; when the telescopic rod 400 needs to be extended, the steel wire winding and unwinding device 200 discharges the steel wire, and the telescopic rod 400 extends downwards under the action of gravity; when the telescopic rod 400 extends out of the designated length, the steel wire winding and unwinding device 200 stops winding and unwinding the steel wire, so that the telescopic rod 400 keeps a fixed extending distance; when the telescopic rod 400 is required to be contracted, the steel wire winding and unwinding device 200 winds the steel wire, and the steel wire pulls the lower end of the telescopic rod 400, so that the telescopic rod 400 is contracted by overcoming the gravity.
The telescopic rod 400 is formed by sleeving a plurality of steel pipes with different diameters, a steel wire of the steel wire winding and unwinding device 200 is inserted from the upper end of the telescopic rod 400 and connected with the steel pipe at the smallest end of the telescopic rod 400, a fixing plate is screwed to the steel pipe at the lowest end, and the steel wire is connected with the fixing plate.
When the telescopic link 400 is broken accidentally, falls off or other dangers occur, the steel wire can ensure that the telescopic link 400 does not fall off, namely, the telescopic assembly 500, the operation assembly and the like do not fall off.
In an alternative embodiment, the handling assembly includes a robotic arm 600 coupled to the telescoping assembly 500 and a handling end 700 removably coupled to the robotic arm 600.
The mechanical arm 600 of the operation assembly is connected with one end of the telescopic assembly 500, and the operation end 700 on the mechanical arm 600 can be detached; different operation ends 700 are used according to different working conditions; the operating end 700 may be selected from a mechanical claw, an air hammer, a hydraulic wrist, an auger, etc., which enables the operating assembly to clean the inner wall of the warehouse in different operating conditions.
The robot arm 600 enables the handling end 700 to move within a certain range in the vertical direction, so that the robot arm 600 removes the agglomerates on the inner wall of the warehouse using the handling end 700.
In an alternative embodiment, two telescopic assemblies 500 are arranged at the lower end of the lifting assembly, and the two telescopic assemblies 500 are symmetrically arranged at two sides of the lifting assembly.
The telescopic assemblies 500 are symmetrically arranged on the two sides of the lifting assembly, so that when the inner wall of the warehouse is cleaned by the operation assembly on the telescopic assemblies 500, the counter thrust in the horizontal direction can be offset by an arc shape, and the stress of the lifting assembly is uniform.
In an alternative embodiment, the turntable bearing 300 comprises an outer ring coupled to the base 102 and an inner ring rotationally coupled to the outer ring, the inner ring being coupled to the telescoping rod 400.
In an alternative embodiment, the inner ring further comprises a driving device, and the driving device is connected with the outer gear of the inner ring.
The turntable bearing 300 comprises an outer ring fixedly connected with the base 102, an inner ring rotationally matched with the outer ring, and an outer gear arranged on the inner ring; the driving gear on the driving device is meshed with the external gear; when the lifting assembly needs to rotate, the driving device enables the driving gear to rotate, and further enables the inner ring to rotate, so that the rotation of the lifting assembly is realized; typically the drive means is a motor.
The rotation of lifting unit makes the operation subassembly of flexible subassembly 500 can clear up the caking of the different positions on the inner wall of warehouse on the same horizontal plane, and after the caking on the same horizontal plane was cleared up, lifting unit made the removal of operation subassembly vertical height to make the operation subassembly clear up the caking of different heights on the inner wall of warehouse.
In an alternative embodiment, the detecting assembly 900 includes a connecting rod 901 connected to the lifting assembly and a detecting member 902 detachably connected to the connecting rod 901;
the connecting rod 901 is vertically arranged at the lower end of the lifting component, and the detecting piece 902 is arranged at one end of the connecting rod 901 far away from the lifting component.
The detecting element 902 can be a laser scanner, a radar, a video system, etc.; when the powder warehouse is cleaned, the warehouse is in a high-concentration dust environment and is not suitable for workers to operate; when the operation assembly is used for removing the caking on the inner wall of the warehouse, the cleaning effect cannot be judged manually; the detecting element 902 is required to detect, for example, by using a video system, for example, a laser scanner, to detect the cleaning effect of the operating component, so as to ensure the cleaning effect.
In an alternative embodiment, the connecting rod 901 is provided with a driving arm 800 connected to the telescopic assembly 500, and the driving arm 800 makes the telescopic assembly 500 swing in a vertical direction.
This warehouse is used for the storage dust, when the inner wall that need not clear storehouse robot clear up the warehouse, the storehouse robot that clears up has occupied the space, influences the storage to the dust in warehouse, and the long-time life who also influences the storehouse robot that is located dust environment of the storehouse robot that clears up.
