CN115492637A - Underground coal mine inspection operation robot - Google Patents
Underground coal mine inspection operation robot Download PDFInfo
- Publication number
- CN115492637A CN115492637A CN202210921322.4A CN202210921322A CN115492637A CN 115492637 A CN115492637 A CN 115492637A CN 202210921322 A CN202210921322 A CN 202210921322A CN 115492637 A CN115492637 A CN 115492637A
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- China
- Prior art keywords
- connecting pipe
- marking
- cylinder
- dust falling
- robot
- 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.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 22
- 239000003245 coal Substances 0.000 title claims abstract description 16
- 239000000428 dust Substances 0.000 claims abstract description 57
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 14
- 239000003595 mist Substances 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 24
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 24
- 241001330002 Bambuseae Species 0.000 claims description 24
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 24
- 239000011425 bamboo Substances 0.000 claims description 24
- 238000009434 installation Methods 0.000 abstract description 7
- 239000007921 spray Substances 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 8
- 239000007789 gas Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 208000037805 labour Diseases 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 239000002341 toxic gas Substances 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
- E21F5/02—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires by wetting or spraying
- E21F5/04—Spraying barriers
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot for underground coal mine inspection operation, which comprises a hollow shell, wherein a driving wheel is arranged at the bottom of the hollow shell, a hollow round pipe which is rotatably connected with the hollow shell is arranged at the inner top of the hollow shell in a penetrating manner, an installation frame is fixedly installed on the outer side wall of one end, which is positioned outside the hollow shell, of the hollow round pipe, a multifunctional sensor and a controller are arranged at the inner bottom of the installation frame, the multifunctional sensor is electrically connected with the controller, a top plate is fixedly installed at the top of the installation frame, and a camera is arranged at the top of the top plate. The intelligent video camera can intermittently rotate the camera by ninety degrees, is more stable in camera shooting and more accurate in information acquisition, can spray water mist for dust fall in a mine, is more convenient to use and higher in automation degree, and can automatically spray fluorescent agent to a detection area for marking and warning when the concentration of harmful gas is detected to be too high.
Description
Technical Field
The invention relates to the technical field of mines, in particular to a robot for underground coal mine inspection.
Background
In the process of mine mining operation, in order to ensure the smooth operation of mining work and the life safety of operators, the inspection work is generally carried out on a mine site, the inspection work for coal mine safety is vital to the guarantee of coal mine safety production, and the inspection robot is used as a substitute for manual inspection, so that the labor intensity is reduced, and the labor risk is reduced.
In the process of polling, the existing polling robot keeps an angle, so that the information acquisition is not comprehensive enough; or the camera can rotate all the time without stopping, and the continuous rotation causes the information acquisition to be unstable and inaccurate;
meanwhile, in the prior art, when the environment where the robot is located contains large dust and is not beneficial to shooting and collecting, the robot often needs to be dedusted in advance through additional dedusting equipment before shooting and collecting, so that the process is complicated, and the automation degree is low; and when detecting harmful gas concentration when higher among the prior art, can't carry out the site mark to this region, be unfavorable for warning later stage staff.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a coal mine underground inspection robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a colliery is patrolled and examined work robot in pit, includes the cavity casing, the bottom of cavity casing is provided with the drive wheel, the interior top of cavity casing is run through and is provided with rather than the rotation hollow pipe of being connected, fixed mounting has the mounting bracket on the one end lateral wall that the hollow pipe is located the cavity casing outside, the interior bottom of mounting bracket is provided with multifunctional sensor and controller, multifunctional sensor and controller electric connection, the top fixed mounting of mounting bracket has the roof, the top of roof is provided with the camera, the bottom of roof is provided with a mark section of thick bamboo, be provided with the intermittent type slewing mechanism who is connected with the hollow pipe in the cavity casing, set up dust fall mechanism on the cavity casing, be provided with mark mechanism on the mounting bracket.
Preferably, intermittent type slewing mechanism includes the servo motor of fixed mounting bottom in the cavity casing, servo motor's output shaft fixedly connected with pivot, the top fixed mounting of pivot has the disc, the top fixed mounting of disc has the spacing dish, the top edge fixed mounting of disc has the gag lever post, fixed mounting has the commentaries on classics piece on the lateral wall of cavity pipe, four rotation grooves of evenly distributed have been seted up on the commentaries on classics piece, the gag lever post is mutually supported with the rotation groove.
