CN108798695B - Hydraulic vibration impact robot - Google Patents
Hydraulic vibration impact robot Download PDFInfo
- Publication number
- CN108798695B CN108798695B CN201810842371.2A CN201810842371A CN108798695B CN 108798695 B CN108798695 B CN 108798695B CN 201810842371 A CN201810842371 A CN 201810842371A CN 108798695 B CN108798695 B CN 108798695B
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- hydraulic
- arm
- driving
- hinged
- slewing
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- 238000001816 cooling Methods 0.000 claims abstract description 15
- 239000003921 oil Substances 0.000 claims description 51
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 239000010720 hydraulic oil Substances 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 5
- 238000010276 construction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1086—Drives or transmissions specially adapted therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
The hydraulic vibration impact robot comprises a crawler chassis, a slewing device, a frame, a power system, an arm support system, a hydraulic system and a cooling system, wherein the crawler chassis is provided with an interface of the slewing device, four corners of the crawler chassis are provided with auxiliary supports, the slewing device comprises a slewing bearing and a slewing driving assembly, the upper part of the slewing bearing is fixed with the frame, the lower part of the slewing bearing is fixed with the crawler chassis, and the arm support system comprises three arms and driving oil cylinders thereof which are connected in series; therefore, the crawler chassis is more stable and firm in bearing through reasonable three-stage arm support structure design and auxiliary supporting devices, and the purposes of large range, strong stability and strong working power are achieved.
Description
Technical Field
The invention relates to the technical field of robot engineering, in particular to a hydraulic vibration impact robot.
Background
At present, a great deal of manpower is also relied on in domestic tunnel construction, such as excavating communication channels, safety holes and the like in the tunnel, such as construction by adopting a step method on a soft soil layer, such as dismantling temporary supports and the like.
Thus, the overall mechanization of tunnel construction necessarily becomes an irreversible trend. The hydraulic vibration impact robot has small volume and separated man and machine, replaces various manual auxiliary operations in underground engineering construction, and realizes the mechanization of underground engineering construction.
Therefore, in view of the above-mentioned drawbacks, the present inventors have studied and designed a hydraulic vibration impact robot by taking into consideration the experience and results of related industries for a long period of time through intensive research and design.
Disclosure of Invention
The invention aims to provide a hydraulic vibration impact robot which is simple in structure and convenient to operate and maintain, can be used for excavating and dismantling small tunnel sections or replacing manual work with higher dangers, and realizes the mechanization of underground engineering construction.
In order to solve the problems, the invention discloses a hydraulic vibration impact robot, which comprises a crawler chassis, a slewing device, a frame, a power system, an arm support system, a hydraulic system and a cooling system, and is characterized in that:
the crawler chassis is provided with an interface of a slewing device, four corners of the crawler chassis are provided with auxiliary supports, the slewing device comprises a slewing bearing and a slewing driving assembly, the upper part of the slewing bearing is fixed with the frame, the lower part of the slewing bearing is fixed with the crawler chassis, and the arm support system comprises a primary arm hinged on the frame and a primary arm driving oil cylinder with a displacement sensor, wherein the primary arm driving oil cylinder is hinged between the frame and the primary arm and is used for driving the primary arm to act; the secondary arm is hinged to the tail end of the primary arm, and the secondary arm driving oil cylinder is hinged between the primary arm and the secondary arm and is provided with a displacement sensor for driving the secondary arm to act; the tertiary arm is hinged to the tail end of the secondary arm, and the tertiary arm driving oil cylinder is hinged between the secondary arm and the tertiary arm and is provided with a displacement sensor for driving the tertiary arm to act; the four-stage arm driving oil cylinders with displacement sensors are hinged to the power head connecting rods at the tail ends of the three-stage arms and are hinged between the three-stage arms and the power head connecting rods and used for driving the power head to swing, so that the action of a single driving oil cylinder and the compound action of each driving oil cylinder are realized through electrically controlling the action of each driving oil cylinder.
Wherein: two free hinge points are arranged at the tail end of the power head connecting rod, and a hydraulic quick connector is arranged at the two hinge points through a pin shaft so as to install the power tool head through the hydraulic quick connector.
Wherein: the crawler chassis adopts a quick connection structure and comprises a bearing plate, clamping pieces and steel strands, wherein the steel strands penetrate through crawler frames on two sides respectively at least twelve and two ends, the bearing plate is fixed on the crawler frames and is used for the steel strands to penetrate through, and the clamping pieces are matched with the bearing plate through a conical structure to clamp the steel strands.
