CN114135285A - Thin vein mining robot - Google Patents
Thin vein mining robot Download PDFInfo
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- CN114135285A CN114135285A CN202111477056.2A CN202111477056A CN114135285A CN 114135285 A CN114135285 A CN 114135285A CN 202111477056 A CN202111477056 A CN 202111477056A CN 114135285 A CN114135285 A CN 114135285A
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- 238000005065 mining Methods 0.000 title claims abstract description 65
- 210000003462 vein Anatomy 0.000 title claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000004323 axial length Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 3
- 239000011435 rock Substances 0.000 description 13
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 238000010790 dilution Methods 0.000 description 4
- 239000012895 dilution Substances 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001429 stepping effect Effects 0.000 description 2
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010970 precious metal Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 229910052718 tin Inorganic materials 0.000 description 1
- 239000011135 tin Substances 0.000 description 1
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 1
- 229910052721 tungsten Inorganic materials 0.000 description 1
- 239000010937 tungsten Substances 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
Abstract
A thin vein mining robot comprises a machine body, a walking foot mechanism and a mining mechanical arm; the machine body adopts a rectangular box type structure, and the width of the machine body is smaller than the thickness of the thin vein; the walking foot mechanisms are embedded in the machine body and are symmetrically distributed on the left side and the right side of the machine body; the mining mechanical arm is arranged at the top of the machine body; the surface of the machine body is provided with a camera and a radar; the walking foot mechanism comprises a base and a hydraulic cylinder, and the base can rotate in the machine body; the hydraulic cylinder can move in the radial direction in the base; a piston rod of the hydraulic cylinder extends out of the base to the outside of the machine body, a supporting leg cushion block is arranged at the top end of the piston rod, a pressure sensor is arranged in the supporting leg cushion block, and a piston rod abdicating slotted hole is formed in a wall plate at the end part of the base; a pump station and a power supply are arranged in the robot body, the hydraulic driving force of the hydraulic cylinder is provided by the pump station, and the power supply of all power utilization parts in the robot is provided by the power supply. The robot of the invention adopts a multi-foot type mobile structure and a narrow machine body design, is particularly suitable for mining inclined and steeply inclined thin veins, and has the characteristic of flexible movement.
Description
Technical Field
The invention belongs to the technical field of thin vein exploitation, and particularly relates to a thin vein exploitation robot.
Background
The thin vein occupies a large proportion in the metal deposit in China, is a main source for supplying precious metals such as gold, tungsten, tin and the like, and has high mining value. However, the mining conditions are always severer because the ore body of the thin vein is thin and the thickness of the ore body is not uniformly distributed. At present, compared with the mining of medium and thick ore bodies, the problems of lower stope mechanization and equipment level generally exist in the mining process of thin ore vein mines, and as the traditional mining operation equipment is relatively large in size and large in required necessary operation space, excessive surrounding rocks are forced to be mined when the thin ore vein mining is carried out, so that the loss and dilution rate of ores is increased, and a large number of series of useless benefit operation processes are increased.
Therefore, in order to control the mining amplitude, reduce ore depletion in the thin-vein stoping process and reduce invalid operation processes, a plurality of domestic mines still adopt a mode of manually operating rock drills to drill, and the processes of charging and blasting are finished by underground workers entering a stope, so that the mining efficiency of the mines is low, and the safety of the underground workers cannot be guaranteed.
At the present stage, the mining industry advances to deep mining gradually, and the harsh environment of high stress, high temperature lets the operating personnel get into the stope and becomes more dangerous, and along with the national importance to mine safety and intelligent construction, traditional backward mining mode is putd out for promoting mining machinery automation and intellectuality, develops suitable automation or intelligent equipment, has become the target that awaits the realization in the mining of present thin vein urgent.
At present, the research and development work of the thin-vein mining equipment is carried out successively in the industry, but the equipment still has a plurality of defects when being used for thin-vein mining, for example, the equipment mainly adopts a crawler type advancing mode, can only depend on gravity to stabilize by self, and the equipment body is still too bulky, so the equipment is easily limited by a structure and a moving mode, has poor adaptability when facing a complex pavement of a mining field, cannot provide good self support on a non-horizontal operation surface, is not flexible to move, and is difficult to be suitable for mining inclined and steeply inclined ore veins; in addition, because the thin vein ore body has the characteristics of changeable appearance, uneven thickness and changeable inclination angle, when the thin vein ore body with too thin thickness is encountered, narrow mining cannot be realized by a crawler-type shape mode of self-stabilization by gravity, and loss and dilution of ore and avoidance of unproductive operation are difficult to control.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a thin vein mining robot which adopts a multi-legged mobile structure and a narrow machine body design, can be better suitable for thin vein mining, particularly can be suitable for mining inclined and steeply inclined thin veins, can effectively control the loss and dilution of ores in the thin vein mining process, can provide good support, and has the characteristic of flexible movement.
