CN206351454U - A kind of manipulator fixture for line clogging robot - Google Patents
A kind of manipulator fixture for line clogging robot Download PDFInfo
- Publication number
- CN206351454U CN206351454U CN201621414626.8U CN201621414626U CN206351454U CN 206351454 U CN206351454 U CN 206351454U CN 201621414626 U CN201621414626 U CN 201621414626U CN 206351454 U CN206351454 U CN 206351454U
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- magnechuck
- rotating disk
- manipulator fixture
- disk
- inner ring
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Abstract
The utility model is related to fluid line on-line production choked technique field, a kind of especially manipulator fixture for line clogging robot, manipulator fixture includes installing lower stifled even case on a robotic arm and the driving module in the lower stifled even cavity of case, driving module includes the drive cylinder being fixed in cavity and the sliding seat being slidably mounted in cavity, sliding seat is driven by drive cylinder, the outer end of sliding seat is provided with outer shroud magnechuck, motor is provided with sliding seat, the end of motor main shaft is provided with inner ring magnechuck, outer shroud magnechuck, inner ring magnechuck, motor, drive cylinder is by PLC control, PLC is arranged on industrial robot.Manipulator fixture of the present utility model can capture type of tamper evidence by outer shroud magnechuck, then realize that block disk blocks blocking seat from inside to outside, realizes and work is blocked up under mechanization by inner ring magnechuck driving rotating disk.
Description
Technical field
The utility model is related to fluid line on-line production choked technique field, especially a kind of to be used for line clogging robot
Manipulator fixture.
Background technology
In order to convey the combustion gas such as natural gas, coal gas, it is often necessary on gas pipeline having laid, using
Bypass duct is set up, in order to not influence the normal gas transmission of gas pipeline, it is necessary to set up branch pipe(tube) under conditions of gas transmission is not stopped.Mesh
The preceding method for not stopping setting up branch pipe under the conditions of gas transmission is one wiring pipe fitting of welding, pipe fitting upper port on present gas pipeline
There is a blocking seat, blocking a sandwich valve for playing buffer action is installed above seat, the top installation of sandwich valve connects tangent line and set
Standby, new adapter line is connected with pipe fitting side wall, then using wire cutting device perforate on gas pipeline is connect, after perforate is finished, tears open
Except wire cutting device is connect, blocking operation is carried out using means for placing plug, blocking operation of the prior art generally has following technical problem：
1st, blocking operation of the prior art is typically by technical staff completes by means for placing plug, and combustion gas belongs to inflammable explosive article,
There is potential safety hazard in operating personnel, especially in high temperature environments；2nd, manipulator fixture of the prior art can not be applied to down
Stifled work, can also realize the plugging operations that formula from inside to outside is carried out to blocking disk without a kind of fixture；3rd, means for placing plug in itself compared with
Weight, wants many personal compounding practices, labor intensity is big and efficiency is low during lower block up；4th, when carrying out blocking fixed, operator
The position for blocking disk and leak stopping situation can not be intuitive to see, can only be fixed by rule of thumb exist and block fixed not in place, in pipeline
The problem of portion's gas is leaked；5th, when blocking progress leak stopping, the position of blocking is likely to occur what is existed in skew, or means for placing plug
The impurity such as iron filings, which can also hinder to block, to move, and now blocking to be stuck, and operating personnel can not judge specifically which kind of reason,
Where is broken down, and operator can only handle such case by rule of thumb.
Utility model content
The purpose of this utility model is that the defect for overcoming prior art to exist is used for line clogging robot there is provided a kind of
Manipulator fixture, coordinates type of tamper evidence to realize the plugging operations of formula from inside to outside.
In order to realize the purpose of this utility model, the technical scheme used is：
Manipulator fixture of the present utility model for line clogging robot is fixedly mounted on the machinery of industrial robot
On hand, the manipulator fixture includes installing lower stifled even case on a robotic arm and the drive in the lower stifled even cavity of case
Dynamic model group, the driving module includes the drive cylinder being fixed in cavity and the sliding seat being slidably mounted in cavity, described
Sliding seat is driven by drive cylinder, and the outer end of the sliding seat is provided with outer shroud magnechuck, the sliding seat provided with drive
Dynamic motor, the end of the motor main shaft is provided with inner ring magnechuck, the inner ring magnechuck by shaft coupling with
The motor main shaft connection, the outer shroud magnechuck, inner ring magnechuck, motor, drive cylinder are controlled by PLC
Device control processed, the PLC is arranged on the industrial robot.
