CN103775103A - Grouting manipulator - Google Patents
Grouting manipulator Download PDFInfo
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- CN103775103A CN103775103A CN201410064545.9A CN201410064545A CN103775103A CN 103775103 A CN103775103 A CN 103775103A CN 201410064545 A CN201410064545 A CN 201410064545A CN 103775103 A CN103775103 A CN 103775103A
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Abstract
The invention relates to a grouting manipulator. The grouting manipulator comprises a chassis, a revolving mechanism, an arm support, a spray head device, a hydraulic system and an electric system, wherein the revolving mechanism, the hydraulic system and the electric system are arranged on the chassis; the arm support is hinged to the revolving mechanism, and can be driven to rotate relative to the chassis by using the revolving mechanism; the spray head device is arranged at the front end of the arm support, and is connected with a concrete conveying pipe, a compressed air conveying pipe and a setting accelerator conveying pipe of a wet sprayer; the electric system and the hydraulic system are used for controlling the actions of the arm support and the spray head device. By adopting the grouting manipulator, efficient matching with the wet sprayer is realized, operating personnel can carry out grouting work conveniently, the spray height and position can be adjusted conveniently, heavy labor work of manual holding of a spray head is liberated, the spray range is enlarged, and the construction quality is improved. Compared with a large-sized grouting vehicle, the grouting manipulator has the advantages of simple structure, small size, lower cost, suitability for construction of certain medium and small-section tunnels, and more extensive application occasions.
Description
Technical field
The present invention relates to engineering machinery field, relate in particular to a kind of shotcrete robot.
Background technology
At present, shotcrete construction technique is divided into two kinds: dry sprayig process and dampen shotcreting method.And techmque exists, rebound degree is high, dust large, injection intensity can not be guaranteed and operating personnel are existed the drawbacks such as serious health hazard, is just progressively replaced by wet-spray technique.Wet-spray technique refers to and utilizes compressed air, and concrete mixture good premixing is delivered to shower nozzle place by pipeline, forms material bundle after admixture accelerating admixture, and high velocity jet is to being subject to spray plane setting and harden, thus formation concrete supporting.
In concrete course of injection, in most cases still adopt hand spray mode, be that operating personnel's hand is embraced shower nozzle and delivery hose sprays operation side, but this mode is difficult to control concrete jet quality, the easy resilience of concrete and slump, cause that construction quality is poor, efficiency of construction is low, workman's labour intensity is large.Workman can also utilize wet-spraying machine to spray support and assist to spray, and this mode has alleviated workman's labour intensity to a certain extent, but still need to be operated shower nozzle, be adjusted jetting height by workman in work progress, and construction quality is still difficult to be guaranteed.In work progress, operating personnel's distance construction face is nearer in addition, is easily subject to causing the injury to operating personnel because of the blanking bounce-back in working face.
Except hand spray mode, in engineering, can also adopt large-scale shotcrete vehicle to construct, the various costs of its cost are higher and be easily subject to the restriction of construction space, are not suitable in the construction of middle narrow-bore tunnel.On the other hand, because shotcrete vehicle self is with complete pumping system, more existing spouting plants will be in idle state, has wasted existing resource.
Summary of the invention
The object of the invention is to propose a kind of shotcrete robot, improve construction quality, reduce workman's labour intensity.
For achieving the above object, the invention provides a kind of shotcrete robot, comprise chassis, slew gear, jib, ejecting device, hydraulic system and electrical system, described slew gear, hydraulic system and electrical system are all arranged on described chassis, described jib and described slew gear are hinged, can under the drive of described slew gear, rotate with respect to described chassis, described ejecting device is arranged on the front end of described jib, and connect the elephant trunk of wet-spraying machine, blowpipe and accelerating admixture carrier pipe, described electrical system and hydraulic system are controlled the action of described jib and ejecting device.
Further, described chassis comprises vehicle frame and walking mechanism, and described walking mechanism is arranged on described vehicle frame.
Further, on described vehicle frame, be also provided with motor and hydraulic pump, described walking mechanism is creeper undercarriage, described in described driven by engine, described in hydraulic pump drive, the left lateral vehicle and horse of creeper undercarriage reach with right lateral vehicle and horse and reach, drive the driving wheel of left crawler belt and right-hand track chiain to rotate, realize car load walking.