In order to achieve the purpose, the invention adopts the following technical scheme: a thin vein mining robot comprises a machine body, a walking foot mechanism and a mining mechanical arm; the machine body adopts a rectangular box type structure, and the width of the machine body is smaller than the thickness of the thin vein; the walking foot mechanisms are embedded in the machine body and are symmetrically distributed on the left side and the right side of the machine body; the mining mechanical arm is mounted on the top of the machine body.
The surface of the machine body is provided with a camera for environment recognition.
And a radar for walking and obstacle avoidance is arranged on the surface of the machine body.
The number of the walking foot mechanisms is twelve, six walking foot mechanisms are distributed on the left side and the right side of the machine body respectively, the six walking foot mechanisms on one side are divided into an upper row and a lower row, and three walking foot mechanisms are uniformly distributed on each row.
The walking foot mechanism comprises a base and a hydraulic cylinder; the base is of a cylindrical structure, and the axial length of the base is not more than half of the width of the machine body; base mounting holes are formed in the left side and the right side of the machine body, the base is located in the base mounting holes, the base has a rotation degree of freedom in the base mounting holes, and a base rotation driving mechanism is arranged between the base and the machine body; the hydraulic cylinder is positioned in the base, the hydraulic cylinder is parallel to the central axis of the base, and the hydraulic cylinder has radial movement freedom degree relative to the base.
And wing plates are fixedly arranged on the surface of the cylinder barrel of the hydraulic cylinder, are parallel to the cylinder barrel of the hydraulic cylinder and are symmetrically distributed on the left side and the right side of the cylinder barrel of the hydraulic cylinder.
A plurality of nuts are arranged on the wing plate, a lead screw penetrates through each nut, and all the lead screws are arranged in parallel; one end of the screw rod is connected with the base through a bearing, the other end of the screw rod is coaxially connected with a walking motor, and the walking motor is fixedly connected with the base.
A piston rod of the hydraulic cylinder extends out of the base to the outside of the machine body, a supporting leg cushion block is installed at the top end of the piston rod of the hydraulic cylinder, and a piston rod abdicating slotted hole is formed in a wall plate at the end part of the base.
And a pressure sensor for detecting the supporting force of the walking foot is arranged in the supporting foot cushion block.
A pump station and a power supply are arranged in the robot body, the hydraulic driving force of the hydraulic cylinder is provided by the pump station in the robot body, and the power supply of all power utilization components in the robot is provided by the power supply in the robot body.
The invention has the beneficial effects that:
the thin vein mining robot provided by the invention adopts a multi-foot type moving structure and a narrow machine body design, can be better suitable for thin vein mining, especially suitable for mining inclined and steeply inclined thin veins, can effectively control loss and dilution of ores and provide good support in the thin vein mining process, and has the characteristic of flexible movement.
Drawings
FIG. 1 is a perspective view of a thin vein mining robot of the present invention;
FIG. 2 is a side view of a thin vein mining robot of the present invention;
FIG. 3 is an elevation view of a thin vein mining robot of the present invention;
FIG. 4 is an exploded view of the walking foot mechanism of the present invention;
fig. 5 is a schematic view of an application of a thin vein mining robot of the present invention in sloping ore body veins;
in the figure, 1-machine body, 2-walking foot mechanism, 3-mining mechanical arm, 4-base, 5-hydraulic cylinder, 6-wing plate, 7-nut, 8-lead screw, 9-walking motor, 10-support foot cushion block, 11-piston rod abdicating slotted hole, 12-surrounding rock, 13-thin ore vein, 14-robot, 15-goaf.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 5, a thin vein mining robot includes a body 1, a walking foot mechanism 2 and a mining mechanical arm 3; the machine body 1 adopts a rectangular box type structure, and the width of the machine body 1 is smaller than the thickness of the thin vein; the walking foot mechanisms 2 are embedded in the machine body 1, and the walking foot mechanisms 2 are symmetrically distributed on the left side and the right side of the machine body 1; the mining robot arm 3 is mounted on top of the fuselage 1.
A camera for environment recognition is arranged on the surface of the machine body 1.
The surface of the machine body 1 is provided with a radar for walking and obstacle avoidance.
