CN116767902B - Unmanned cabin cleaning machine - Google Patents
Unmanned cabin cleaning machine Download PDFInfo
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- CN116767902B CN116767902B CN202310893999.6A CN202310893999A CN116767902B CN 116767902 B CN116767902 B CN 116767902B CN 202310893999 A CN202310893999 A CN 202310893999A CN 116767902 B CN116767902 B CN 116767902B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 24
- 239000000463 material Substances 0.000 claims description 18
- 229920001971 elastomer Polymers 0.000 claims description 3
- 239000000806 elastomer Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000001179 sorption measurement Methods 0.000 claims description 2
- 230000005389 magnetism Effects 0.000 claims 1
- 210000001503 joint Anatomy 0.000 description 13
- 230000005484 gravity Effects 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 230000004630 mental health Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention discloses an unmanned cabin cleaning machine, which aims to drive a grain suction pipe to move by utilizing a multi-joint mechanical arm so as to suck grains in a cabin of a ship without a worker going to the bilge to clean, and adopts the technical scheme that: the unmanned cabin cleaning machine comprises a frame and a walking unit for driving the frame to move, wherein a foldable mechanical arm is arranged on the frame and comprises a plurality of joints which are sequentially hinged, and each joint can rotate around the hinge axis; be equipped with first body on the joint, two adjacent first body on the joint passes through the second body and connects, the second body is the flexible pipe, and first body and second body connect in turn and constitute and inhale the grain pipe, be equipped with in the frame and inhale the grain unit, the one end that inhale the grain pipe and be close to the frame is connected with inhaling the grain unit, belongs to unloading equipment technical field.
Description
Technical Field
The invention belongs to the technical field of unloading equipment, and particularly relates to an unmanned cabin cleaning machine.
Background
At present, grain in a cabin is generally transported out by a ship unloader or a grab bucket of a grain carrier in a port, but no matter the ship unloader or the grab bucket is adopted, the grain in the cabin is completely cleaned, and residual grains are necessarily left.
In order to remove the residual grains in the ship cabin, a worker and a forklift are required to be placed in the ship cabin, the worker uses the forklift to concentrate the residual grains at the bottom of the cabin, and then uses a ship unloader or a grab bucket to clean the residual grains; however, the bilge is bad in environment, a large amount of dust is generated in the process of collecting the residual grains, the operation of workers is not facilitated, the operation mode is low in efficiency and long in time consumption, and the workers need to wait at the bilge.
Disclosure of Invention
The invention mainly aims to provide an unmanned cabin cleaning machine, which aims to drive a grain suction pipe to move by utilizing a multi-joint mechanical arm so as to suck grains in a cabin of a ship without a worker going to the bottom of the cabin for cleaning.
According to a first aspect of the invention, an unmanned cabin cleaning machine is provided, comprising a frame and a walking unit for driving the frame to move, wherein a foldable mechanical arm is arranged on the frame, the mechanical arm comprises a plurality of joints which are hinged in sequence, and each joint can rotate around the hinge axis;
The grain sucking machine comprises a frame, a grain sucking unit, a grain sucking pipe and a grain sucking unit, wherein the first pipe is arranged on the joint, two adjacent first pipes on the joint are connected through a second pipe, the second pipe is a flexible pipe, the first pipe and the second pipe are alternately connected to form the grain sucking pipe, and one end of the grain sucking pipe, which is close to the frame, is connected with the grain sucking unit.
In the unmanned cabin cleaning machine, the joints are divided into a first joint, a second joint, a third joint, a fourth joint and a fifth joint;
The device also comprises a first driving module for driving the first joint to rotate, a second driving module for driving the second joint to rotate, a third driving module for driving the third joint to rotate, a fourth driving module for driving the fourth joint to rotate and a fifth driving module for driving the fifth joint to rotate.
In the unmanned cabin cleaning machine, the length direction of the third joint is a first direction, the third joint comprises a first arm body and a second arm body which are sequentially arranged along the first direction, one end of the first arm body is hinged with the second joint, the other end of the first arm body is rotationally connected with the second arm body, one end of the second arm body far away from the first arm body is hinged with a fourth joint, and the third driving module drives the first arm body to vertically rotate;
The first arm body is provided with a rotary driving module, the rotary driving module drives the second arm body to rotate, and the first axis of the rotary axis of the second arm body is parallel to the first direction.