A driving arm 800 is provided on the connecting rod 901, the driving arm 800 may be a hydraulic cylinder or an air cylinder, and the telescopic assembly 500 is rotated in a vertical plane by the driving arm 800, so that the length direction of the telescopic assembly 500 can be consistent with the lifting direction of the lifting assembly; the telescopic assembly 500 and the telescopic rod 400 are both in a telescopic state, the steel wire winding and unwinding device 200 winds steel wires to enable the telescopic rod 400 to move upwards, and the telescopic rod 400 and the telescopic assembly 500 are pulled out of the mounting hole 110, so that the telescopic assembly 500, the telescopic rod 400 and the like can be moved out of a warehouse; the turntable bearing 300 is now separated from the base 102.
The driving arm 800 can also cooperate with the mechanical arm 600 to enable the operation end 700 to have a larger movement range in the vertical direction; the drive arm 800 swings the telescopic assembly 500 in a vertical plane, thereby widely swinging the manipulation end 700 in a vertical plane.
The telescopic assembly 500 may be a telescopic cylinder or other telescopic devices, and the telescopic assembly 500 can be extended and retracted in multiple stages, and the telescopic length of the telescopic assembly 500 is matched with the size of the warehouse, so that the telescopic assembly 500 can enable the operation end 700 to act on the lump on the inner wall of the warehouse when being extended.
The warehouse cleaning robot also comprises a control system, the control system controls the lifting and rotating of the lifting assembly, the stretching of the stretching assembly 500, the movement of the mechanical arm 600 and the like, so that the warehouse cleaning robot is controlled outside a warehouse without entering a warehouse by people, the safety of warehouse cleaning is improved, the stretching of the stretching assembly 500 is realized, and the change of the volume of the warehouse cleaning robot in working and non-working states can be realized; when going out warehouse entry, flexible subassembly 500 is compression state, and is small, can follow less storehouse apical pore business turn over, need not to open bigger hole for the storehouse top, and when clearing up the storehouse, flexible subassembly 500 is tensile state, can clear up the caking of the inner wall in storehouse for the cement storehouse of different specifications, and application scope is wide.
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 (8)
1. The warehouse cleaning robot is characterized by comprising a platform mounting rack (100), a lifting assembly, a telescopic assembly (500) and an operating assembly;
the upper end of the lifting assembly is rotatably arranged on the platform mounting rack (100), the lower end of the lifting assembly is hinged with the telescopic assembly (500), and the operating assembly is arranged at one end, far away from the lifting assembly, of the telescopic assembly (500);
the lifting assembly lifts the telescopic assembly (500) in the height direction, and the telescopic assembly (500) is used for adjusting the distance between the operating assembly and the inner wall of the warehouse;
a detection assembly (900) is arranged at the lower end of the lifting assembly, and the detection assembly (900) is used for detecting the cleaning effect of the operation assembly;
the platform mounting rack (100) comprises an upper supporting frame (101) and a base (102), a mounting hole (110) is formed in the base (102), the lifting assembly is arranged in the mounting hole (110), and a turntable bearing (300) connected with the lifting assembly is arranged at the upper end of the mounting hole (110);
the lifting assembly comprises a hollow telescopic rod (400) and a steel wire winding and unwinding device (200), one end of the telescopic rod (400) is connected with the turntable bearing (300), and the other end of the telescopic rod is connected with the detection assembly (900); the steel wire winding and unwinding device (200) is arranged on the upper support frame (101), and the steel wire of the steel wire winding and unwinding device (200) is inserted from the upper end of the telescopic rod (400) and is connected with the lower end of the telescopic rod (400).
2. The bin cleaning robot according to claim 1, characterized in that the operating assembly comprises a mechanical arm (600) connected with the telescoping assembly (500) and an operating end (700) detachably connected with the mechanical arm (600).
3. A clearing robot according to claim 2, characterized in that said handling end (700) is one of a gripper, a pneumatic hammer, a hydraulic wrist, an auger.
4. The warehouse cleaning robot as recited in claim 1, wherein the lower end of the lifting assembly is provided with two telescopic assemblies (500), and the two telescopic assemblies (500) are symmetrically arranged at two sides of the lifting assembly.
5. The bin cleaning robot according to claim 1, wherein the turntable bearing (300) comprises an outer ring connected with the base (102) and an inner ring in rotational fit with the outer ring, the inner ring being connected with the telescoping rod (400).
6. The bin cleaning robot according to claim 5, further comprising a driving device connected with the outer gear of the inner ring.
7. The bin cleaning robot according to claim 1, wherein the detection assembly (900) comprises a connecting rod (901) connected with the lifting assembly and a detection piece (902) detachably connected with the connecting rod (901);
the connecting rod (901) is vertically arranged at the lower end of the lifting assembly, and the detection piece (902) is arranged at one end, far away from the lifting assembly, of the connecting rod (901).