The number of the walking foot mechanisms 2 is twelve, six walking foot mechanisms 2 are distributed on the left side and the right side of the machine body 1 respectively, the six walking foot mechanisms 2 on one side are divided into an upper row and a lower row, and three walking foot mechanisms 2 are uniformly distributed on each row.
The walking foot mechanism 2 comprises a base 4 and a hydraulic cylinder 5; the base 4 is of a cylindrical structure, and the axial length of the base 4 is not more than half of the width of the machine body 1; base mounting holes are formed in the left side and the right side of the machine body 1, the base 4 is located in the base mounting holes, the base 4 has a rotation degree of freedom in the base mounting holes, and a base rotation driving mechanism is arranged between the base 4 and the machine body 1; the hydraulic cylinder 5 is positioned in the base 4, the hydraulic cylinder 5 is parallel to the central axis of the base 4, and the hydraulic cylinder 5 has radial movement freedom relative to the base 4.
And wing plates 6 are fixedly arranged on the surface of the cylinder barrel of the hydraulic cylinder 5, the wing plates 6 are parallel to the cylinder barrel of the hydraulic cylinder 5, and the wing plates 6 are symmetrically distributed on the left side and the right side of the cylinder barrel of the hydraulic cylinder 5.
A plurality of nuts 7 are arranged on the wing plate 6, a lead screw 8 penetrates through each nut 7, and all the lead screws 8 are arranged in parallel; one end of the screw rod 8 is connected with the base 4 through a bearing, the other end of the screw rod 8 is coaxially connected with a walking motor 9, and the walking motor 9 is fixedly connected with the base 4.
A piston rod of the hydraulic cylinder 5 extends out of the base 4 to the outside of the machine body 1, a supporting foot cushion block 10 is installed at the top end of the piston rod of the hydraulic cylinder 5, and a piston rod abdicating slotted hole 11 is formed in the end wall plate of the base 4.
And a pressure sensor for detecting the supporting force of the walking foot is arranged in the supporting foot cushion block 9.
A pump station and a power supply are arranged in the machine body 1, the hydraulic driving force of the hydraulic cylinder 5 is provided by the pump station in the machine body 1, and the power supply of all power utilization components in the robot is provided by the power supply in the machine body 1.
The one-time use process of the present invention is described below with reference to the accompanying drawings:
firstly, the thin vein mining robot is placed in a narrow and flat thin vein mining space, the direction of the base 4 of all the walking foot mechanisms 2 is adjusted, and the piston rod abdicating slotted holes 11 are ensured to be parallel to the walking direction.
The operation executing processes of the six walking foot mechanisms 2 on one side are taken as an example for description, and the operation executing processes of the six walking foot mechanisms 2 on the other side are completely the same and are executed synchronously.
The six walking foot mechanisms 2 on one side are divided into two groups, specifically, one walking foot mechanism 2 in the middle of the upper row and two walking foot mechanisms 2 at two ends of the lower row are set as a group A walking foot, the two walking foot mechanisms 2 at two ends of the upper row and the one walking foot mechanism 2 in the middle of the lower row are set as a group B walking foot, the group A walking feet synchronously and independently execute actions, and the group B walking feet synchronously and independently execute actions.
The piston rods of the three hydraulic cylinders 5 of the A group of walking feet are controlled to retract, then the three bases 4 of the A group of walking feet are controlled to rotate 180 degrees, and further the phase angles of the three hydraulic cylinders 5 of the A group of walking feet and the phase angles of the three hydraulic cylinders 5 of the B group of walking feet are different by 180 degrees.
The walking motor 9 for controlling the B group walking feet is started, the screw 8 is controlled to rotate, the rotary motion of the screw 8 is converted into the linear motion of the nut 7, along with the movement of the nut 7, the wing plate 6 and the hydraulic cylinder 5 synchronously move along the diameter direction of the base 4 along with the nut 7 until the hydraulic cylinder 5 moves from one end of the piston rod abdicating slotted hole 11 to the other end of the piston rod abdicating slotted hole 11 along the diameter direction of the base 4, and because the piston rod of the hydraulic cylinder 5 is supported and tightly propped against the rock wall through the support foot cushion block 10, the position of the hydraulic cylinder 5 relative to the rock wall is static and unchangeable, if the rock wall is taken as a reference object, the hydraulic cylinder 5 equivalently moves towards the opposite direction, and therefore the whole walking pitch of the robot body 1 is achieved.