In the unmanned cabin cleaning machine, when the mechanical arm is unfolded to suck materials in the cabin, the rotation axis of the second arm body is vertically arranged.
In the unmanned cabin cleaning machine, the first arm body and the second arm body are respectively provided with a first pipe body, and the first pipe bodies on the first arm body and the second arm body are connected through the second pipe body.
In the unmanned cabin cleaning machine, the frame is provided with a rotary upright post capable of horizontally rotating, and the mechanical arm is hinged to the rotary upright post.
In the unmanned cabin cleaning machine, a suction nozzle is arranged at one end, far away from the fourth joint, of the fifth joint, and the suction nozzle is connected with one end, far away from the frame, of the grain suction pipe.
In the unmanned cabin cleaning machine, the suction nozzle comprises a main pipeline, an auxiliary pipeline and a suction nozzle, wherein the main pipeline is fixed on a fifth joint and is communicated with the grain suction pipe, the auxiliary pipeline is magnetically adsorbed and communicated with the main pipeline, the suction nozzle is fixed at one end of the auxiliary pipeline far away from the main pipeline, a first flange is arranged on the main pipeline, a second flange is arranged on the auxiliary pipeline, a plurality of springs are arranged between the first flange and the second flange, one end of each spring is fixedly connected with the first flange, the other end of each spring is fixedly connected with the second flange, the main pipeline and the auxiliary pipeline are made of rigid materials, and the suction nozzle is made of elastomer materials.
In the unmanned cabin cleaning machine, a plurality of springs are uniformly distributed around the circumference of the main pipeline.
In the unmanned cabin cleaning machine, a guide part is arranged at one end, close to the main pipeline, of the auxiliary pipeline, and the guide part can be inserted into the main pipeline.
One of the above technical solutions of the present invention has at least one of the following advantages or beneficial effects:
According to the invention, the mechanical arm is arranged on the walking unit, the mechanical arm can be aligned to the cabin under the driving of the walking unit, the mechanical arm is provided with a plurality of joints, and the posture of the mechanical arm can be adjusted through the up-and-down rotation of each joint, so that the mechanical arm stretches into the cabin, grains in the cabin can be sucked out by utilizing the grain suction pipe on the mechanical arm, the grain suction pipe can reach each corner in the cabin under the driving of the mechanical arm, grains are sucked cleanly, no worker is required to go to the cabin bottom to clean residual grains, the grain cleaning efficiency is improved, and the physical and mental health of the worker is also maintained;
The mechanical arm comprises a first joint, a second joint, a third joint, a fourth joint and a fifth joint, the length direction of the third joint is the first direction, the third joint comprises a first arm body and a second arm body which are sequentially arranged along the first direction, the second arm body rotates under the driving of the rotary driving module, the first axis of the rotation axis of the second arm body is parallel to the first direction, when the mechanical arm is unfolded in a cabin to suck materials, the rotation axis of the second arm body is vertically arranged, through the limitation of the gesture during sucking materials, the torque required to be driven by the rotary driving module is small, the rotary driving module does not need large driving power, the volume of the rotary driving module is small, the rotary driving module is easy to hide on the first arm body, and the mechanical arm can be folded.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a schematic view of a mechanical arm according to a first embodiment of the present invention when deployed;
FIG. 2 is a schematic view of the structure of the first embodiment of the invention with the suction pipe removed and the mechanical arm folded;
FIG. 3 is a schematic view of the first embodiment of the present invention with the rotation axis of the second arm body of the mechanical arm arranged vertically;
FIG. 4 is a schematic view of the first embodiment of the present invention with the rotation axis of the second arm body of the mechanical arm disposed obliquely;
Fig. 5 is a partial enlarged view of a of fig. 1 according to the first embodiment of the present invention.