Manipulator fixture described in the utility model be used to gripping type of tamper evidence and under block sealing formed in seat, it is described stifled
Plug member includes blocking disk, rotating disk and the multiple limiting plates being hinged with rotating disk, and the center position of the blocking disk is provided with rotating disk groove,
The rotating disk is installed in rotation in rotating disk groove, and the periphery of the rotating disk groove blocks disk radial arrangement provided with multiple edges upwards
Stopper slot, the limiting plate is slidably mounted in stopper slot, and the rotating disk is hinged by shift fork with the limiting plate, the rotating disk
Limiting plate telescopic slide in the stopper slot is driven by shift fork.
The center position of rotating disk described in the utility model is provided with groove, and the inner ring magnechuck is deep into groove simultaneously
Adhesive is lived and cover plate is further fixed on above rotating disk, the stopper slot, and the center of the cover plate, which is provided with, allows inner ring magnechuck to lead to
The through hole crossed, the cover plate and rotating disk are made up of magnetic metal material, cover plate described in the outer shroud magnechuck adhesive, described stifled
Annular groove is offered on the inner peripheral surface of obturating plug, the drive cylinder blocks disk by the driving of outer shroud magnechuck and enters blocking seat
The motor drives limiting plate to be inserted into the annular groove and formed to blocking disk by inner ring magnechuck after inside
Spacing fixation.
The artificial KUKA robots of industrial machine described in the utility model, the KUKA robots are carried out by remote monitoring terminal
Remote control.
Image capture module is additionally provided with lower stifled even case described in the utility model, described image acquisition module is connected to described
Remote monitoring terminal, described image acquisition module includes being arranged at the lower stifled camera even in case, be fixedly mounted described in take the photograph
As the fixed seat of head, radio receiving transmitting module is also equipped with the fixed seat, the image information that the camera is collected passes through
Radio receiving transmitting module is sent to the remote monitoring terminal.
Outer circumference surface is provided with least one sealed groove, the sealed groove on the downside of blocking disk described in the utility model
Sealing ring is installed.
Outer shroud magnechuck described in the utility model includes insulation shell and the magnet isolation tank inside insulation shell, described
Have in magnet isolation tank and coil is provided with interlayer insulating layer, the interlayer insulating layer, the opening of the magnet isolation tank is towards the blocking disk
And be open by bulkhead seal.
Be additionally provided with outer shroud magnechuck described in the utility model binding post in terminal box, the terminal box with it is described
Coil is electrically connected.
The beneficial effect of manipulator fixture of the present utility model for line clogging robot is：1. it is of the present utility model
Manipulator fixture can capture type of tamper evidence by outer shroud magnechuck, then realized and blocked by inner ring magnechuck driving rotating disk
Disk blocks blocking seat from inside to outside, realizes and work is blocked up under mechanization；2. manipulator fixture of the present utility model can be mounted directly
Used on the manipulator of industrial robot, highly versatile, the manipulator fixture can replace stifled work under artificial carry out, work
Efficiency high and safe and reliable；3. remote monitoring personnel can observe stifled status of processes under blocking by image capture module, and
Shi Faxian failures and reason, stifled error rate under reduction can be by controlling industrial robot to enter in the event of failure monitoring personnel
Row repositions calibration, or re-starts lower stifled work；4. stifled work just can be completed by a monitoring personnel under entirely, prison
Control personnel only need to input instructs stifled work under just remote controlled completion accordingly, reduces lower stifled work to mature technology people
The dependence of member, and human cost substantially reduces.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the structural representation of the manipulator fixture of the present embodiment；
Fig. 2 is the use state schematic diagram of the manipulator fixture of the present embodiment；
Fig. 3 is the structural representation of the type of tamper evidence of the present embodiment；
Fig. 4 is the use state schematic diagram of the industrial robot of the present embodiment；
Fig. 5 is the structural representation of the outer shroud magnechuck of the present embodiment；
Fig. 6 is the lower stifled view of the present embodiment.