Preferably, dust fall mechanism is including setting up the dust fall section of thick bamboo of bottom in the cavity casing, be provided with the dust fall sliding plug rather than inner wall sliding connection in the dust fall section of thick bamboo, be provided with first connecting pipe and the second connecting pipe rather than inside being linked together on the dust fall section of thick bamboo, first connecting pipe and second connecting pipe all are located the below of dust fall sliding plug, all be equipped with the check valve in first connecting pipe and the second connecting pipe, the interior bottom of cavity casing is provided with the water mist case, be provided with the dust fall box on one side outer wall of cavity casing, the one end and the dust fall box intercommunication of a dust fall section of thick bamboo are kept away from to first connecting pipe, the one end and the water mist case intercommunication of a dust fall section of thick bamboo are kept away from to the second connecting pipe.
Preferably, fixed mounting has supplementary slider on the inner wall of cavity pipe, be provided with the elevator in the cavity pipe, supplementary spout has been seted up on the lateral wall of elevator, supplementary spout is wavy, supplementary slider sliding connection is in supplementary spout, the bottom fixedly connected with lower connecting rod of elevator, the dust fall on the one end fixed connection's of elevator is kept away from to lower connecting rod dust fall slider.
Preferably, the marking mechanism includes the last connecting rod of fixed connection at the elevator top, the one end that the elevator was kept away from to last connecting rod is provided with the electro-magnet that is located the mounting bracket bottom top, electro-magnet and controller electric connection, the bottom of roof is provided with the mark section of thick bamboo that is located directly over the electro-magnet, the slotted hole has been seted up to the bottom of mark section of thick bamboo, the inside of mark section of thick bamboo is provided with the mark sliding plug rather than inner wall sliding connection, be provided with the spring that is located between the bottom in mark sliding plug and the mark section of thick bamboo in the mark section of thick bamboo, the top of roof is provided with the fluorescent agent bin, the bottom of roof is provided with the mark box, be provided with third connecting pipe and the fourth connecting pipe rather than inside being linked together on the mark section of thick bamboo, third connecting pipe and fourth connecting pipe all are located the top of mark sliding plug, all be provided with the check valve in third connecting pipe and the fourth connecting pipe, the one end that the mark section of thick bamboo was kept away from to the third connecting pipe is linked together with the fluorescent agent bin, the one end that the mark section of thick bamboo was kept away from to the fourth connecting pipe is linked together with the mark box.
Preferably, the dust fall sliding plug is rectangular.
Preferably, the marker slide plug is magnetic.
Preferably, the mounting bracket is "U" shaped.
The invention has the beneficial effects that:
through the arrangement of the camera, the intermittent rotation mechanism and the dust falling mechanism, the camera can be intermittently rotated for ninety degrees and can be kept to be irrotational within a certain time, shooting is carried out during the period, compared with the existing camera which is always rotated without stopping, shooting is more stable, information acquisition is more accurate, water mist spraying dust falling can be synchronously carried out in a mine in the camera rotating process, compared with the prior art, a dust falling device needs to be additionally arranged, the dust falling device is more convenient to use, and the automation degree is higher.
Meanwhile, through the arrangement of the multifunctional sensor, the controller and the marking mechanism, when the multifunctional sensor detects that the concentration of harmful gas is normal in the rotation process of the camera, the fluorescent agent cannot be sprayed out for marking, and when the concentration of the harmful gas is detected to be too high, the fluorescent agent is automatically sprayed out of a detection area for marking and warning, so that a worker can conveniently find out that safety measures are made in advance.
In conclusion, the invention not only can stably acquire information, but also integrates dust removal and harmful area marking, has more compact integral equipment and is suitable for different mine environments.
Drawings
FIG. 1 is a schematic perspective view of a robot for underground coal mine inspection according to the present invention;
FIG. 2 is a schematic perspective view of the interior of the hollow housing of the present invention;
FIG. 3 is a schematic perspective view of the bottom of the top plate of the present invention;
FIG. 4 is a schematic plan view of the interior of the hollow circular tube and the dust-settling tube of the present invention;
FIG. 5 is a schematic plan view of the interior of the marking cartridge of the present invention;
FIG. 6 is a schematic plane view of the hollow circular tube and the auxiliary sliding block of the present invention.
