CN104532948A - Pipeline robot with garbage smashing and collecting function - Google Patents
Pipeline robot with garbage smashing and collecting function Download PDFInfo
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- CN104532948A CN104532948A CN201410822385.XA CN201410822385A CN104532948A CN 104532948 A CN104532948 A CN 104532948A CN 201410822385 A CN201410822385 A CN 201410822385A CN 104532948 A CN104532948 A CN 104532948A
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- arm
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- wheel
- gear set
- index arm
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
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- Water Supply & Treatment (AREA)
- Disintegrating Or Milling (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline robot with a garbage smashing and collecting function. Video image information in a pipeline is captured through an information collecting device arranged in front, and transmitted to a master controller in time, the master controller controls wheel stepping motors to drive a wheel type motor vehicle to move according to actual needs, a rotary stepping motor, transmission stepping motors and a section stepping motor are combined to control a mechanical arm to grab garbage and sundries, meanwhile, low-speed stepping motors and a high-speed stepping motor of a smashing machine are controlled to work, and the function of removing and smashing the garbage in the pipeline is achieved. The stepping motors are adopted to drive all the assemblies, control is convenient, smashing mechanisms are combined with the mechanical arm and the like, and garbage collection and treatment integration is achieved.
Description
Technical field
The present invention relates to cleaning apparatus for pipes, particularly relate to a kind of pipe robot with garbage crushing collecting function.
Background technology
Along with the expansion of city size and being on the increase of water supply volume, the daily life sewage in city and discharged volume of industrial waste water increase increasingly, and the demand for the technical development such as sewage transport and process also improves increasingly.In sewage transport process, usually adopt Cemented filling.Through using for a long time, sewage running piping wall can deposit or stick together certain thickness mud, reducing the cross-sectional area of conveyance conduit, thus reduce the sewage transport amount of conveyance conduit and the transfer efficiency of sewage.Therefore need the desilting work carrying out pipeline, because the caliber of drainage pipe is increasing, sewage conduct work of removing contamination is also day by day heavy.
The maintenance of current sewer pipe network has plant maintenance and artificial lower well servicing.They have respective shortcoming and defect: plant maintenance automaticity is lower, and the limitation of application is given prominence to; Artificial lower well servicing bad environments, safety is poor, and the health of harm workman, even can endanger the life of workman, and inefficiency, labor cost will be given prominence to gradually.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of pipe robot with garbage crushing collecting function is provided.
The technical solution used in the present invention is:
A kind of pipe robot with garbage crushing collecting function, comprise wheel driving force car, mechanical arm, mill and main controller, mechanical arm is located at the rear end of wheel driving force car, mill is located at the front end of wheel driving force car, outlet and the wheel driving force car of mill are provided with garbage containing chamber and communicate, and wheel driving force car, mechanical arm and mill are electrically connected with main controller respectively;
Described wheel driving force car comprises four wheels, and each described wheel is by a wheel driving stepper motor;
Described mechanical arm comprises the driving gear set of first segment arm, second section arm, Section of three arm, index arm, joint wrist gear train and more than two, described driving gear set comprises driving wheel, supporting roller and driven pulley, driving wheel is connected with driven pulley by supporting roller, and each described driving wheel is driven by a geared stepper motor;
Wheel driving force car rear end is fixed on by a rotating stepper motor in one end of described first segment arm, the other end of first segment arm is hinged by one end of the first driving gear set and second section arm, the driving wheel of the first driving gear set is arranged at the other end of first segment arm, the driving wheel of the first driving gear set is driven by the first geared stepper motor, and the driven pulley of the first driving gear set is fixed on one end of second section arm;
The other end of second section arm is hinged by one end of the second driving gear set and Section of three arm, the driving wheel of the second driving gear set is arranged at the other end of second section arm, the driving wheel of the second driving gear set is driven by the second geared stepper motor, and the driven pulley of the second driving gear set is fixed on one end of Section of three arm;
The other end of described Section of three arm connects index arm by joint wrist gear train;
Described joint wrist gear train comprises joint wrist driving wheel, index arm supporting roller, lower driven pulley, upper driven pulley and joint wrist stepper motor, joint wrist driving wheel is connected with lower driven pulley by an index arm supporting roller, joint wrist driving wheel is connected with upper driven pulley by two index arm supporting rollers, described joint wrist driving wheel is by saving wrist driving stepper motor, and described joint wrist stepper motor connects main controller;
Described index arm comprises index arm and lower index arm, and described joint wrist driving wheel is arranged on the other end of Section of three arm, and described lower driven pulley is fixed on one end of lower index arm, and described upper driven pulley is fixed on one end of index arm.