Wherein：Sandwich valve 1；Manipulator fixture 2, lower stifled even case 21, drive cylinder 22, sliding seat 23, motor 24, outside
Ring magnechuck 25, insulation shell 251, interlayer insulating layer 252, coil 253, inner ring magnechuck 26；Type of tamper evidence 3, rotating disk 31 is dialled
Fork 32, limiting plate 33 blocks disk 34；Image capture module 4；Industrial robot 5；Block seat 6；Gas pipeline 7；Branch pipe(tube) 8；Connect
Spool part 9.
Embodiment
In description of the present utility model, it is to be understood that term " radial direction ", " axial direction ", " on ", " under ", " top ",
The orientation or position relationship of the instruction such as " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, merely to just
Described in description the utility model with simplified, rather than indicate or imply that the device or element of meaning must be with specific sides
Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In description of the present utility model
In, unless otherwise indicated, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " setting ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integrally be connected
Connect；Can be joined directly together, can also be indirectly connected to by intermediary.For the ordinary skill in the art, may be used
To understand concrete meaning of the above-mentioned term in the utility model as the case may be.
As Figure 1-5, the manipulator fixture for line clogging robot of the present embodiment, is fixedly mounted on industrial machine
On the manipulator of device people 5, wherein, industrial robot 5 is KUKA robots, and KUKA robots are carried out long-range by remote monitoring terminal
Control, its long-range control method can be found in " CN201210320368.7 " number, entitled " industrial robot remote control method
Long-range control method disclosed in the utility model patent of method ", passes through the actuating manipulator fixture 2 of industrial robot 5, manipulator fixture
2 include installing lower stifled even case 21 on a robotic arm and the driving module in the lower stifled even cavity of case 21, drive mould
Group includes the drive cylinder 22 being fixed in cavity and the sliding seat 23 being slidably mounted in cavity, and sliding seat 23 is by drive cylinder
22 drivings, can set guided way in cavity, and the sliding block with chute is fixedly mounted with bolt on sliding seat 23, passes through cunning
Block and slide rail realize the guiding of sliding seat 23, and the outer end of sliding seat 23, which is provided with outer shroud magnechuck 25, sliding seat 23, to be set
There is motor 24, the end of the main shaft of motor 24 is provided with inner ring magnechuck 26, and inner ring magnechuck 26 passes through shaft coupling
Device is connected with the main shaft of motor 24, and outer shroud magnechuck 25, inner ring magnechuck 26, motor 24 and drive cylinder 22 are equal
By PLC control, PLC is arranged on industrial robot 5.
The outer shroud magnechuck 25 of the present embodiment includes insulation shell 251 and the magnet isolation tank inside insulation shell 251,
Have in magnet isolation tank and coil 253 be provided with interlayer insulating layer 252, interlayer insulating layer 252, the opening of magnet isolation tank towards block disk 34 and
The binding post being additionally provided with bulkhead seal, outer shroud magnechuck 25 in terminal box, terminal box that is open is electrically connected with coil 253
Connect, the model orchid of inner ring magnechuck 26 reaches H6012.
Manipulator fixture 2 be used for grip type of tamper evidence 3 and under block seat 6 in formed sealing, type of tamper evidence 3 include block disk
34th, rotating disk 31 and the multiple limiting plates 33 being hinged with rotating disk 31, the center position for blocking disk 34 are provided with rotating disk groove, and rotating disk 31 can
It is rotatably mounted in rotating disk groove, the periphery of rotating disk groove is multiple upwards provided with multiple along the stopper slot for blocking the radial arrangement of disk 34
Stopper slot is evenly arranged, and stopper slot forms outward opening on the outer peripheral face for blocking disk 34, and limiting plate 33 is slidably mounted on stopper slot
Interior, rotating disk 31 is hinged by shift fork 32 with limiting plate 33, and rotating disk 31 drives limiting plate 33 to be stretched in stopper slot by shift fork 32
Slide, limiting plate 33 can skid off limited mouth or be contracted in stopper slot, it is lower it is stifled during limiting plate 33 be accommodated in stopper slot
In, limiting plate 33 stretches out in outward opening during closure, and blocks and annular groove is offered on the inner peripheral surface of seat 6, and limiting plate 33 is inserted into
Formed after in annular groove to blocking the spacing of disk 34, shift fork 32 and limiting plate 33 in the present embodiment are three and one-to-one corresponding
Connection, specifically, one end of shift fork 32 is by bolted splice on rotating disk 31, and the other end of shift fork 32 exists by bolted splice
On corresponding limiting plate 33, the telescopic moving of limiting plate 33 can be so driven when rotating disk 31 rotates.