Wherein: the clamping piece is provided with an elastic groove, and the inner ring of the clamping piece is provided with a tooth slot for clamping the steel strand.
Wherein: the rotary driving assembly comprises a hydraulic motor and a speed reducer, the hydraulic motor is in meshed transmission with the internal teeth of the rotary support through the speed reducer, and the hydraulic motor and the speed reducer are fixed with the frame so that the frame can rotate for 360 degrees.
Wherein: the hydraulic system is composed of a hydraulic oil tank, a main pump and a multi-way valve group, the main pump is connected to the hydraulic oil tank to absorb oil from the hydraulic oil tank, the main pump supplies oil to the multi-way valve group, and the multi-way valve group is operated by electric control or manual operation to distribute oil and transmit the oil to an actuating mechanism to act.
Wherein: the cooling system comprises an air cooling machine with an engine, the air cooling machine sucks air from the front of the machine, wherein the front surface and the front side surface of the shell are provided with air suction openings, and the rear side surface, the rear shell and the bottom plate of the shell are provided with air outlets.
Wherein: the robot remote control system is further provided with a remote control system which comprises a video monitoring system and a virtual prototype system, and remote control of the robot is achieved.
As can be seen from the above structure, the hydraulic vibration impact robot of the present invention has the following effects:
1. through reasonable tertiary cantilever crane structural design and auxiliary stay device, realized extensive, stability is strong, the purpose that working power is strong.
2. The support of the crawler chassis is more stable and tight.
3. The control method of remote control and remote control is adopted, so that the safety of operators on narrow and dangerous working surfaces is ensured, and the working efficiency is high.
The details of the present invention can be found in the following description and the accompanying drawings.
Drawings
Fig. 1 shows a schematic structure of a hydraulic vibration impact robot of the present invention.
Fig. 2A shows a schematic view of the quick-connect structure of the crawler chassis of the present invention.
Fig. 2B shows a top view of the track pan quick connect structure of the present invention.
Fig. 3 and 4 show schematic diagrams of the hydraulic system of the present invention.
Fig. 5 shows a schematic diagram of the cooling system of the present invention.
Fig. 5A shows a schematic view of the present invention after the housing is installed.
Fig. 5B shows a schematic view of the rear housing of the present invention.
Fig. 5C shows a schematic diagram of the base plate of the present invention.
Fig. 6 shows a schematic diagram of a remote control system of the present invention.
Reference numerals:
1-a crawler chassis; 2-a frame; 3-turning device; 4-auxiliary support; 5-an electrical system; 6-a power tool head; 7-a power system; 8-a hydraulic system; 8-1 hydraulic oil tanks; 8-2 main pump; 8-3 multi-way valve groups; 8-4 walking motor variable control valve; 8-5 electromagnetic water valve; 8-6 piping components; 8-7 oiling pump groups; 8-8 quick connectors; 9-a primary arm driving oil cylinder; 10-primary arms; 11-a secondary arm driving oil cylinder; 12-secondary arms; 13-three-stage arm driving oil cylinders; 14-tertiary arms; 15-a power head cylinder; 16-a power head connecting rod; 1-1 bearing plate; 1-2 clamping pieces; 1-3 steel strands; 1-4 protecting covers; 17-a cooling system; 17-1 air cooling machine; 17-2 front housing; 17-3 front side cover; 17-4 a rear side cover; 17-5 backshells; 17-6 bottom plate; 18-a remote operation platform; 18-1 manipulating the device; 18-2 video monitoring system; 18-3 virtual prototype system.
Detailed Description
Referring to fig. 1 to 6, a hydraulic vibration impact robot of the present invention is shown.
The hydraulic vibration impact robot is a full-hydraulic vibration impact construction robot which can be driven by a diesel engine or driven by electricity, and comprises a crawler chassis 1, a slewing device 3, a frame 2, a power system 7, an arm support system, a power tool head 6, an auxiliary support 4, a hydraulic system 8, a cooling system 17, a remote control system 18 and the like which are driven by hydraulic pressure.