In the figure: the device comprises a hollow shell 1, a mounting rack 2, a top plate 3, a fluorescent agent storage box 4, a camera 5, a controller 6, a driving wheel 7, an electromagnet 8, a first connecting pipe 9, a dust falling box 10, a multifunctional sensor 11, a water mist box 12, a second connecting pipe 13, a dust falling cylinder 14, a rotating groove 15, a servo motor 16, a rotating shaft 17, a disc 18, a limiting rod 19, a limiting disc 20, a rotating block 21, a hollow circular pipe 22, a marking cylinder 23, a marking box 24, a third connecting pipe 25, a fourth connecting pipe 26, a slotted hole 27, an upper connecting rod 28, a dust falling sliding plug 29, a lower connecting rod 30, a lifting block 31, an auxiliary sliding groove 32, a spring 33, a marking sliding plug 34 and an auxiliary sliding block 35.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-6, a robot for underground coal mine inspection, which comprises a hollow shell 1, wherein a driving wheel 7 is arranged at the bottom of the hollow shell 1, a hollow round pipe 22 rotatably connected with the hollow shell 1 penetrates through the inner top of the hollow shell 1, an installation frame 2 is fixedly installed on the outer side wall of one end, located outside the hollow shell 1, of the hollow round pipe 22, the installation frame 2 is in a U shape, a multifunctional sensor 11 and a controller 6 are arranged at the inner bottom of the installation frame 2, the multifunctional sensor 11 is electrically connected with the controller 6, a top plate 3 is fixedly installed at the top of the installation frame 2, a camera 5 is arranged at the top of the top plate 3, a marking cylinder 23 is arranged at the bottom of the top plate 3, and an intermittent rotating mechanism connected with the hollow round pipe 22 is arranged in the hollow shell 1;
the intermittent rotating mechanism comprises a servo motor 16 fixedly arranged at the bottom in the hollow shell 1, an output shaft of the servo motor 16 is fixedly connected with a rotating shaft 17, a disc 18 is fixedly arranged at the top end of the rotating shaft 17, a limiting disc 20 is fixedly arranged at the top of the disc 18, a limiting rod 19 is fixedly arranged at the edge of the top of the disc 18, a rotating block 21 is fixedly arranged on the outer side wall of a hollow circular tube 22, four rotating grooves 15 which are uniformly distributed are formed in the rotating block 21, and the limiting rod 19 is matched with the rotating grooves 15;
a dust falling mechanism is arranged on the hollow shell 1, the dust falling mechanism comprises a dust falling cylinder 14 arranged at the inner bottom of the hollow shell 1, a dust falling sliding plug 29 connected with the inner wall of the dust falling cylinder is arranged in the dust falling cylinder 14 in a sliding manner, a first connecting pipe 9 and a second connecting pipe 13 communicated with the interior of the dust falling cylinder 14 are arranged on the dust falling cylinder 14, the first connecting pipe 9 and the second connecting pipe 13 are both positioned below the dust falling sliding plug 29, one-way valves are arranged in the first connecting pipe 9 and the second connecting pipe 13, a water mist box 12 is arranged at the inner bottom of the hollow shell 1, a dust falling box 10 is arranged on the outer wall of one side of the hollow shell 1, one end, far away from the dust falling cylinder 14, of the first connecting pipe 9 is communicated with the dust falling box 10, one end, far away from the dust falling cylinder 14, of the second connecting pipe 13 is communicated with the water mist box 12, an auxiliary sliding block 35 is fixedly arranged on the inner wall of the hollow circular pipe 22, a lifting block 31 is arranged in the hollow circular pipe 22, the dust falling sliding plug 29 is rectangular, the lifting block 31 cannot rotate along with the hollow pipe 22 and only moves up and down, an auxiliary sliding block 32 is arranged on the outer wall of the lifting sliding block 31, the auxiliary sliding block 32, one end, the lifting sliding block 31 is connected with the lifting sliding chute 30, and the auxiliary sliding chute 30, and the lifting sliding chute 31 is connected with the lifting sliding block 31, and the lifting sliding chute 30;
be provided with marking mechanism on the mounting bracket 2, marking mechanism includes the last connecting rod 28 of fixed connection at elevator block 31 top, the one end that goes up connecting rod 28 and keep away from elevator block 31 is provided with the electro-magnet 8 that is located the bottom top in mounting bracket 2, electro-magnet 8 and controller 6 electric connection, the bottom of roof 3 is provided with the mark section of thick bamboo 23 that is located directly over electro-magnet 8, slotted hole 27 has been seted up to the bottom of mark section of thick bamboo 23, the inside of mark section of thick bamboo 23 is provided with the mark sliding plug 34 rather than inner wall sliding connection, mark sliding plug 34 has magnetism, be provided with the spring 33 that is located between the bottom in mark section of thick bamboo 23 and the mark section of thick bamboo 34 in the mark section of thick bamboo 23, the top of roof 3 is provided with fluorescent agent bin 4, the bottom of roof 3 is provided with mark box 24, be provided with third connecting pipe 25 and the fourth connecting pipe 26 rather than inside being linked together on the mark section of thick bamboo 23, third connecting pipe 25 and fourth connecting pipe 26 all are located the top of mark sliding plug 34, all be provided with the check valve in third connecting pipe 25 and the fourth connecting pipe 26, the one end that third connecting pipe 25 kept away from mark section of thick bamboo 23 is linked together with fluorescent agent bin 4, the one end that mark section of fluorescent agent bin is kept away from the mark section of thick bamboo 23 and is linked together, fourth connecting pipe 26 is kept away from.