Further, front end at described vehicle frame is also hinged with hydraulic leg, between described hydraulic leg and described vehicle frame, the first hydraulic jack is installed, the first hydraulic jack described in hydraulic pump drive described in described driven by engine, drives described hydraulic leg regain or launch.
Further, in the rear end of described vehicle frame, console and pedal are also installed.
Further, described slew gear comprises oil cylinder with gear racks, pivoting support and rotation pole, described pivoting support is arranged on described vehicle frame, described rotation pole is fixed on the top of described pivoting support, described oil cylinder with gear racks is arranged on a side of described pivoting support, and drive the sprocket in described pivoting support under described hydraulic system drives, realize the rotation of described rotation pole with respect to described vehicle frame.
Further, the upper end of described rotation pole and described jib are hinged, between described rotation pole and described jib, the second hydraulic jack is also installed, described the second hydraulic jack makes described jib with respect to carrying out pitching action with the hinge of the upper end of described rotation pole under described hydraulic system drives.
Further, described jib comprises basic arm and at least one telescopic arm, the upper end of described basic arm and described rotation pole is hinged, described at least one telescopic arm is arranged in described basic arm, between adjacent segments arm in described basic arm and at least one telescopic arm, be also provided with at least one hydraulic jack, described ejecting device is arranged on the front end of the minor details arm in described at least one telescopic arm, and described at least one hydraulic jack makes described at least one telescopic arm carry out expanding-contracting action under described hydraulic system drives.
Further, on described basic arm and at least one telescopic arm, be equipped with protector, and with described at least one telescopic arm synchronization telescope.
Further, described ejecting device comprises the first rotary oil cylinder, the second rotary oil cylinder, support, swipe motor and nozzle, described the first rotary oil cylinder is arranged on the front end of described jib, described the second rotary oil cylinder is connected to the front end of described the first rotary oil cylinder, described support is arranged on the front end of the second rotary oil cylinder, describedly swipe motor and nozzle is arranged on described support, the described front end that swipes motor is connected with described nozzle, described the first rotary oil cylinder and the second rotary oil cylinder are realized the injection orientation of described nozzle and the adjusting of spray angle under described hydraulic system drives, the described motor that swipes makes described nozzle realize the injection action of spirality circular motion form under described hydraulic system drives.
Based on technique scheme, the present invention has designed a kind of shotcrete robot by electrical system and HYDRAULIC CONTROL SYSTEM, ejecting device is arranged on the jib front end that can rotate with respect to chassis, and be connected with elephant trunk, blowpipe and the accelerating admixture carrier pipe of wet-spraying machine, can realize with the efficient of wet-spraying machine and coordinating, make operating personnel carry out easily gunite work, also be convenient to carry out the adjustment of jetting height and position, liberate the artificial heavy physical labour of embracing shower nozzle, expand spray regime, also improved construction quality; On the other hand, than large-scale shotcrete vehicle, structure of the present invention is comparatively simple, small volume, and cost is relatively cheap, can be applicable to the construction of narrow-bore tunnel in some, and therefore applicable situation is more extensive.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the application's a part, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of an embodiment of shotcrete robot of the present invention.
Fig. 2 is the schematic diagram under hydraulic leg deployed condition in Fig. 1 embodiment.
Fig. 3 is the concrete structure schematic diagram of jib and ejecting device in shotcrete robot embodiment of the present invention.
Description of reference numerals:
1-chassis, 2-hydraulic leg, 3-slew gear, 4-jib, 5-ejecting device, 6-hydraulic system, 7-electrical system, 8-radiator, 9-fuel tank, 10-motor, the 11-the first hydraulic jack, 12-console, 13-pedal, the 14-the second hydraulic jack, the 15-the three hydraulic jack, the 16-the four hydraulic jack, 17-elephant trunk, 18-blowpipe, 19-accelerating admixture carrier pipe.
1-1-vehicle frame, 1-2-walking mechanism, 3-1-oil cylinder with gear racks, 3-2-pivoting support, 3-3-rotation pole, 4-1-basic arm, 4-2-the first telescopic arm, 4-3-the second telescopic arm, 4-4-protector, 5-1-the first rotary oil cylinder, 5-2-the second rotary oil cylinder, 5-3-support, 5-4-swipe motor, 5-5-nozzle.