Referring to fig. 2A and 2B, an internal structure schematic diagram of a crawler chassis is shown, the crawler chassis 1 in the invention adopts a quick connection structure, and comprises a bearing plate 1-1, clamping pieces 1-2, steel strands 1-3 and a protection cover 1-4, wherein the steel strands 1-3 are at least twelve and respectively pass through crawler frames on two sides, the steel strands 1-3 can be in an upper row and a lower row shown in the figure, each row is divided into a front group and a rear group shown in fig. 2B, so that the stress is more balanced, the bearing effect is better, the bearing plate 1-1 is fixed on the crawler frames and is used for the steel strands 1-3 to penetrate through, the clamping pieces 1-2 are matched with the bearing plate 1-1 through a conical structure to clamp the steel strands 1-3, the conical structure comprises conical parts on the outer edges of the clamping pieces 1-2 and conical holes on the bearing plate 1-1, an elastic groove is formed in the clamping pieces 1-2, a tooth socket for clamping the steel strands 1-3 is formed in the inner circle, the jack tensioning 1-3 is used for generating prestress of the steel strands, and the steel strands 1-3 are reset to the bearing plate 1-1, and the prestress of the steel strands 1-3 are reset to the bearing plate 1-1, and the prestress is kept at one side of the jack 1-3 is reset, and the prestress is achieved.
Wherein the protective covers 1-4 are located on both sides to protect the internal components.
The crawler belt chassis is provided with an interface of a turning device 3, four corners of the crawler belt chassis 1 are respectively provided with an auxiliary support 4, and the auxiliary supports 4 comprise a supporting leg driven by an independent hydraulic oil cylinder. The crawler belt can be retracted and contained in the outline range of the robot when running, can extend out and be supported on the bottom surface when working, and the stability of the whole machine is improved when the robot works.
The slewing device 3 is of a slewing bearing structure driven by a hydraulic motor speed reducer, and comprises a slewing bearing and a slewing driving assembly, wherein the upper part of the slewing bearing is fixed with the frame, the lower part of the slewing bearing is fixed with the crawler chassis, the slewing driving assembly comprises a bearing, a hydraulic motor and a speed reducer, the hydraulic motor is in meshed transmission with the internal teeth of the slewing bearing through the speed reducer, and the hydraulic motor and the speed reducer are fixed with the frame, so that the frame 2 can infinitely revolve 360 degrees.
The arm support system comprises a primary arm 10 hinged on the frame 2 and a primary arm driving oil cylinder 9 with a displacement sensor, wherein the primary arm driving oil cylinder is hinged between the frame and the primary arm and is used for driving the primary arm to act; the secondary arm 12 is hinged to the tail end of the primary arm 10, and the secondary arm driving oil cylinder 11 is hinged between the primary arm and the secondary arm and is provided with a displacement sensor for driving the secondary arm to act; a tertiary arm 14 hinged to the tail end of the secondary arm and a tertiary arm driving oil cylinder 13 with a displacement sensor hinged between the secondary arm and the tertiary arm and used for driving the tertiary arm to act; a power head connecting rod 16 hinged at the tail end of the tertiary arm and a quaternary arm driving oil cylinder 15 with a displacement sensor hinged between the tertiary arm and the power head connecting rod and used for driving the power head to swing. Thus, the action of each driving oil cylinder can be controlled electrically, the action of a single driving oil cylinder can be realized, and the compound action of each group of driving oil cylinders can be realized.
Two free hinge points are arranged at the tail end of the power head connecting rod 16, and a hydraulic quick connector is arranged at the two hinge points through a pin shaft so as to install the power tool head 6 through the hydraulic quick connector. The power tool head 6 includes, but is not limited to, the use of a hydraulic vibratory breaking hammer, hydraulic milling equipment, and the like.
Referring to fig. 3 and 4, the hydraulic system 8 is to drive the main pump 8-2 to provide hydraulic oil through the power system 7, and drive each actuator of the robot to act through controlling the multi-way valve group 8-3. The hydraulic system 8 mainly comprises a hydraulic oil tank 8-1, a main pump 8-2, a multi-way valve group 8-3, a traveling motor variable control valve 8-4, an electromagnetic water valve 8-5, a pipeline assembly 8-6 and the like. The main pump 8-2 is connected with the hydraulic oil tank 8-1 to absorb oil from the hydraulic oil tank 8-1, the main pump 8-2 supplies oil to the multi-way valve group 8-3, the multi-way valve group 8-3 is operated by electric control or manual operation to distribute oil and transmit the oil to the power tool head 6, each driving oil cylinder 9, 11, 13 and 15, the rotary hydraulic motor, the crawler travel motor and the auxiliary supporting leg oil cylinder to drive each executing mechanism to act, and the control on the oil flow and the flow direction transmitted to each executing mechanism can be realized by changing the electric signal input to the multi-way valve group 8-3, so that the working state, the arm support posture, the rotation speed and direction, the crawler travel speed and direction and the telescopic speed and direction of the auxiliary supporting leg of the power tool head are controlled. The running motor variable control valve 8-4 leads oil from the multi-way valve group 8-3 to the running motor of the crawler chassis, and two-stage speed regulation of the running motor of the crawler chassis can be realized by switching the working position of the running motor variable control valve. The electromagnetic water valve 8-5 can control the on-off of a cooling waterway of the power tool head. The hydraulic oil tank 8-1 is provided with the oil filling pump group 8-7, so that the oil filling to and the oil pumping from the hydraulic oil tank can be realized, and an external auxiliary oil filling and pumping device is not needed, so that the device is convenient and efficient. The pipeline assembly 8-6 comprises a quick connector 8-8, so that quick replacement of the power tool head oil pipe can be realized.