When the multifunctional sensor is used, the driving wheel 7 is arranged, the inspection robot can move back and forth to perform inspection, the camera 5 can collect information in a mine, the multifunctional sensor 11 can detect the concentration of toxic gas in the mine in real time, the auxiliary sliding block 35 is positioned at the highest point of the auxiliary sliding chute 32 in an initial state, the servo motor 16 is started in the inspection process, the output shaft of the servo motor 16 drives the rotating shaft 17 to rotate, the hollow circular pipe 22 can rotate ninety degrees intermittently by arranging the circular disc 18, the limiting rod 19, the limiting disc 20, the rotating block 21 and the rotating groove 15, the hollow circular pipe 22 rotates to drive the camera 5 on the top plate 3 to rotate ninety degrees intermittently, the highest point 35 of the auxiliary sliding block slides to the lowest point position from the highest point position in the process of each intermittent rotation of the hollow circular pipe 22, and then slides to the highest point position, namely the lifting block 31 ascends and then descends, the dust falling sliding plug 29 slides upwards through the lower connecting rod 30 in the ascending process of the lifting block 31, water mist in the water mist box 12 is sucked into the dust falling cylinder 14 through the second connecting pipe 13, and is extruded out of the dust falling plug 10 in the dust falling cylinder 14;
when the multifunctional sensor 11 detects that the concentration of toxic gas in a certain area is too high, the robot stops moving, the controller 6 enables the electromagnet 8 to be electrified and have magnetism, the lifting block 31 moves upwards, the electromagnet 8 moves upwards along with the electromagnet 8 through the upper connecting rod 28, when the electromagnet 8 moves upwards to the highest position, the magnetic force between the electromagnet 8 and the mark sliding plug 34 is large enough and larger than the elastic force of the spring 33, the spring 33 is compressed, the mark sliding plug 34 slides downwards, fluorescent agent solution in the fluorescent agent storage tank 4 is sucked into the mark cylinder 23 through the third connecting pipe 25, when the lifting block 31 moves downwards, the magnetic attraction force between the electromagnet 8 and the mark sliding plug 34 is gradually reduced, when the electromagnet 8 moves downwards to the lowest position, the magnetic attraction force between the electromagnet 8 and the mark sliding plug 34 is smaller than the elastic force generated by the spring 33 being compressed, the mark sliding plug 34 slides upwards, fluorescent agent sucked into the mark cylinder 23 is extruded into the mark box 24 through the fourth connecting pipe 26 and is sprayed out through a spray head on the mark box 24, and the area is continuously inspected, and the robot continues to perform inspection and move and warn.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides a colliery is patrolled and examined work robot in pit, includes cavity casing (1), its characterized in that, the bottom of cavity casing (1) is provided with drive wheel (7), the interior top of cavity casing (1) is run through and is provided with rather than rotate hollow pipe (22) of being connected, fixed mounting has mounting bracket (2) on the one end lateral wall outside cavity casing (1) hollow pipe (22) is located, the interior bottom of mounting bracket (2) is provided with multi-function sensor (11) and controller (6), multi-function sensor (11) and controller (6) electric connection, the top fixed mounting of mounting bracket (2) has roof (3), the top of roof (3) is provided with camera (5), the bottom of roof (3) is provided with mark section of thick bamboo (23), be provided with the intermittent type slewing mechanism who is connected with hollow pipe (22) in cavity casing (1), set up dust fall mechanism on cavity casing (1), be provided with marking mechanism on mounting bracket (2).