The specific embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
As shown in Figure 1, be the structural representation of an embodiment of shotcrete robot of the present invention.In the present embodiment, shotcrete robot comprises chassis 1, slew gear 3, jib 4, ejecting device 5, hydraulic system 6 and electrical system 7.Slew gear 3, hydraulic system 6 and electrical system 7 are all arranged on chassis 1.Jib 4 is hinged with slew gear 3, can under the drive of slew gear 3, rotate with respect to chassis 1, ejecting device 5 is arranged on the front end (this direction of sentencing sensing operating position is forward direction) of jib 4, and connecting elephant trunk, blowpipe and the accelerating admixture carrier pipe of wet-spraying machine, electrical system 7 and hydraulic system 6 are controlled the action of jib 4 and ejecting device 5.
The chassis 1 is here the structure for bearing function is provided for slew gear, hydraulic system and electrical system, and it can be the fixing structure that can not move, for example, be arranged on place by the fixed form such as pin, nail; Also can be structure movably, move to by walking mechanism the position that need to whitewash and be fixed again etc.Chassis 1 shown in Fig. 2 is removable frame, comprises vehicle frame 1-1 and walking mechanism 1-2, and walking mechanism 1-2 is arranged on vehicle frame 1-1.Walking mechanism 1-2 can be the creeper undercarriage in Fig. 2, also can select rubber-tyred walking mechanism (or claiming automobile traveling mechanism) according to application scenario.
In Fig. 1,2, motor 10 and hydraulic pump (not shown) can also be set on vehicle frame 1-1, motor 10 can drive the left lateral vehicle and horse of hydraulic pump drive creeper undercarriage to reach with right lateral vehicle and horse to reach, and drives the driving wheel of left crawler belt and right-hand track chiain to rotate, and realizes car load walking.
Being expert at and going to behind operating position in chassis 1, often needs to keep at work the stability of car load, so just can assist the stable of car load by some supporting legs.The for example hydraulic leg 2 shown in Fig. 1,2, this hydraulic leg can be hinged on the front end (this sentences the chassis direction of travelling of advancing is forward direction, and rightabout is backward) of vehicle frame 1-1.In order to control this hydraulic leg, the first hydraulic jack 11 is installed between hydraulic leg 2 and vehicle frame 1-1, drive hydraulic pump drive the first hydraulic jack 11 by motor 10, drive hydraulic leg 2 regain or launch.Wherein Fig. 1 and Fig. 2 are respectively the schematic diagram of hydraulic leg 2 withdrawals and deployed condition.In the time that shotcrete robot moves or travel, hydraulic leg 2 is regained, and in the time of work, is launched to keep the stability of car load.
The electrical system of shotcrete robot can realize operating personnel's Remote operation, and operating personnel also may stand in the console 12 of installing by the rear end of vehicle frame 1-1 on the pedal 13 of vehicle frame 1-1 rear end and control the car load operation of travelling or whitewash.In order to facilitate night running or operation, at the front end of vehicle frame, lighting device can also be installed.
In Fig. 1,2, slew gear 3 can specifically comprise oil cylinder with gear racks 3-1, pivoting support 3-2 and rotation pole 3-3, it is upper that pivoting support 3-2 can be arranged on vehicle frame 1-1, and rotation pole 3-3 is fixed on the top of pivoting support 3-2, and rotation pole 3-3 can rotate together along with pivoting support 3-2.Oil cylinder with gear racks 3-1 is arranged on a side of pivoting support 3-2, engages, and drive the sprocket in pivoting support 3-2 with the sprocket (not shown) in pivoting support 3-2 under hydraulic system 6 drives, and realizes the rotation of rotation pole 3-3 with respect to vehicle frame 1-1.
The upper end of rotation pole 3-3 and jib 4 are hinged, so just can make the jib 4 hinged with rotation pole 3-3 turn to respect to vehicle frame 1-1 the angle that hope reaches by controlling oil cylinder with gear racks 3-1.The second hydraulic jack 14, the second hydraulic jacks 14 can also be installed between rotation pole 3-3 and jib 4 and can under the driving of hydraulic system 6, make jib 4 with respect to carrying out pitching action with the hinge of the upper end of rotation pole 3-3.By oil cylinder with gear racks 3-1 and the second hydraulic jack 14 just realized jib 4 with respect to vehicle frame 1-1 in the horizontal direction with vertical direction on angle adjustable, handled easily personnel carry out location and the adjustment of eject position and angle.In addition, rotation pole 3-3 and the second hydraulic jack 14 have surrounded firm triangular structure, have played the stable support function to jib 4.