Wherein reference numerals for the respective figures:
1. A frame; 11. a rotary upright post; 2. a walking unit; 3. a mechanical arm; 31. a first joint; 32. a second joint; 33. a third joint; 331. a first arm body; 332. a second arm body; 34. a fourth joint; 35. a fifth joint; 36. a first driving module; 37. a second driving module; 38. a third driving module; 39. a fourth driving module; 40. a fifth driving module; 4. a first tube body; 5. a second tube body; 6. a grain sucking unit; 7. a suction nozzle; 71. a main pipe; 711. an annular flange; 72. a secondary pipe; 721. a guide part; 73. a suction nozzle; 74. a first flange; 75. a second flange; 76. and (3) a spring.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
The following disclosure provides many different embodiments, or examples, for implementing different aspects of the invention.
Referring to fig. 1 to 5, in an embodiment of the present invention, an unmanned cabin cleaning machine includes a frame 1 and a traveling unit 2 for driving the frame 1 to move, generally, a guide rail is disposed on a quay side, the frame 1 is in rolling fit with the guide rail, so that the frame 1 can move along the quay side, and the traveling unit 2 is generally a traveling trolley structure;
The machine frame 1 is provided with a foldable mechanical arm 3, the mechanical arm 3 comprises a plurality of joints which are hinged in sequence, and each joint can rotate around the hinge axis; the hinge axes of all joints are horizontally arranged;
The joints are provided with first pipe bodies 4, the first pipe bodies 4 on two adjacent joints are connected through second pipe bodies 5, the second pipe bodies 5 are flexible pipes, the first pipe bodies 4 and the second pipe bodies 5 are alternately connected to form a grain sucking pipe, the frame 1 is provided with a grain sucking unit 6, and one end of the grain sucking pipe, which is close to the frame 1, is connected with the grain sucking unit 6; the grain sucking unit 6 comprises a negative pressure tank, and the negative pressure tank utilizes negative pressure equipment to generate suction force so that a grain sucking pipe can suck grains;
The mechanical arm 3 can be to the cabin of going up under the drive of walking unit 2, and mechanical arm 3 has a plurality of joints, through the upper and lower rotation of each joint, can adjust the gesture of mechanical arm 3 to let mechanical arm 3 stretch into the cabin in, utilize the grain suction pipe on the mechanical arm 3, can suck out the grain in the cabin, under the drive of mechanical arm 3, the grain suction pipe can reach each corner in the cabin, and it is clean to absorb the grain, need not the workman to go to the bilge and go to clear up the residual grain, has improved grain cleaning efficiency, has also maintained the physical and mental health of workman.
The second pipe body 5 is a flexible pipe, so that when each joint rotates, the second pipe body 5 can correspondingly deform; the first tube body 4 may be a rigid tube or a flexible tube.
Specifically, the joints are divided into a first joint 31, a second joint 32, a third joint 33, a fourth joint 34, and a fifth joint 35;
The device also comprises a first driving module 36 for driving the first joint 31 to rotate, a second driving module 37 for driving the second joint 32 to rotate, a third driving module 38 for driving the third joint 33 to rotate, a fourth driving module 39 for driving the fourth joint 34 to rotate and a fifth driving module 40 for driving the fifth joint 35 to rotate;
The first drive module 36, the second drive module 37, the third drive module 38, the fourth drive module 39 and the fifth drive module 40 are all hydraulic cylinders; the corresponding joints are driven to rotate up and down through the expansion and contraction of the hydraulic cylinder, and the included angles among the joints are adjusted, so that the mechanical arm 3 can take different postures; when not in use, the mechanical arm 3 can be folded up, so that the mechanical arm 3 is prevented from being bumped by a ship.