After the robot finishes walking by one step pitch, piston rods of three hydraulic cylinders 5 of the walking foot group A are controlled to extend out until the support foot cushion blocks 10 at the top ends of the piston rods of the hydraulic cylinders 5 support and prop against the rock wall.
The piston rods of the three hydraulic cylinders 5 of the B group of walking feet are controlled to retract, then the three bases 4 of the B group of walking feet are controlled to rotate 180 degrees, and further the phase angles of the three hydraulic cylinders 5 of the B group of walking feet and the phase angles of the three hydraulic cylinders 5 of the A group of walking feet are different by 180 degrees.
The walking motor 9 for controlling the group A walking feet is started, the screw 8 is controlled to rotate, the rotary motion of the screw 8 is converted into the linear motion of the nut 7, along with the movement of the nut 7, the wing plate 6 and the hydraulic cylinder 5 synchronously move along the diameter direction of the base 4 along with the nut 7 until the hydraulic cylinder 5 moves from one end of the piston rod abdicating slotted hole 11 to the other end of the piston rod abdicating slotted hole 11 along the diameter direction of the base 4, and because the piston rod of the hydraulic cylinder 5 is supported and tightly propped against the rock wall through the support foot cushion block 10, the position of the hydraulic cylinder 5 relative to the rock wall is static and unchangeable, if the rock wall is taken as a reference object, the hydraulic cylinder 5 equivalently moves towards the reverse direction, and the whole robot body 1 walks by one step again.
And after the robot finishes walking by one step again, the piston rods of the three hydraulic cylinders 5 of the B group of walking feet are controlled to extend until the support foot cushion blocks 10 at the top ends of the piston rods of the hydraulic cylinders 5 are supported and tightly propped against the rock wall.
By analogy, the stepping actions of the group A walking feet and the group B walking feet are sequentially repeated to achieve the effect of alternately stepping, and the aim of flexibly moving the robot body 1 along the narrow and flat thin vein mining space can be smoothly achieved. When the moving direction needs to be changed, the piston rod abdicating slotted hole 11 is parallel to the newly set walking direction only by adjusting the steering direction of the base 4.
The robot located in the narrow and flat thin-vein mining space can replace the end effector of the mining mechanical arm 3 according to different mining requirements, and then the thin-vein mining operation can be flexibly implemented.
In addition, in the thin vein exploitation process, ground staff can identify the mining environment through the camera of the 1 surface mounting of the machine body, provide the basis for better planning of the mining route, and meanwhile can help the robot to accurately avoid the obstacle through the radar arranged on the surface of the machine body 1, so that the safety of the robot in the mining process is improved.
When the supporting foot cushion block 10 at the top end of the piston rod of the hydraulic cylinder 5 supports and abuts against the rock wall, the supporting force of the walking foot can be monitored in real time through the built-in pressure sensor, and the robot can be guaranteed to walk between the rock walls stably.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. A thin vein mining robot, characterized in that: comprises a machine body, a walking foot mechanism and a mining mechanical arm; the machine body adopts a rectangular box type structure, and the width of the machine body is smaller than the thickness of the thin vein; the walking foot mechanisms are embedded in the machine body and are symmetrically distributed on the left side and the right side of the machine body; the mining mechanical arm is mounted on the top of the machine body.
2. The thin vein mining robot of claim 1, wherein: the surface of the machine body is provided with a camera for environment recognition.
3. The thin vein mining robot of claim 1, wherein: and a radar for walking and obstacle avoidance is arranged on the surface of the machine body.
4. The thin vein mining robot of claim 1, wherein: the number of the walking foot mechanisms is twelve, six walking foot mechanisms are distributed on the left side and the right side of the machine body respectively, the six walking foot mechanisms on one side are divided into an upper row and a lower row, and three walking foot mechanisms are uniformly distributed on each row.
5. The thin vein mining robot of claim 1, wherein: the walking foot mechanism comprises a base and a hydraulic cylinder; the base is of a cylindrical structure, and the axial length of the base is not more than half of the width of the machine body; base mounting holes are formed in the left side and the right side of the machine body, the base is located in the base mounting holes, the base has a rotation degree of freedom in the base mounting holes, and a base rotation driving mechanism is arranged between the base and the machine body; the hydraulic cylinder is positioned in the base, the hydraulic cylinder is parallel to the central axis of the base, and the hydraulic cylinder has radial movement freedom degree relative to the base.
6. The thin vein mining robot of claim 5, wherein: and wing plates are fixedly arranged on the surface of the cylinder barrel of the hydraulic cylinder, are parallel to the cylinder barrel of the hydraulic cylinder and are symmetrically distributed on the left side and the right side of the cylinder barrel of the hydraulic cylinder.