Referring to fig. 5 and fig. 5A to fig. C, the cooling system 17 includes an air cooling machine 17-1 carried by the engine, the air cooling machine 17-1 sucks air from the front of the machine, wherein the front face 17-2 and the front side face 17-3 of the housing are provided with air suction ports, and the rear side face 17-4, the rear housing 17-5 and the bottom plate 17-6 are provided with air outlet ports, so that external air is discharged after heat exchange, heat exchange is realized, and the safety working temperature requirements of the electric system and the power system are ensured.
The hydraulic vibratory impact robot of the invention is also provided with a remote control system 18, among other things. When the robot needs to enter a narrow or dangerous environment for operation, a remote control system can be used for controlling the robot so as to ensure the safety of operators.
Referring to fig. 6, the remote control system 18 includes a video monitoring system 18-2 and a virtual prototype system 18-3, the virtual prototype system 18-3 establishes a connection between the collected sensor data and a 3D model of the excavation robot, when an operator operates the excavation robot, the 3D model is subjected to real-time animation simulation, and the working state of the machine is actually displayed on a computer screen, so that improper operation can be effectively avoided, and remote control of the robot is realized. The remote control platform mainly comprises a control part 18-1, a video monitoring system 18-2 and a virtual prototype system 18-3. The control section 18-1 can realize single action and combined action of each action of the robot. The video monitoring system 18-2 is used for realizing remote monitoring of the robot environment and the working surface by installing video monitoring equipment on the arm support and the frame of the robot. Through video monitoring, an operator can remotely control the running and operation of the robot. Each driving oil cylinder with a sensor in the robot arm support system can record and transmit the stroke information of the driving oil cylinder, the stroke parameters are provided by the oil cylinder sensor through three-dimensional design of the virtual prototype system 18-3, real-time simulation of each action of the robot is realized, a remote operator can master the gesture and the azimuth of the robot in real time, and the accuracy of remote control is improved.
The invention realizes the purposes of large range, strong stability and strong working power by optimizing the three-stage arm support structure design and the auxiliary supporting device. The control method of remote control and remote control is adopted, so that the safety of operators on narrow and dangerous working surfaces is ensured, and the working efficiency is high.
It is to be clearly understood that the above description and illustration is made only by way of example and not as a limitation on the disclosure, application or use of the invention. Although embodiments have been described in the embodiments and illustrated in the accompanying drawings, the invention is not limited to the specific examples illustrated by the drawings and described in the embodiments as the best mode presently contemplated for carrying out the teachings of the invention, and the scope of the invention will include any embodiments falling within the foregoing specification and the appended claims.
Claims (4)
1. The utility model provides a hydraulic vibration impact robot, its contains through hydraulic drive's caterpillar chassis, slewer, frame, driving system, cantilever crane system, hydraulic system and cooling system, its characterized in that:
the crawler chassis is provided with an interface of a slewing device, four corners of the crawler chassis are provided with auxiliary supports, the slewing device comprises a slewing bearing and a slewing driving assembly, the upper part of the slewing bearing is fixed with the frame, the lower part of the slewing bearing is fixed with the crawler chassis, and the arm support system comprises a primary arm hinged on the frame and a primary arm driving oil cylinder with a displacement sensor, wherein the primary arm driving oil cylinder is hinged between the frame and the primary arm and is used for driving the primary arm to act; the secondary arm is hinged to the tail end of the primary arm, and the secondary arm driving oil cylinder is hinged between the primary arm and the secondary arm and is provided with a displacement sensor for driving the secondary arm to act; the tertiary arm is hinged to the tail end of the secondary arm, and the tertiary arm driving oil cylinder is hinged between the secondary arm and the tertiary arm and is provided with a displacement sensor for driving the tertiary arm to act; the four-stage arm driving oil cylinders are hinged to the tail ends of the three-stage arms and are hinged between the three-stage arms and the power head connecting rods and are provided with displacement sensors for driving the power heads to swing, so that the action of a single driving oil cylinder and the compound action of each driving oil cylinder are realized by electrically controlling the action of each driving oil cylinder;
the crawler chassis adopts a quick connection structure and comprises at least twelve steel strands, wherein two ends of the steel strands respectively penetrate through crawler frames on two sides, the bearing plates are fixed on the crawler frames and are penetrated by the steel strands, and the clamping pieces are matched with the bearing plates through conical structures to clamp the steel strands;
the hydraulic system consists of a hydraulic oil tank, a main pump and a multi-way valve group, wherein the main pump is connected with the hydraulic oil tank to absorb oil from the hydraulic oil tank, the main pump supplies oil to the multi-way valve group, and the multi-way valve group is operated by electric control or manual operation to distribute oil and transmit the oil to an executing mechanism to act;
the cooling system comprises an air cooler with an engine, the air cooler sucks air from the front of the machine, wherein the front surface and the front side surface of the shell are provided with air suction openings, and the rear side surface, the rear shell and the bottom plate of the shell are provided with air outlets;
the robot remote control system is further provided with a remote control system which comprises a video monitoring system and a virtual prototype system, and remote control of the robot is achieved.