The length direction of the third joint 33 is a first direction, the third joint 33 comprises a first arm body 331 and a second arm body 332 which are sequentially arranged along the first direction, one end of the first arm body 331 is hinged with the second joint 32, the other end of the first arm body 331 is rotatably connected with the second arm body 332, one end of the second arm body 332 far away from the first arm body 331 is hinged with the fourth joint 34, and the third driving module 38 drives the first arm body 331 to rotate up and down so that the third joint 33 can rotate up and down;
The first arm 331 is provided with a rotation driving module (not shown in the figure), the rotation driving module drives the second arm 332 to rotate, and the rotation axis of the second arm 332 is parallel to the first direction;
When the mechanical arm 3 is unfolded to suck materials in the cabin, the rotation axis of the second arm body 332 is vertically arranged; by limiting the gesture during material suction, the torque required to be driven by the rotary driving module is smaller, and the rotary driving module does not need large driving power, so that the volume of the rotary driving module is smaller, the rotary driving module is easy to hide on the first arm body 331, and the mechanical arm 3 can be folded;
Generally, the second arm 332 is rotatably connected to the first arm 331 through a pivoting support, and the rotation driving module is a rotating motor for driving the second arm 332 to rotate;
Referring to fig. 3, fig. 3 is a schematic view of the second arm 332 when the rotation axis of the second arm 332 is vertically arranged, and at this time, the fourth joint 34 and the fifth joint 35 are both in an inclined state, the rotation of the second arm 332 allows the end of the grain suction pipe on the fifth joint 35 to rotate around the rotation axis of the second arm 332 to suck grains, and the rotation radius of the end of the grain suction pipe can be adjusted by adjusting the included angle between the fourth joint 34 and the second arm 332 and the included angle between the fourth joint 34 and the fifth joint 35; at this time, the gravity G received by the slewing bearing is the sum of the gravity of the second arm 332, the fourth joint 34 and the fifth joint 35, the mass point is located on the fourth joint 34, the distance between the slewing center of the slewing bearing and the mass point is L, the included angle between the imaginary connecting line of the slewing center of the slewing bearing and the mass point and the rotation axis of the second arm 332 is α, the arm length of the slewing center of the slewing bearing and the mass point is L 1 =l×sinα, the overturning moment m=gχl 1 received by the slewing bearing is required to overcome the friction force which is the sum of the equivalent static load generated by the axial force G and the overturning moment when the slewing bearing is driven to rotate, the slewing bearing is in rolling friction, the friction coefficient is small, and only about 0.01-0.02 is required to drive the rotating motor;
Referring to fig. 4, fig. 4 is a schematic diagram of the second arm 332 when the rotation axis is obliquely arranged, if the material is sucked in this posture, the gravity G received by the slewing bearing is still the sum of the gravity of the second arm 332, the fourth joint 34 and the fifth joint 35, and the mass point will be located on the fourth joint 34, the length of the slewing center of the slewing bearing and the mass point on the XY coordinate plane is D, the included angle between the imaginary line of the slewing center of the slewing bearing and the mass point and the XY coordinate plane is β, the arm length D 1 = D x cos β of the slewing center of the slewing bearing and the mass point on the XY coordinate plane, the arm length of the slewing bearing and the mass point on the YZ coordinate plane is D 2, and the tilting moment received by the slewing bearing is two: m 1＝G*D 1、M2＝G*D2; it follows that, when the slewing bearing is driven to rotate, if the rotation axis of the second arm 332 is arranged obliquely, the rotation moment to be overcome is larger, and the driving power required by the rotating electric machine is necessarily larger, that is, a larger-sized rotating electric machine is required;
In practice, it has been found that if the rotation axis of the second arm 332 is not restricted, the required rotating electric machine volume is not easily embedded in the first arm 331, and only the first arm 331 can be enlarged, which affects the folded posture when not in use; therefore, the limitation of the rotation axis of the second arm 332 during the material sucking is very necessary, so that the rotating motor can drive the second arm 332 to rotate with enough power, thereby not excessively large volume while meeting the requirement of omnibearing grain sucking.
In this embodiment, a first tube body 4 is respectively disposed on the first arm body 331 and the second arm body 332, and the first tube bodies 4 on the first arm body 331 and the second arm body 332 are connected through a second tube body 5; when the second arm 332 rotates, the second tube 5 between the first arm 331 and the second arm 332 can be twisted to avoid the breakage of the grain suction tube.
In the embodiment, a rotary upright post 11 capable of horizontally rotating is arranged on a frame 1, and a mechanical arm 3 is hinged on the rotary upright post 11; one end of the first driving module 36 is hinged to the rotary upright 11, and the other end of the first driving module is hinged to the first joint 31, so that the first joint 31 can rotate up and down, the rotary upright 11 can drive the whole mechanical arm 3 to horizontally rotate, and the position of the mechanical arm 3 is adjusted.