Described pipe robot also comprises information collecting device, and described information collecting device is arranged on the front end of wheel driving force car, and information collecting device is electrically connected with main controller, and information collecting device comprises camera and searchlight.
The both sides, front end of described wheel driving force car are provided with directive wheel.
Horizontal angle measuring sensor is installed on the chassis of described wheel driving force car, and horizontal angle measuring sensor connects main controller.
Described mill comprises sensor, one-level disintegrating mechanism and secondary breaker structure, sensor is located at mill import department, sensor is connected with main controller, one-level disintegrating mechanism comprises primary pinion cutter and two the low speed stepper motors that two subtends are arranged on mill mouth, described each primary pinion cutter is by a described low speed driving stepper motor, secondary breaker structure comprises a secondary gears cutter and a ultrahigh speed stepper motor, and secondary gears cutter is by this ultrahigh speed driving stepper motor.
Described upper index arm comprises the first index arm and the second index arm, and described lower index arm comprises the 3rd index arm and the 4th index arm; One end of first index arm is fixedly connected with the lower driven pulley of joint wrist gear train, the first index arm other end is hinged by one end of the 3rd driving gear set and the second index arm, the driving wheel of the 3rd driving gear set is arranged at the other end of the first index arm, the driving wheel of the 3rd driving gear set is driven by the 3rd geared stepper motor, and the driven pulley of the 3rd driving gear set is fixed on one end of the second index arm; One end of 3rd index arm is fixedly connected with the upper driven pulley of joint wrist gear train, the 3rd index arm other end is hinged by one end of the 4th driving gear set and the 4th index arm, the driving wheel of the 4th driving gear set is arranged at the other end of the 3rd index arm, the driving wheel of the 4th driving gear set is driven by the 4th geared stepper motor, and the driven pulley of the 4th driving gear set is fixed on one end of the 4th index arm.
The present invention adopts above technical scheme, the video image information in pipeline is caught by front information collecting device, and pass to main controller in time, main controller controls the motion that wheel stepper motor drives wheeled power car according to actual needs, and capture rubbish incidental in conjunction with rotating stepper motor, geared stepper motor and joint wrist step motor control mechanical arm, control low speed stepper motor and the work of height stepper motor of mill simultaneously, reach the effect of removing and pulverizing rubbish in pipeline.The present invention adopts each assembly of driving stepper motor, and it is convenient to control, and by the combination such as disintegrating mechanism and mechanical arm, realizes garbage collection process integration.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details;
The structural representation of a kind of pipe robot with garbage crushing collecting function of Fig. 1 the present invention;
The top view of a kind of pipe robot with garbage crushing collecting function of Fig. 2 the present invention;
The partial schematic diagram of the camera head of a kind of pipe robot with garbage crushing collecting function of Fig. 3 the present invention.
Detailed description of the invention
As shown in one of Fig. 1-3, the present invention includes wheel driving force car 1, mechanical arm 2, mill 3 and main controller (not indicating in figure), mechanical arm establishes 2 in the rear end of wheel driving force car 1, mill 3 is located at the front end of wheel driving force car 1, outlet and the wheel driving force car 1 of mill 3 are provided with garbage containing chamber 10 and communicate, and wheel driving force car 1, mechanical arm 2 and mill 3 are electrically connected with main controller respectively;
Described wheel driving force car comprises four wheels 11, and each described wheel is driven by a wheel stepper motor 12;
Described mechanical arm comprises the driving gear set of first segment arm 21, second section arm 22, Section of three arm 23, index arm 24, joint wrist gear train and more than two, described driving gear set comprises driving wheel, supporting roller and driven pulley, driving wheel is connected with driven pulley by supporting roller, and each described driving wheel is driven by a geared stepper motor;
Wheel driving force car 1 rear end is fixed on by a rotating stepper motor 20 in one end of described first segment arm 21, the other end of first segment arm 21 is hinged by one end of the first driving gear set and second section arm 22, the driving wheel 261 of the first driving gear set is arranged at the other end of first segment arm 21, the driving wheel 261 of the first driving gear set is driven by the first geared stepper motor 13, the supporting roller 262 of the first driving gear set is positioned at the hinged center of first segment arm 21 and second section arm 22, and the driven pulley 263 of the first driving gear set is fixed on one end of second section arm 22;
The other end of second section arm 22 is hinged by one end of the second driving gear set and Section of three arm 23, the driving wheel 271 of the second driving gear set is arranged at the other end of second section arm 22, the driving wheel 271 of the second driving gear set is driven by the second geared stepper motor 14, the supporting roller 272 of the second driving gear set is positioned at the hinged center of second section arm 22 and Section of three arm 23, and the driven pulley 273 of the second driving gear set is fixed on one end of Section of three arm 23;
The other end of described Section of three arm 23 connects index arm 24 by joint wrist gear train.