8. A warehouse cleaning robot according to claim 7, characterized in that the connecting rod (901) is provided with a driving arm (800) connected with the telescopic assembly (500), and the driving arm (800) enables the telescopic assembly (500) to swing in the vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111365724.2A CN113799154B (en) | 2021-11-18 | 2021-11-18 | Warehouse cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111365724.2A CN113799154B (en) | 2021-11-18 | 2021-11-18 | Warehouse cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113799154A true CN113799154A (en) | 2021-12-17 |
| CN113799154B CN113799154B (en) | 2022-02-08 |
Family
ID=78938333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111365724.2A Active CN113799154B (en) | 2021-11-18 | 2021-11-18 | Warehouse cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113799154B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116175608A (en) * | 2023-04-26 | 2023-05-30 | 四川义德智慧科技有限公司 | Mechanical arm device for cleaning powdery material warehouse |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3219566B2 (en) * | 1993-09-21 | 2001-10-15 | 三洋電機株式会社 | Cleaning robot |
| US20120215348A1 (en) * | 2011-02-19 | 2012-08-23 | Richard Arthur Skrinde | Submersible robotically operable vehicle system for infrastructure maintenance and inspection |
| CN203170674U (en) * | 2013-01-09 | 2013-09-04 | 佛山市海天调味食品股份有限公司 | Dust removing device |
| WO2019059744A1 (en) * | 2017-09-25 | 2019-03-28 | (주)알에프 | Glass window cleaning robot having glass window cleaning adjustment means |
| CN111687848A (en) * | 2019-03-12 | 2020-09-22 | 中国人民武装警察部队后勤学院 | Oil tank cleaning robot |
| US20210178435A1 (en) * | 2019-12-11 | 2021-06-17 | Honda Motor Co., Ltd. | Tool cleaning apparatus |
-
2021
- 2021-11-18 CN CN202111365724.2A patent/CN113799154B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3219566B2 (en) * | 1993-09-21 | 2001-10-15 | 三洋電機株式会社 | Cleaning robot |
| US20120215348A1 (en) * | 2011-02-19 | 2012-08-23 | Richard Arthur Skrinde | Submersible robotically operable vehicle system for infrastructure maintenance and inspection |
| CN203170674U (en) * | 2013-01-09 | 2013-09-04 | 佛山市海天调味食品股份有限公司 | Dust removing device |
| WO2019059744A1 (en) * | 2017-09-25 | 2019-03-28 | (주)알에프 | Glass window cleaning robot having glass window cleaning adjustment means |
| CN111687848A (en) * | 2019-03-12 | 2020-09-22 | 中国人民武装警察部队后勤学院 | Oil tank cleaning robot |
| US20210178435A1 (en) * | 2019-12-11 | 2021-06-17 | Honda Motor Co., Ltd. | Tool cleaning apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116175608A (en) * | 2023-04-26 | 2023-05-30 | 四川义德智慧科技有限公司 | Mechanical arm device for cleaning powdery material warehouse |
| CN116175608B (en) * | 2023-04-26 | 2023-06-30 | 四川义德智慧科技有限公司 | Mechanical arm device for cleaning powdery material warehouse |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113799154B (en) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113799154B (en) | Warehouse cleaning robot | |
| CN112497220A (en) | Ring cleaning and dismantling robot | |
| CN215789898U (en) | Automatic control ash cleaning robot for silo of cement silo | |
| CN111099392B (en) | Clear storehouse equipment of cement storehouse | |
| CN113955525A (en) | Bulk material ship loader capable of rotating field | |
| CN112896822A (en) | Cleaning robot for cleaning inner wall of coal storage bin | |
| JP4789876B2 (en) | Method and apparatus for disassembling double structure chimney | |
| CN114735369A (en) | Cement silo cleaning device and cement silo | |
| CN209740274U (en) | Clear storehouse equipment of intelligent mechanical arm | |
| CN114455218A (en) | Cement repository wall cleaning device | |
| CN215052094U (en) | Bridge inspection vehicle | |
| CN210386867U (en) | Novel storehouse cleaning mechanical arm and novel storehouse cleaning equipment | |
| CN215149119U (en) | Ring cleaning and dismantling robot | |
| CN113787066A (en) | Cement repository wall cleaning device | |
| CN210307780U (en) | Maintenance platform for gluing robot | |
| CN215143061U (en) | Clear storehouse device suitable for multiple storehouse type | |
| CN215362980U (en) | Cleaning robot for cleaning inner wall of coal storage bin | |
| CN209829775U (en) | Fill standpipe clearance robot | |
| CN210333639U (en) | High-efficient silo device of decontaminating | |
| CN209871805U (en) | Coal leveling device of coal conveying train | |
| JP6543654B2 (en) | Demolition method of collective chimney | |
| CN217049938U (en) | Former feed bin string arm formula clearance pull throughs | |
| CN116532452A (en) | Warehouse cleaning robot | |
| CN219635986U (en) | Telescopic cleaning and dredging device for raw material bin | |
| CN220283172U (en) | Steel wire winding device and steel wire winding system |
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 |