As shown in Figure 3, jib 4 at least can be made up of basic arm 4-1 and at least one telescopic arm, wherein the upper end of basic arm 4-1 and rotation pole 3-3 is hinged, the effect of basic arm 4-1 is support and holds the telescopic arm in jib 4, and at least one telescopic arm is arranged in basic arm 4-1, between adjacent segments arm in basic arm 4-1 and at least one telescopic arm, be also provided with at least one hydraulic jack, and ejecting device 5 is arranged on the front end of the minor details arm at least one telescopic arm, (this sentences direction of pointing to operating position is forward direction, the telescopic arm that is jib 4 stretches out direction), wherein the hydraulic jack of adjacent segments arm can make at least one telescopic arm carry out expanding-contracting action under hydraulic system 6 drives.In Fig. 3, have two joint telescopic arms, be respectively the first telescopic arm 4-2 and the second telescopic arm 4-3, and between basic arm 4-1 and the first telescopic arm 4-2, be provided with the 3rd hydraulic jack 15, between the first telescopic arm 4-2 and the second telescopic arm 4-3, be provided with the 4th hydraulic jack 16.Ejecting device 5 is just arranged on the front end as the second telescopic arm 4-3 of minor details arm.
On basic arm and telescopic arm, be equipped with protector, can with at least one telescopic arm synchronization telescope.And the connection bracket that protector can arrange by basic arm and telescopic arm both sides is installed fixing.Both sides at protector can also arrange lighting device.The Main Function of protector is to prevent dirt (concrete for example spraying etc.) corrosive liquid compressing cylinder and jib in the time of spraying operation, guarantees the durable of jib.
In Fig. 3, ejecting device 5 comprises the first rotary oil cylinder 5-1, the second rotary oil cylinder 5-2, support 5-3, swipes motor 5-4 and nozzle 5-5.The first rotary oil cylinder 5-1 is arranged on the connection bearing of front end setting of the second telescopic arm 4-3, the second rotary oil cylinder 5-2 is connected to the front end of the first rotary oil cylinder 5-1, support 5-3 is arranged on the front end of the second rotary oil cylinder 5-2, and swipes motor 5-4 and nozzle 5-5 is arranged on support 5-3.
The front end that swipes motor 5-4 is connected with nozzle 5-5, the first rotary oil cylinder 5-1 and the second rotary oil cylinder 5-2 can realize the injection orientation of nozzle 5-5 and the adjusting of spray angle under hydraulic system 6 drives, and swipe motor 5-4 and can under hydraulic system 6 drives, make nozzle 5-5 realize the injection action of spirality circular motion form.Nozzle 5-5 is connected with elephant trunk 17, blowpipe 18 and the accelerating admixture carrier pipe 19 of wet-spraying machine respectively.Can make injection more even by the injection action of this spirality circular motion form, reduce resilience, also guarantee construction quality.
By the explanation to Fig. 1-3 above, be appreciated that slew gear 3 realizes the rotation of jib 4 in level orientation, the second hydraulic jack 14 is realized the pitching action of jib 4, and the 3rd hydraulic jack 15 and the 4th hydraulic jack 16 can be realized the stretching motion of jib 4.And swiping motor, two rotary oil cylinders in ejecting device 5 and one realizes the adjusting of nozzle ejection orientation, spray angle and injection action.Can be easy to realize the multi-faceted control of shotcrete robot of the present invention at boundary of works area by this series of actions, eliminate working angle, and these actions all control by hydraulic system and electrical system, this is also convenient to realize operating personnel's remote control control.
Shotcrete robot of the present invention is applicable to all kinds of occasions that need spraying of material, can support the use with other spouting plants (as wet-spraying machine etc.), and the material that can spray includes but not limited to concrete.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; Although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the field are to be understood that: still can modify or part technical characterictic is equal to replacement the specific embodiment of the present invention; And not departing from the spirit of technical solution of the present invention, it all should be encompassed in the middle of the technical scheme scope of request protection of the present invention.
Claims (10)
1. a shotcrete robot, it is characterized in that, comprise chassis, slew gear, jib, ejecting device, hydraulic system and electrical system, described slew gear, hydraulic system and electrical system are all arranged on described chassis, described jib and described slew gear are hinged, can under the drive of described slew gear, rotate with respect to described chassis, described ejecting device is arranged on the front end of described jib, and connect the elephant trunk of wet-spraying machine, blowpipe and accelerating admixture carrier pipe, described electrical system and hydraulic system are controlled the action of described jib and ejecting device.