Described joint wrist gear train comprises joint wrist driving wheel 281, index arm supporting roller, lower driven pulley 283, upper driven pulley 284 and joint wrist stepper motor 15, joint wrist driving wheel 281 is connected with lower driven pulley 283 by an index arm supporting roller, joint wrist driving wheel 281 is connected with upper driven pulley 284 by two index arm supporting rollers, described joint wrist driving wheel 281 is driven by joint wrist stepper motor 15, and described joint wrist stepper motor 15 connects main controller;
Described index arm 24 comprises index arm and lower index arm, and described joint wrist driving wheel 281 is arranged on the other end of Section of three arm 23, and described lower driven pulley 283 is fixed on one end of lower index arm, and described upper driven pulley 284 is fixed on one end of index arm.
Described upper index arm comprises the first index arm 243 and the second index arm 244, and described lower index arm comprises the 3rd index arm 245 and the 4th index arm 246; One end of first index arm 243 is fixedly connected with the lower driven pulley 283 of joint wrist gear train, first index arm 243 other end is hinged by one end of the 3rd driving gear set and the second index arm 244, the driving wheel 291 of the 3rd driving gear set is arranged at the other end of the first index arm 243, the driving wheel 291 of the 3rd driving gear set is driven by the 3rd geared stepper motor 19, and the driven pulley 293 of the 3rd driving gear set is fixed on one end of the second index arm 244; One end of 3rd index arm 245 is fixedly connected with the upper driven pulley 284 of joint wrist gear train, 3rd index arm 245 other end is hinged by one end of the 4th driving gear set and the 4th index arm 246, the driving wheel 301 of the 4th driving gear set is arranged at the other end of the 3rd index arm 245, the supporting roller 302 of the 4th driving gear set is arranged at the other end of the 3rd index arm 245, the driving wheel 301 of the 4th driving gear set is driven by the 4th geared stepper motor 20, and the driven pulley 303 of the 4th driving gear set is fixed on one end of the 4th index arm 246.
Further, as shown in Figure 2 or Figure 3, described pipe robot also comprises information collecting device, and described information collecting device is arranged on the front end of wheel driving force car 1, and information collecting device is electrically connected with main controller, and information collecting device comprises camera 4 and searchlight.Further, in order to ensure the boardness of camera angle, avoid the dead angle of omission, camera is arranged at wheel driving force car 1 front end by a rotating base 41, and rotating base 41 is driven by a camera stepper motor 16, and camera stepper motor 16 connects main controller.Searchlight coordinates camera 41 to gather pipeline internal information, and be sent to main controller after information processing, be convenient to the actual conditions that user accurately understands pipe interior, and according to needs in pipeline, by main controller control valve pipeline robot, pipe interior rubbish processed.
The both sides, front end of described wheel driving force car 1 are provided with directive wheel 5.Prevent from pipe robot from running into the obstructions such as tube wall to block.
Horizontal angle measuring sensor 6 is installed on the chassis of described wheel driving force car 1, and horizontal angle measuring sensor 6 connects main controller.Walked at pipeline internal in robot by pipeline, easily because residing angle problem causes wheel driving force car 1 to overturn.After horizontal angle measuring sensor 6 is installed, when wheel driving force car 1 reaches the limit of angle, transmit a signal to main controller and do corresponding adjustment guarantee walking to control wheeled power car 1.