In the embodiment, a material sucking mouth 7 is arranged at one end of the fifth joint 35 far away from the fourth joint 34, and the material sucking mouth 7 is connected with one end of the grain sucking pipe far away from the frame 1;
Referring to fig. 5, the suction nozzle 7 includes a main pipe 71, a secondary pipe 72, and a suction nozzle 73, the main pipe 71 is fixed on the fifth joint 35 and is communicated with the grain suction pipe, the secondary pipe 72 is magnetically adsorbed and communicated with the main pipe 71, the suction nozzle 73 is fixed at one end of the secondary pipe 72 far away from the main pipe 71, a first flange 74 is provided on the main pipe 71, a second flange 75 is provided on the secondary pipe 72, a plurality of springs 76 are provided between the first flange 74 and the second flange 75, one end of each spring 76 is fixedly connected with the first flange 74, the other end of each spring 76 is fixedly connected with the second flange 75, the main pipe 71 and the secondary pipe 72 are made of rigid materials, and the suction nozzle 73 is made of elastomer materials;
The mechanical arm 3 is utilized to drive the grain suction pipe to suck grains, and the grain suction pipe is regulated and controlled by multiple joints, so that in practice, the suction nozzle 7 is easy to touch the bottom and touch the wall, and the suction nozzle 73 is made of an elastic material and can be buffered during collision;
the suction force is very large during grain suction, the suction nozzle 73 is very easy to be adsorbed on the bilge or the bulkhead, the suction nozzle 73 and the grain suction pipe are easy to damage due to hard pulling, so that the main pipe 71 and the auxiliary pipe 72 are magnetically adsorbed, when the suction nozzle 73 is adsorbed on the bilge or the bulkhead, the main pipe 71 is pulled along with the removal of the mechanical arm 3, the main pipe 71 is pulled to be further pulled to the spring 76, meanwhile, the main pipe 71 is separated from the auxiliary pipe 72, at the moment, no suction force of the suction nozzle 73 is automatically released, the spring 76 is reset to re-butt the auxiliary pipe 72 on the main pipe 71, and the suction nozzle 73 is easily separated from the bilge and the bulkhead by means of magnetic attraction, so that the suction nozzle 73 and the grain suction pipe are not damaged.
The main pipe 71 is fixed on the fifth joint 35 by bolts or clamps, etc., and when the main pipe is idle, the suction nozzle 7 can be detached, so that the mechanical arm 3 can be folded and contracted conveniently.
Preferably, a plurality of springs 76 are circumferentially and uniformly distributed around the main pipe 71, so that when the auxiliary pipe 72 is pulled, the auxiliary pipe 72 can be coaxial with the main pipe 71 as much as possible, and the main pipe 71 is conveniently in butt joint communication with the auxiliary pipe 72.