The center position of rotating disk 31 is provided with groove, and inner ring magnechuck 26 is deep into groove and rotating disk 31 is lived in adhesive,
Be further fixed on cover plate above stopper slot, the center of cover plate provided with allowing the through hole that inner ring magnechuck 26 passes through, wherein, cover plate
It is made up with rotating disk 31 of magnetic metal material, such as iron, cobalt, nickel, blocks disk 34, shift fork 32 and limiting plate 33 by non magnetic gold
Category material is made, such as copper, aluminium, the adhesive cover plate of outer shroud magnechuck 25, and annular groove is offered on the inner peripheral surface for blocking seat 6,
Motor 24 is by interior after drive cylinder 22 enters the inside of blocking seat 6 by the driving blocking disk 34 of outer shroud magnechuck 25
The driving limiting plate 33 of ring magnechuck 26 is inserted into the spacing fixation formed in annular groove to blocking disk 34.
Image capture module 4 is additionally provided with lower stifled even case 21, image capture module 4 is connected to remote monitoring terminal, image
Acquisition module 4 includes also installing in camera, the fixed seat of fixed installation camera being arranged in lower stifled even case 21, fixed seat
There is radio receiving transmitting module, the image information that camera is collected is sent to remote monitoring terminal by radio receiving transmitting module, image
The image information that collects of head is sent to remote monitoring terminal by radio receiving transmitting module, if block disk 34 can not correctly if
Position, i.e. remote monitoring terminal show that the guide coat of limiting plate 33 is not fully inserted into the annular groove for blocking seat 6 and then illustrated
Without correct in place, the programming instruction of monitoring personnel modification industrial robot 5.
It is preferred that, block disk 34 downside outer circumference surface be provided with least one sealed groove, sealed groove be provided with it is close
Seal, blocks sealing ring stress deformation after disk 34 is entered in blocking seat 6 and seals up the gap for blocking disk 34 and blocking seat 6, when
Multiple sealed grooves and corresponding sealing ring so can also be set according to real needs.
For the ease of obtaining the spacing situation for blocking disk 34, the outer end of limiting plate 33 is towards described image acquisition module 4
One side also have sign coating, when the sign coating of limiting plate 33 be completely inserted into block seat 6 annular groove in when explanation block up
Plug disk 34 is successfully positioned.
As shown in figures 1 to 6, the line clogging method of the present embodiment comprises the following steps：
S01, set up branch pipe(tube) 8：A wiring pipe fitting 9 is welded on gas pipeline 7, wiring pipe fitting 9 connects with branch pipe(tube) 8
It is logical, then installed in the upper port of wiring pipe fitting 9 and block seat 6, then provide a kind of sandwich valve 1, sandwich valve 1 is by servomotor
Driving is turned on and off, and installs sandwich valve 1 blocking the top of seat 6, the top of sandwich valve 1, which is installed, connects wire cutting device, then utilizes
Wire cutting device perforate on gas pipeline 7 is connect, the gas after perforate in gas pipeline 7 enters branch pipe(tube) 8 by wiring pipe fitting 9,
After perforate is finished, dismounting connects wire cutting device, and blocking operation is carried out using manipulator fixture；
S02, crawl type of tamper evidence 3：Industrial robot 5 moves to finger according to the lower stifled even case 21 of the programming instruction of pre-input control
Positioning is put, and then drive cylinder 22 is descending promotes outer shroud magnechuck 25 and inner ring magnechuck 26 towards the stifled of specified location
Plug member 3 is moved, and positioning, then PLC control are completed after in the groove that inner ring magnechuck 26 enters the center of rotating disk 31
Outer shroud magnechuck 25 and inner ring magnechuck 26 processed are turned on, the adhesive type of tamper evidence 3 of outer shroud magnechuck 25, inner ring magnechuck 26
Adhesive rotating disk 31, while the rotation of the driving rotating disk 31 of motor 24 makes limiting plate be retracted into stopper slot；
S03, decentralization type of tamper evidence 3：Industrial robot 5 moves to folder according to the lower stifled even case 21 of the programming instruction of pre-input control