2. The hydraulic vibratory impact robot of claim 1, wherein: two free hinge points are arranged at the tail end of the power head connecting rod, and a hydraulic quick connector is arranged at the two hinge points through a pin shaft so as to install the power tool head through the hydraulic quick connector.
3. The hydraulic vibratory impact robot of claim 1, wherein: the clamping piece is provided with an elastic groove, and the inner ring of the clamping piece is provided with a tooth slot for clamping the steel strand.
4. The hydraulic vibratory impact robot of claim 1, wherein: the rotary driving assembly comprises a hydraulic motor and a speed reducer, the hydraulic motor is in meshed transmission with the internal teeth of the rotary support through the speed reducer, and the hydraulic motor and the speed reducer are fixed with the frame so that the frame can rotate for 360 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842371.2A CN108798695B (en) | 2018-07-27 | 2018-07-27 | Hydraulic vibration impact robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810842371.2A CN108798695B (en) | 2018-07-27 | 2018-07-27 | Hydraulic vibration impact robot |
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| Publication Number | Publication Date |
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| CN108798695A CN108798695A (en) | 2018-11-13 |
| CN108798695B true CN108798695B (en) | 2024-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810842371.2A Active CN108798695B (en) | 2018-07-27 | 2018-07-27 | Hydraulic vibration impact robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109571404B (en) * | 2018-12-12 | 2021-12-14 | 杭州申昊科技股份有限公司 | Obstacle crossing mechanism, obstacle crossing intelligent inspection robot and obstacle crossing method of transformer substation |
| CN111608223A (en) * | 2020-06-04 | 2020-09-01 | 金陵科技学院 | Underground rescue vehicle |
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| CN1792569A (en) * | 2005-12-22 | 2006-06-28 | 马鞍山市惊天液压机械制造有限公司 | Robot for disassembling work |
| WO2016037559A1 (en) * | 2014-09-10 | 2016-03-17 | 山东鲁能智能技术有限公司 | Charged water-flushing robot system and method for substation |
| CN205132727U (en) * | 2015-07-03 | 2016-04-06 | 天津鑫坤泰预应力专业技术有限公司 | Carry finished steel stranded conductor band closing device's double dynamical propelling movement machine |
| CN108189921A (en) * | 2018-01-11 | 2018-06-22 | 国家电网公司 | A kind of crawler-type carrier vehicle |
| CN208900102U (en) * | 2018-07-27 | 2019-05-24 | 中铁工程机械研究设计院有限公司 | Hydraulic jerk robot |
-
2018
- 2018-07-27 CN CN201810842371.2A patent/CN108798695B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1792569A (en) * | 2005-12-22 | 2006-06-28 | 马鞍山市惊天液压机械制造有限公司 | Robot for disassembling work |
| WO2016037559A1 (en) * | 2014-09-10 | 2016-03-17 | 山东鲁能智能技术有限公司 | Charged water-flushing robot system and method for substation |
| CN205132727U (en) * | 2015-07-03 | 2016-04-06 | 天津鑫坤泰预应力专业技术有限公司 | Carry finished steel stranded conductor band closing device's double dynamical propelling movement machine |
| CN108189921A (en) * | 2018-01-11 | 2018-06-22 | 国家电网公司 | A kind of crawler-type carrier vehicle |
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| CN108798695A (en) | 2018-11-13 |
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