And, the one end that is close to the trunk line 71 of auxiliary pipeline 72 is equipped with the guide part 721, be equipped with annular flange 711 in the trunk line 71, be arc transitional coupling between the one side that annular flange 711 is close to auxiliary pipeline 72 and the inner wall of trunk line 71, the outer wall of guide part 721 is also arc, guide part 721 inserts in trunk line 71, support annular flange 711, similar bulb joint bearing structure for auxiliary pipeline 72 can slightly shake, the magnet has been embedded on annular flange 711, and the magnet has also been embedded in the guide part 721, in order to let trunk line 71 and auxiliary pipeline 72 magnetic adsorption.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (4)
1. The unmanned cabin cleaning machine is characterized by comprising a frame and a walking unit for driving the frame to move, wherein a foldable mechanical arm is arranged on the frame and comprises a plurality of joints which are sequentially hinged, and each joint can rotate around the hinge axis;
the first pipe bodies on the joints are connected through the second pipe bodies, the second pipe bodies are flexible pipes, the first pipe bodies and the second pipe bodies are alternately connected to form a grain sucking pipe, a grain sucking unit is arranged on the frame, and one end of the grain sucking pipe, which is close to the frame, is connected with the grain sucking unit;
The joints are divided into a first joint, a second joint, a third joint, a fourth joint and a fifth joint;
The device also comprises a first driving module for driving the first joint to rotate, a second driving module for driving the second joint to rotate, a third driving module for driving the third joint to rotate, a fourth driving module for driving the fourth joint to rotate and a fifth driving module for driving the fifth joint to rotate;
The length direction of the third joint is a first direction, the third joint comprises a first arm body and a second arm body which are sequentially arranged along the first direction, one end of the first arm body is hinged with the second joint, the other end of the first arm body is rotationally connected with the second arm body, one end of the second arm body far away from the first arm body is hinged with a fourth joint, and the third driving module drives the first arm body to vertically rotate;
the first arm body is provided with a rotary driving module, the rotary driving module drives the second arm body to rotate, and the rotation axis of the second arm body is parallel to the first direction;
when the mechanical arm is unfolded in the cabin to suck materials, the rotation axis of the second arm body is vertically arranged;
a material sucking nozzle is arranged at one end of the fifth joint far away from the fourth joint, and the material sucking nozzle is connected with one end of the grain sucking pipe far away from the frame;
The suction nozzle comprises a main pipeline, an auxiliary pipeline and a suction nozzle, wherein the main pipeline is fixed on a fifth joint and is communicated with a grain suction pipe, the auxiliary pipeline is in magnetic adsorption communication with the main pipeline, the suction nozzle is fixed at one end of the auxiliary pipeline far away from the main pipeline, a first flange is arranged on the main pipeline, a second flange is arranged on the auxiliary pipeline, a plurality of springs are arranged between the first flange and the second flange, one end of each spring is fixedly connected with the first flange, the other end of each spring is fixedly connected with the second flange, the main pipeline and the auxiliary pipeline are made of rigid materials, and the suction nozzle is made of elastomer materials;
A guide part is arranged at one end of the auxiliary pipeline, which is close to the main pipeline, and the guide part can be inserted into the main pipeline; be equipped with annular flange in the trunk line, be arc transitional coupling between the one side that annular flange is close to the accessory pipeline and the inner wall of trunk line, the outer wall of guide part is the arc too, and guide part inserts in the trunk line, supports the annular flange for the accessory pipeline can shake, has embedded magnet on the annular flange, and also has embedded magnet in the guide part, in order to let trunk line and accessory pipeline magnetism adsorb.
2. The unmanned cabin cleaning machine of claim 1, wherein the first arm and the second arm are respectively provided with a first pipe, and the first pipes on the first arm and the second arm are connected through the second pipe.
3. The unmanned cabin cleaning machine according to claim 1, wherein the frame is provided with a horizontally rotatable swivel post, and the mechanical arm is hinged to the swivel post.
4. The unmanned cleaning machine of claim 1, wherein a plurality of the springs are circumferentially equispaced around the main pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310893999.6A CN116767902B (en) | 2023-07-19 | 2023-07-19 | Unmanned cabin cleaning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310893999.6A CN116767902B (en) | 2023-07-19 | 2023-07-19 | Unmanned cabin cleaning machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116767902A CN116767902A (en) | 2023-09-19 |
| CN116767902B true CN116767902B (en) | 2024-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310893999.6A Active CN116767902B (en) | 2023-07-19 | 2023-07-19 | Unmanned cabin cleaning machine |
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| CN (1) | CN116767902B (en) |
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| CN111470342A (en) * | 2020-05-20 | 2020-07-31 | 杭州奥拓机电股份有限公司 | Portable spiral of track machine of clearing away warehouse |
| CN111855302A (en) * | 2020-07-09 | 2020-10-30 | 浙江伯利恒仪器设备有限公司 | Light movable sampling machine |
| CN216479521U (en) * | 2021-12-17 | 2022-05-10 | 扬州东大环保有限公司 | Automatic butt joint system for movable dust removal pipeline |
| CN219305719U (en) * | 2022-07-28 | 2023-07-07 | 成都开云天成科技有限公司 | Motor-driven mechanical arm |
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