7. The thin vein mining robot of claim 6, wherein: a plurality of nuts are arranged on the wing plate, a lead screw penetrates through each nut, and all the lead screws are arranged in parallel; one end of the screw rod is connected with the base through a bearing, the other end of the screw rod is coaxially connected with a walking motor, and the walking motor is fixedly connected with the base.
8. The thin vein mining robot of claim 5, wherein: a piston rod of the hydraulic cylinder extends out of the base to the outside of the machine body, a supporting leg cushion block is installed at the top end of the piston rod of the hydraulic cylinder, and a piston rod abdicating slotted hole is formed in a wall plate at the end part of the base.
9. The thin vein mining robot of claim 8, wherein: and a pressure sensor for detecting the supporting force of the walking foot is arranged in the supporting foot cushion block.
10. The thin vein mining robot of claim 5, wherein: a pump station and a power supply are arranged in the robot body, the hydraulic driving force of the hydraulic cylinder is provided by the pump station in the robot body, and the power supply of all power utilization components in the robot is provided by the power supply in the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111477056.2A CN114135285B (en) | 2021-12-06 | 2021-12-06 | Thin vein mining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111477056.2A CN114135285B (en) | 2021-12-06 | 2021-12-06 | Thin vein mining robot |
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| Publication Number | Publication Date |
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| CN114135285A true CN114135285A (en) | 2022-03-04 |
| CN114135285B CN114135285B (en) | 2022-09-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111477056.2A Active CN114135285B (en) | 2021-12-06 | 2021-12-06 | Thin vein mining robot |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1066317A (en) * | 1992-05-18 | 1992-11-18 | 北京市矿冶研究总院 | Mining process for thin metal mine |
| CN105386760A (en) * | 2015-11-12 | 2016-03-09 | 双鸭山市义君矿山设备制造有限公司 | Hydraulic control stepping type breaking hammer mining machine |
| CN106869957A (en) * | 2017-04-21 | 2017-06-20 | 山东瑞源钾盐工程技术股份有限公司 | Vertical vertical mining development machine |
| CN109057790A (en) * | 2018-10-22 | 2018-12-21 | 温州大学瓯江学院 | A kind of mining machinery people |
| CN110130887A (en) * | 2019-04-30 | 2019-08-16 | 贵州芭田生态工程有限公司 | A kind of Mars Miner with support device |
| CN211038634U (en) * | 2019-09-04 | 2020-07-17 | 五邑大学 | Auxiliary mining robot |
| CN212563223U (en) * | 2020-05-22 | 2021-02-19 | 天地科技股份有限公司上海分公司 | Supporting structure of thin coal seam coal mining machine |
| CN113294155A (en) * | 2021-05-21 | 2021-08-24 | 重庆大学 | Auxiliary metal vein exploitation device |
| CN113738355A (en) * | 2021-09-06 | 2021-12-03 | 中国矿业大学 | Thin coal seam mining robot |
-
2021
- 2021-12-06 CN CN202111477056.2A patent/CN114135285B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1066317A (en) * | 1992-05-18 | 1992-11-18 | 北京市矿冶研究总院 | Mining process for thin metal mine |
| CN105386760A (en) * | 2015-11-12 | 2016-03-09 | 双鸭山市义君矿山设备制造有限公司 | Hydraulic control stepping type breaking hammer mining machine |
| CN106869957A (en) * | 2017-04-21 | 2017-06-20 | 山东瑞源钾盐工程技术股份有限公司 | Vertical vertical mining development machine |
| CN109057790A (en) * | 2018-10-22 | 2018-12-21 | 温州大学瓯江学院 | A kind of mining machinery people |
| CN110130887A (en) * | 2019-04-30 | 2019-08-16 | 贵州芭田生态工程有限公司 | A kind of Mars Miner with support device |
| CN211038634U (en) * | 2019-09-04 | 2020-07-17 | 五邑大学 | Auxiliary mining robot |
| CN212563223U (en) * | 2020-05-22 | 2021-02-19 | 天地科技股份有限公司上海分公司 | Supporting structure of thin coal seam coal mining machine |
| CN113294155A (en) * | 2021-05-21 | 2021-08-24 | 重庆大学 | Auxiliary metal vein exploitation device |
| CN113738355A (en) * | 2021-09-06 | 2021-12-03 | 中国矿业大学 | Thin coal seam mining robot |
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