2. shotcrete robot according to claim 1, is characterized in that, described chassis comprises vehicle frame and walking mechanism, and described walking mechanism is arranged on described vehicle frame.
3. shotcrete robot according to claim 2, it is characterized in that, on described vehicle frame, be also provided with motor and hydraulic pump, described walking mechanism is creeper undercarriage, described in described driven by engine, described in hydraulic pump drive, the left lateral vehicle and horse of creeper undercarriage reach with right lateral vehicle and horse and reach, drive the driving wheel of left crawler belt and right-hand track chiain to rotate, realize car load walking.
4. shotcrete robot according to claim 3, it is characterized in that, front end at described vehicle frame is also hinged with hydraulic leg, between described hydraulic leg and described vehicle frame, the first hydraulic jack is installed, the first hydraulic jack described in hydraulic pump drive described in described driven by engine, drives described hydraulic leg regain or launch.
5. shotcrete robot according to claim 3, is characterized in that, in the rear end of described vehicle frame, console and pedal is also installed.
6. shotcrete robot according to claim 2, it is characterized in that, described slew gear comprises oil cylinder with gear racks, pivoting support and rotation pole, described pivoting support is arranged on described vehicle frame, described rotation pole is fixed on the top of described pivoting support, described oil cylinder with gear racks is arranged on a side of described pivoting support, and drives the sprocket in described pivoting support under described hydraulic system drives, and realizes the rotation of described rotation pole with respect to described vehicle frame.
7. shotcrete robot according to claim 6, it is characterized in that, the upper end of described rotation pole and described jib are hinged, between described rotation pole and described jib, the second hydraulic jack is also installed, described the second hydraulic jack makes described jib with respect to carrying out pitching action with the hinge of the upper end of described rotation pole under described hydraulic system drives.
8. shotcrete robot according to claim 7, it is characterized in that, described jib comprises basic arm and at least one telescopic arm, the upper end of described basic arm and described rotation pole is hinged, described at least one telescopic arm is arranged in described basic arm, between adjacent segments arm in described basic arm and at least one telescopic arm, be also provided with at least one hydraulic jack, described ejecting device is arranged on the front end of the minor details arm in described at least one telescopic arm, described at least one hydraulic jack makes described at least one telescopic arm carry out expanding-contracting action under described hydraulic system drives.
9. shotcrete robot according to claim 8, is characterized in that, on described basic arm and at least one telescopic arm, is equipped with protector, and with described at least one telescopic arm synchronization telescope.
10. according to the arbitrary described shotcrete robot of claim 1～9, it is characterized in that, described ejecting device comprises the first rotary oil cylinder, the second rotary oil cylinder, support, swipe motor and nozzle, described the first rotary oil cylinder is arranged on the front end of described jib, described the second rotary oil cylinder is connected to the front end of described the first rotary oil cylinder, described support is arranged on the front end of the second rotary oil cylinder, describedly swipe motor and nozzle is arranged on described support, the described front end that swipes motor is connected with described nozzle, described the first rotary oil cylinder and the second rotary oil cylinder are realized the injection orientation of described nozzle and the adjusting of spray angle under described hydraulic system drives, the described motor that swipes makes described nozzle realize the injection action of spirality circular motion form under described hydraulic system drives.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410064545.9A CN103775103A (en) | 2014-02-26 | 2014-02-26 | Grouting manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410064545.9A CN103775103A (en) | 2014-02-26 | 2014-02-26 | Grouting manipulator |