Described mill 3 comprises sensor (not indicating in figure), one-level disintegrating mechanism and secondary breaker structure, sensor is located at mill 3 import department, sensor is connected with main controller, one-level disintegrating mechanism comprises primary pinion cutter 31 and two the low speed stepper motors 17 that two subtends are arranged on mill mouth, described each primary pinion cutter drives by a described low speed stepper motor 17, secondary breaker structure comprises secondary gears cutter 32 and a ultrahigh speed stepper motor 18, and secondary gears cutter 32 is driven by this ultrahigh speed stepper motor 18.
The operating principle of mechanical arm is as follows:
Mechanical arm 2 multi-directionally that main controller can realize pipe robot by the rotating stepper motor 20 controlling to be fixed on wheel driving force car 1 rear end rotates, the rubbish of convenient pickup diverse location and angle.Be articulated and connected by driving gear set between each joint arm of mechanical arm 2, flexibility and the accuracy of mechanical arm 2 are higher.
The driving wheel 261 that the first geared stepper motor 13 that main controller controls to be arranged at first segment arm 21 other end rotarily drives the first driving gear set is rotated through first segment arm 21 and rotates with the supporting roller 262 of second section arm 22 hinged center first driving gear set, and then drive the driven pulley 263 of the first driving gear set be fixed on second section arm 22 one end to rotate, thus drive the action of second section arm 22.Section three, the control procedure of arm 23 control principle and second section arm 22 is similar, repeats no more here.
When needing upper and lower index arm closed, Host Controller Driver joint wrist stepper motor 15 is rotated counterclockwise, the driving wheel 281 of joint wrist gear train is rotated counterclockwise, and by driving lower driven pulley 283 to rotate counterclockwise after an index arm supporting roller transmission, and then drives lower index arm up; On the other hand, due to the transmission of two careless gears, the upper driven pulley 284 of joint wrist gear train rotates clockwise, and goes up index arm like this and moves downward, thus realizes the closed of upper and lower index arm.Opening with closing course of upper and lower index arm is similar, repeats no more here.
When needs are to upper, when lower index arm carefully controls, the 3rd geared stepper motor 19 that main controller controls to be positioned at the other end of the first index arm 243 of lower index arm drives the driving wheel 291 of the 3rd driving gear set to be rotated counterclockwise, the supporting roller 292 of the 3rd driving gear set is driven to turn clockwise, the center of the supporting roller 292 of the 3rd driving gear set is the hinged center of the first index arm 243 and the second index arm 244, the supporting roller 292 of the 3rd driving gear set just can drive the second index arm 244 be fixedly connected with the driven pulley 293 of the 3rd driving gear set to be rotated counterclockwise, control the second index arm 244 upwards to swing, first index arm 243 of the 3rd index arm 245 of upper index arm and the control procedure of the 4th index arm 246 and lower index arm and the similar process of the second index arm 244, repeat no more here.Just can be picked up, unclamp target obstruction rubbish object by control valve pipeline robot by above control.
The operating principle of mill is as follows:
When sensor detects that rubbish enters the import of mill 3, transmission of signal is to main controller, main controller controls one-level and pulverizes institution staff, two low speed stepper motors 17 rotate, thus drive primary pinion cutter 31 to rotate, rubbish sucks in mill 3 by primary pinion cutter 31, rubbish is avoided to stop in the import department of mill 3, two primary pinion cuttves 31 that one-level disintegrating mechanism is arranged in opposite directions, rubbish can be sucked in mill 3 automatically and carry out primary comminution simultaneously, adopt low speed stepper motor 17 can not cause splashing again while guarantee bulk rubbish obtains pulverizing.The secondary breaker structure of mill drives secondary gears cutter 32 to operate by high-speed stepper motor 18, can tear up rapidly, grind up the refuse, and secondary gears cutter 32 is very little with gap, mill 3 inside edge, and rubbish cannot get rid of mill 3 before not pulverizing.The present invention adopts this mill, removing relatively large shape obturator and some rubbish that should not pulverize as softer in polybag, carrying out tearing up, pulverizing, taking out of after collection, avoiding accumulating at pipe interior when running into.