2. The robot for underground coal mine inspection according to claim 1, wherein the intermittent rotating mechanism comprises a servo motor (16) fixedly mounted at the bottom in a hollow shell (1), an output shaft of the servo motor (16) is fixedly connected with a rotating shaft (17), a disc (18) is fixedly mounted at the top end of the rotating shaft (17), a limiting disc (20) is fixedly mounted at the top of the disc (18), a limiting rod (19) is fixedly mounted at the edge of the top of the disc (18), a rotating block (21) is fixedly mounted on the outer side wall of a hollow circular tube (22), four rotating grooves (15) are uniformly distributed in the rotating block (21), and the limiting rod (19) and the rotating grooves (15) are matched with each other.
3. The robot for the underground coal mine inspection operation according to claim 1, wherein the dust falling mechanism comprises a dust falling cylinder (14) arranged at the inner bottom of the hollow shell (1), a dust falling sliding plug (29) connected with the inner wall of the dust falling cylinder in a sliding manner is arranged in the dust falling cylinder (14), a first connecting pipe (9) and a second connecting pipe (13) communicated with the interior of the dust falling cylinder (14) are arranged on the dust falling cylinder (14), the first connecting pipe (9) and the second connecting pipe (13) are both located below the dust falling sliding plug (29), one-way valves are arranged in the first connecting pipe (9) and the second connecting pipe (13), a water mist tank (12) is arranged at the inner bottom of the hollow shell (1), a dust falling box (10) is arranged on the outer wall of one side of the hollow shell (1), one end, far away from the dust falling cylinder (14), of the first connecting pipe (9) is communicated with the dust falling box (10), and one end, far away from the dust falling cylinder (14), of the second connecting pipe (13) is communicated with the water mist tank (12).
4. The robot for the underground coal mine inspection operation according to claim 3, characterized in that an auxiliary sliding block (35) is fixedly mounted on the inner wall of the hollow circular tube (22), a lifting block (31) is arranged in the hollow circular tube (22), an auxiliary sliding groove (32) is formed in the outer side wall of the lifting block (31), the auxiliary sliding groove (32) is wavy, the auxiliary sliding block (35) is slidably connected into the auxiliary sliding groove (32), an lower connecting rod (30) is fixedly connected to the bottom of the lifting block (31), and one end, far away from the lifting block (31), of the lower connecting rod (30) is fixedly connected to a dust fall sliding plug (29).
5. The robot for the underground coal mine inspection operation according to claim 4, wherein the marking mechanism comprises an upper connecting rod (28) fixedly connected to the top of a lifting block (31), an electromagnet (8) located above the bottom in the mounting frame (2) is arranged at one end, far away from the lifting block (31), of the upper connecting rod (28), the electromagnet (8) is electrically connected with the controller (6), a marking cylinder (23) located right above the electromagnet (8) is arranged at the bottom of the top plate (3), a slotted hole (27) is formed in the bottom of the marking cylinder (23), a marking sliding plug (34) in sliding connection with the inner wall of the marking cylinder (23) is arranged in the marking cylinder (23), a spring (33) located between the marking sliding plug (34) and the bottom in the marking cylinder (23) is arranged in the top of the top plate (3), a fluorescent agent storage tank (4) is arranged at the bottom of the top plate (3), a marking box (24) is arranged at the bottom of the top plate (3), a third connecting pipe (25) and a fourth connecting pipe (26) communicated with the interior of the marking cylinder (23) are arranged in the connecting pipe, and the connecting pipe (26) are arranged above the third connecting pipe (26), one end, far away from the marking cylinder (23), of the third connecting pipe (25) is communicated with the fluorescent agent storage box (4), and one end, far away from the marking cylinder (23), of the fourth connecting pipe (26) is communicated with the marking box (24).
6. The robot for underground coal mine inspection according to claim 3, wherein the dust fall sliding plug (29) is rectangular.
7. The robot for the underground coal mine inspection operation according to claim 5, wherein the marking sliding plug (34) is magnetic.
8. The robot for the underground coal mine inspection operation according to claim 1, wherein the mounting frame (2) is U-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210921322.4A CN115492637A (en) | 2022-08-02 | 2022-08-02 | Underground coal mine inspection operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210921322.4A CN115492637A (en) | 2022-08-02 | 2022-08-02 | Underground coal mine inspection operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115492637A true CN115492637A (en) | 2022-12-20 |
Family
ID=84466822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210921322.4A Pending CN115492637A (en) | 2022-08-02 | 2022-08-02 | Underground coal mine inspection operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115492637A (en) |
-
2022
- 2022-08-02 CN CN202210921322.4A patent/CN115492637A/en active Pending
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