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| CN201410064545.9A Pending CN103775103A (en) | 2014-02-26 | 2014-02-26 | Grouting manipulator |
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Cited By (19)
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| CN104061002A (en) * | 2014-06-09 | 2014-09-24 | 山东科技大学 | Mining concrete wet spraying manipulator device |
| CN104165062A (en) * | 2014-08-15 | 2014-11-26 | 山东科技大学 | Obstacle crossing guniting mechanical arm |
| CN104929661A (en) * | 2015-06-05 | 2015-09-23 | 林文建 | Spouting device |
| CN105156138A (en) * | 2015-09-18 | 2015-12-16 | 福州市尊品建设工程有限公司 | Mechanical-arm guniting operation platform |
| CN106553972A (en) * | 2017-01-22 | 2017-04-05 | 徐州徐工施维英机械有限公司 | turntable and engineering machinery |
| CN106979022A (en) * | 2017-05-10 | 2017-07-25 | 中国矿业大学 | A kind of tunnel crawler type Shotcrete Robot |
| CN107989633A (en) * | 2017-12-27 | 2018-05-04 | 湖南鹏翔星通汽车有限公司 | A kind of arm support, wet-spraying machine and wet shot system |
| CN108608414A (en) * | 2018-06-08 | 2018-10-02 | 徐州巨旋重型机械有限公司 | A kind of kiln face manipulator |
| CN109026045A (en) * | 2018-10-15 | 2018-12-18 | 中国铁建重工集团有限公司 | A kind of slurry balance shield machine cutterhead and slurry balance shield machine |
| CN109235844A (en) * | 2018-07-20 | 2019-01-18 | 抹（北京）科技有限公司 | A kind of building decoration and fitment intelligent robot |
| CN109322681A (en) * | 2018-11-26 | 2019-02-12 | 蓝传雯 | A kind of mould spray mobile assembly mechanism of spray head |
| CN110344597A (en) * | 2019-08-16 | 2019-10-18 | 莱州亚通重型装备有限公司 | A kind of explosion-proof double dynamical telescopic boom diesel engine concrete mixer |
| CN110450173A (en) * | 2019-07-31 | 2019-11-15 | 安徽佳乐建设机械有限公司 | A kind of mining wet shot trolley mechanical arm |
| CN112855222A (en) * | 2021-04-02 | 2021-05-28 | 中国铁建重工集团股份有限公司 | A mould spouts device for concrete sprays |
| CN113250741A (en) * | 2021-06-18 | 2021-08-13 | 国家能源集团乌海能源有限责任公司 | Robot for treating roof fall for coal mine |
| CN113751235A (en) * | 2021-08-19 | 2021-12-07 | 湖南鼎峰机械有限公司 | Automatic spray repair robot applied to blast furnace refractory material |
| CN113914893A (en) * | 2020-07-08 | 2022-01-11 | 中国矿业大学 | Walking type mechanical arm suitable for narrow and small space of roadway |
| CN114483090A (en) * | 2021-11-19 | 2022-05-13 | 浙江大学 | Angle self-adjusting device suitable for construction guniting of inclined shaft of pumped storage power station |
| CN115178400A (en) * | 2022-08-01 | 2022-10-14 | 重庆大学 | Intelligent guniting robot, guniting system and method |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104061002A (en) * | 2014-06-09 | 2014-09-24 | 山东科技大学 | Mining concrete wet spraying manipulator device |
| CN104165062A (en) * | 2014-08-15 | 2014-11-26 | 山东科技大学 | Obstacle crossing guniting mechanical arm |
| CN104929661A (en) * | 2015-06-05 | 2015-09-23 | 林文建 | Spouting device |
| CN105156138A (en) * | 2015-09-18 | 2015-12-16 | 福州市尊品建设工程有限公司 | Mechanical-arm guniting operation platform |
| CN106553972A (en) * | 2017-01-22 | 2017-04-05 | 徐州徐工施维英机械有限公司 | turntable and engineering machinery |
| CN106979022A (en) * | 2017-05-10 | 2017-07-25 | 中国矿业大学 | A kind of tunnel crawler type Shotcrete Robot |
| CN107989633A (en) * | 2017-12-27 | 2018-05-04 | 湖南鹏翔星通汽车有限公司 | A kind of arm support, wet-spraying machine and wet shot system |
| CN108608414A (en) * | 2018-06-08 | 2018-10-02 | 徐州巨旋重型机械有限公司 | A kind of kiln face manipulator |
| CN109235844B (en) * | 2018-07-20 | 2024-01-19 | 华德新材料有限公司 | Intelligent robot for building decoration |
| CN109235844A (en) * | 2018-07-20 | 2019-01-18 | 抹（北京）科技有限公司 | A kind of building decoration and fitment intelligent robot |
| CN109026045A (en) * | 2018-10-15 | 2018-12-18 | 中国铁建重工集团有限公司 | A kind of slurry balance shield machine cutterhead and slurry balance shield machine |
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| CN113914893A (en) * | 2020-07-08 | 2022-01-11 | 中国矿业大学 | Walking type mechanical arm suitable for narrow and small space of roadway |
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| CN113250741A (en) * | 2021-06-18 | 2021-08-13 | 国家能源集团乌海能源有限责任公司 | Robot for treating roof fall for coal mine |
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