The present invention adopts above technical scheme, the video image information in pipeline is caught by front information collecting device, and pass to main controller in time, main controller controls the motion that wheel stepper motor drives wheeled power car according to actual needs, and capture rubbish incidental in conjunction with rotating stepper motor, geared stepper motor and joint wrist step motor control mechanical arm, control low speed stepper motor and the work of height stepper motor of mill simultaneously, reach the effect of removing and pulverizing rubbish in pipeline.The present invention adopts each assembly of driving stepper motor, and it is convenient to control, and by the combination such as disintegrating mechanism and mechanical arm, realizes garbage collection process integration.
Claims (6)
1. the pipe robot with garbage crushing collecting function, it is characterized in that: it comprises wheel driving force car, mechanical arm, mill and main controller, mechanical arm is located at the rear end of wheel driving force car, mill is located at the front end of wheel driving force car, outlet and the wheel driving force car of mill are provided with garbage containing chamber and communicate, and wheel driving force car, mechanical arm and mill are electrically connected with main controller respectively;
Described wheel driving force car comprises four wheels, and each described wheel is by a wheel driving stepper motor;
Described mechanical arm comprises the driving gear set of first segment arm, second section arm, Section of three arm, index arm, joint wrist gear train and more than two, described driving gear set comprises driving wheel, supporting roller and driven pulley, driving wheel is connected with driven pulley by supporting roller, and each described driving wheel is driven by a geared stepper motor;
Wheel driving force car rear end is fixed on by a rotating stepper motor in one end of described first segment arm, the other end of first segment arm is hinged by one end of the first driving gear set and second section arm, the driving wheel of the first driving gear set is arranged at the other end of first segment arm, the driving wheel of the first driving gear set is driven by the first geared stepper motor, and the driven pulley of the first driving gear set is fixed on one end of second section arm;
The other end of second section arm is hinged by one end of the second driving gear set and Section of three arm, the driving wheel of the second driving gear set is arranged at the other end of second section arm, the driving wheel of the second driving gear set is driven by the second geared stepper motor, and the driven pulley of the second driving gear set is fixed on one end of Section of three arm;
The other end of described Section of three arm connects index arm by joint wrist gear train;
Described joint wrist gear train comprises joint wrist driving wheel, index arm supporting roller, lower driven pulley, upper driven pulley and joint wrist stepper motor, joint wrist driving wheel is connected with lower driven pulley by an index arm supporting roller, joint wrist driving wheel is connected with upper driven pulley by two index arm supporting rollers, described joint wrist driving wheel is by saving wrist driving stepper motor, and described joint wrist stepper motor connects main controller;
Described index arm comprises index arm and lower index arm, and described joint wrist driving wheel is arranged on the other end of Section of three arm, and described lower driven pulley is fixed on one end of lower index arm, and described upper driven pulley is fixed on one end of index arm.
2. a kind of pipe robot with garbage crushing collecting function according to claim 1, it is characterized in that: described pipe robot also comprises information collecting device, described information collecting device is arranged on the front end of wheel driving force car, information collecting device is electrically connected with main controller, and information collecting device comprises camera and searchlight.
3. a kind of pipe robot with garbage crushing collecting function according to claim 1, is characterized in that: the both sides, front end of described wheel driving force car are provided with directive wheel.
4. a kind of pipe robot with garbage crushing collecting function according to claim 1, is characterized in that: horizontal angle measuring sensor is installed on the chassis of described wheel driving force car, and horizontal angle measuring sensor connects main controller.
5. a kind of pipe robot with garbage crushing collecting function according to claim 1, it is characterized in that: described mill comprises sensor, one-level disintegrating mechanism and secondary breaker structure, sensor is located at mill import department, sensor is connected with main controller, one-level disintegrating mechanism comprises primary pinion cutter and two the low speed stepper motors that two subtends are arranged on mill mouth, described each primary pinion cutter is by a described low speed driving stepper motor, secondary breaker structure comprises a secondary gears cutter and a ultrahigh speed stepper motor, secondary gears cutter is by this ultrahigh speed driving stepper motor.