The top of plate valve 1, then the driving of drive cylinder 22 type of tamper evidence 3 is descending, and type of tamper evidence 3 is entered in the valve port of sandwich valve 1 and sealed
Firmly valve port, then servomotor driving valve element deviate valve port and open sandwich valve 1, then the driving of drive cylinder 22 type of tamper evidence 3 continues
It is descending until type of tamper evidence 3 lean at the upper port of wiring pipe fitting 9, then motor 24 driving limiting plate 33 be inserted into blocking
In the annular groove of seat 6, the so far decentralization of type of tamper evidence 3 positioning is completed, and type of tamper evidence 3 seals up blocking seat 6；
S04, reclaimer：PLC control outer shroud magnechuck 25 and inner ring magnechuck 26 are moved back after the completion of blocking
Magnetic, the then backhaul of drive cylinder 22, outer shroud magnechuck 25 and inner ring magnechuck 26 are retracted into lower stifled even case 21, Ran Houyi
Open lower stifled even case 21 and remove sandwich valve 1, stifled work under completion.
Model flying tiger pipeline/SV80~SV1600 of the sandwich valve 1 of this implementation, sandwich valve 1 is driven by servomotor, tool
Body, the valve element of sandwich valve 1 is connected with drive rod, and servomotor drives valve element closing to block seat 6 or open stifled by drive rod
Obturating plug 6.
Block up and whether go wrong under being monitored by image capture module 4 during whole lower stifled, if it is lower it is stifled not
Need to re-start lower stifled work in place.
It should be appreciated that specific embodiment described above is only used for explaining the utility model, it is not used to limit this reality
With new.The obvious changes or variations extended out by spirit of the present utility model is still in protection of the present utility model
Among scope.
Claims (8)
1. on a kind of manipulator fixture for line clogging robot, the manipulator for being fixedly mounted on industrial robot (5), its
It is characterised by：The manipulator fixture (2) include install on a robotic arm it is lower it is stifled even case (21) and installed in it is lower it is stifled even case
(21) the driving module in cavity, the driving module includes the drive cylinder (22) being fixed in cavity and is slidably mounted on
Sliding seat (23) in cavity, the sliding seat (23) is driven by drive cylinder (22), the outer end peace of the sliding seat (23)
Equipped with outer shroud magnechuck (25), motor (24) is provided with the sliding seat (23), motor (24) main shaft
End is provided with inner ring magnechuck (26), and the inner ring magnechuck (26) is main by shaft coupling and the motor (24)
Axle is connected.
2. the manipulator fixture according to claim 1 for line clogging robot, it is characterised in that：The manipulator
Fixture (2) be used to gripping type of tamper evidence (3) and under block sealing formed in seat (6), the type of tamper evidence (3) includes blocking disk
(34), rotating disk (31) and the multiple limiting plates (33) being hinged with rotating disk (31), the center position for blocking disk (34) are provided with
Rotating disk groove, the rotating disk (31) is installed in rotation in rotating disk groove, and the periphery of the rotating disk groove is upwards provided with multiple along blocking
The stopper slot of disk (34) radial arrangement, the limiting plate (33) is slidably mounted in stopper slot, and the rotating disk (31) passes through shift fork
(32) it is hinged with the limiting plate (33), the rotating disk (31) drives the limiting plate (33) described spacing by shift fork (32)
Telescopic slide in groove.
3. the manipulator fixture according to claim 2 for line clogging robot, it is characterised in that：The rotating disk
(31) center position is provided with groove, and the inner ring magnechuck (26) is deep into groove and rotating disk (31), institute are lived in adhesive
State and cover plate be further fixed on above stopper slot, the center of the cover plate provided with allowing the through hole that inner ring magnechuck (26) passes through,
The cover plate and rotating disk (31) are made up of magnetic metal material, cover plate described in outer shroud magnechuck (25) adhesive, described stifled
Annular groove is offered on the inner peripheral surface of obturating plug (6), the drive cylinder (22) blocks disk by outer shroud magnechuck (25) driving
(34) motor (24) drives limiting plate (33) by inner ring magnechuck (26) after entering blocking seat (6) inside
It is inserted into the spacing fixation formed in the annular groove to blocking disk (34).
4. the manipulator fixture according to claim 3 for line clogging robot, it is characterised in that：The outer shroud electricity
Magnetic-disc (25), inner ring magnechuck (26), motor (24), drive cylinder (22) are described by PLC control
PLC is arranged on the industrial robot (5), and the industrial robot (5) is KUKA robots, the KUKA machines
People carries out remote control by remote monitoring terminal.
5. the manipulator fixture according to claim 4 for line clogging robot, it is characterised in that：The lower stifled company
Image capture module (4) is additionally provided with case (21), described image acquisition module (4) is connected to the remote monitoring terminal, described
Image capture module (4) includes camera, the fixation of the fixed installation camera being arranged in the lower stifled even case (21)
Radio receiving transmitting module is also equipped with seat, the fixed seat, the image information that the camera is collected passes through wireless receiving and dispatching mould
Block is sent to the remote monitoring terminal.
6. the manipulator fixture according to claim 5 for line clogging robot, it is characterised in that：The blocking disk
(34) downside outer circumference surface, which is provided with least one sealed groove, the sealed groove, is provided with sealing ring.
7. the manipulator fixture according to claim 6 for line clogging robot, it is characterised in that：The outer shroud electricity
Magnetic-disc (25) includes insulation shell (251) and had in the internal magnet isolation tank of insulation shell (251), the magnet isolation tank exhausted
Edge interlayer (252), is provided with coil (253) in the interlayer insulating layer (252), and the opening of the magnet isolation tank is towards the blocking disk
(34) and be open by bulkhead seal.
8. the manipulator fixture according to claim 7 for line clogging robot, it is characterised in that：The outer shroud electricity
The binding post being additionally provided with magnetic-disc (25) in terminal box, the terminal box is electrically connected with the coil (253).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621414626.8U CN206351454U (en) | 2016-12-22 | 2016-12-22 | A kind of manipulator fixture for line clogging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621414626.8U CN206351454U (en) | 2016-12-22 | 2016-12-22 | A kind of manipulator fixture for line clogging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206351454U true CN206351454U (en) | 2017-07-25 |
Family
ID=59348153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621414626.8U Expired - Fee Related CN206351454U (en) | 2016-12-22 | 2016-12-22 | A kind of manipulator fixture for line clogging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206351454U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107905059A (en) * | 2017-12-01 | 2018-04-13 | 储茂松 | A kind of pipeline can automate the municipal Recycled Asphalt Pavement road construction machine blocked |
| CN108214529A (en) * | 2016-12-22 | 2018-06-29 | 常州轻工职业技术学院 | A kind of manipulator fixture and its obstruction method for line clogging robot |
| CN113334750A (en) * | 2021-06-07 | 2021-09-03 | 太原理工大学 | Novel multi-beam fiber single-layer synchronous winding equipment |
-
2016
- 2016-12-22 CN CN201621414626.8U patent/CN206351454U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214529A (en) * | 2016-12-22 | 2018-06-29 | 常州轻工职业技术学院 | A kind of manipulator fixture and its obstruction method for line clogging robot |
| CN108214529B (en) * | 2016-12-22 | 2024-01-26 | 常州轻工职业技术学院 | Manipulator clamp for pipeline blocking robot and blocking method thereof |
| CN107905059A (en) * | 2017-12-01 | 2018-04-13 | 储茂松 | A kind of pipeline can automate the municipal Recycled Asphalt Pavement road construction machine blocked |
| CN113334750A (en) * | 2021-06-07 | 2021-09-03 | 太原理工大学 | Novel multi-beam fiber single-layer synchronous winding equipment |
| CN113334750B (en) * | 2021-06-07 | 2022-05-10 | 太原理工大学 | Novel multi-beam fiber single-layer synchronous winding equipment |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170725 Termination date: 20211222 |
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| CF01 | Termination of patent right due to non-payment of annual fee |