6. a kind of pipe robot with garbage crushing collecting function according to claim 1, is characterized in that: described upper index arm comprises the first index arm and the second index arm, described lower index arm comprises the 3rd index arm and the 4th index arm; One end of first index arm is fixedly connected with the lower driven pulley of joint wrist gear train, the first index arm other end is hinged by one end of the 3rd driving gear set and the second index arm, the driving wheel of the 3rd driving gear set is arranged at the other end of the first index arm, the driving wheel of the 3rd driving gear set is driven by the 3rd geared stepper motor, and the driven pulley of the 3rd driving gear set is fixed on one end of the second index arm; One end of 3rd index arm is fixedly connected with the upper driven pulley of joint wrist gear train, the 3rd index arm other end is hinged by one end of the 4th driving gear set and the 4th index arm, the driving wheel of the 4th driving gear set is arranged at the other end of the 3rd index arm, the driving wheel of the 4th driving gear set is driven by the 4th geared stepper motor, and the driven pulley of the 4th driving gear set is fixed on one end of the 4th index arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410822385.XA CN104532948B (en) | 2014-12-25 | 2014-12-25 | A kind of pipe robot with garbage crushing collecting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410822385.XA CN104532948B (en) | 2014-12-25 | 2014-12-25 | A kind of pipe robot with garbage crushing collecting function |
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| Publication Number | Publication Date |
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| CN104532948A true CN104532948A (en) | 2015-04-22 |
| CN104532948B CN104532948B (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410822385.XA Expired - Fee Related CN104532948B (en) | 2014-12-25 | 2014-12-25 | A kind of pipe robot with garbage crushing collecting function |
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| CN (1) | CN104532948B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106051377A (en) * | 2016-05-30 | 2016-10-26 | 北京玄通海纳科技发展有限公司 | Pipeline robot |
| CN106351326A (en) * | 2016-09-10 | 2017-01-25 | 安徽蓝鼎环保能源科技有限公司 | Pipeline desilting device |
| CN106623296A (en) * | 2017-02-27 | 2017-05-10 | 山东科技大学 | Novel telescopic pipeline cleaning robot |
| CN107670796A (en) * | 2017-09-14 | 2018-02-09 | 芜湖市通达锅炉有限公司 | A kind of dual purpose steam water boiler inorganic fuel shredding mechanism |
| CN108049265A (en) * | 2016-08-30 | 2018-05-18 | 包凤丹 | A kind of high ferro, motor-car track full-automatic integral safeguard machine |
| CN111706327A (en) * | 2020-06-17 | 2020-09-25 | 安徽理工大学 | A remain and fall coal briquette and pick up reducing mechanism and control system for coal mining in pit |
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| CN203919042U (en) * | 2014-04-30 | 2014-11-05 | 温家成 | Mineral conveying robot |
| CN204343440U (en) * | 2014-12-25 | 2015-05-20 | 漳州市锦成电力设备有限公司 | A kind of pipe robot with garbage crushing collecting function |
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| DE10029764B4 (en) * | 2000-06-25 | 2004-09-09 | Ernst Hoehne | trolley |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106051377A (en) * | 2016-05-30 | 2016-10-26 | 北京玄通海纳科技发展有限公司 | Pipeline robot |
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| CN108130832A (en) * | 2016-08-30 | 2018-06-08 | 包凤丹 | It is a kind of collect detection, stone squeeze push away, clean integrated high-speed railway rail handling machine people |
| CN108049265B (en) * | 2016-08-30 | 2020-07-10 | 台州市黄岩智正信息科技有限公司 | Full-automatic integrated maintenance machine for high-speed rail and motor car rails |
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| CN106623296A (en) * | 2017-02-27 | 2017-05-10 | 山东科技大学 | Novel telescopic pipeline cleaning robot |
| CN107670796A (en) * | 2017-09-14 | 2018-02-09 | 芜湖市通达锅炉有限公司 | A kind of dual purpose steam water boiler inorganic fuel shredding mechanism |
| CN111706327A (en) * | 2020-06-17 | 2020-09-25 | 安徽理工大学 | A remain and fall coal briquette and pick up reducing mechanism and control system for coal mining in pit |
| CN111706327B (en) * | 2020-06-17 | 2022-11-15 | 安徽理工大学 | A remain and fall coal briquette and pick up reducing mechanism and control system for coal mining in pit |
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| Publication number | Publication date |
|---|---|
| CN104532948B (en) | 2016-06-15 |
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