CN114955461A - Fallen coal cleaning and recycling integrated robot - Google Patents
Fallen coal cleaning and recycling integrated robot Download PDFInfo
- Publication number
- CN114955461A CN114955461A CN202210776510.2A CN202210776510A CN114955461A CN 114955461 A CN114955461 A CN 114955461A CN 202210776510 A CN202210776510 A CN 202210776510A CN 114955461 A CN114955461 A CN 114955461A
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- China
- Prior art keywords
- coal
- robot
- storage bin
- scraper
- cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 239000003245 coal Substances 0.000 title claims abstract description 154
- 238000004140 cleaning Methods 0.000 title claims abstract description 37
- 238000004064 recycling Methods 0.000 title claims description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 239000003818 cinder Substances 0.000 claims abstract description 21
- 238000011084 recovery Methods 0.000 claims abstract description 14
- 238000005096 rolling process Methods 0.000 claims abstract description 3
- 239000002893 slag Substances 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims 1
- 230000007723 transport mechanism Effects 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract 1
- 230000032258 transport Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 238000007790 scraping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G45/00—Lubricating, cleaning, or clearing devices
- B65G45/10—Cleaning devices
- B65G45/12—Cleaning devices comprising scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/23—Devices for tilting and emptying of containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/14—Pulverising loaded or unloaded materials
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Disintegrating Or Milling (AREA)
Abstract
The invention discloses a coal breakage cleaning and recovery integrated robot which comprises a sub-robot responsible for cleaning the lower part of a belt and a main robot responsible for cleaning and recovering. The sub robot comprises a scraper, a scraper bracket and a sub robot vehicle body for realizing movement; the main robot includes coal shoveling mechanism, main robot automobile body, rubbing crusher constructs, transport mechanism and coal storage bin, and wherein the scraper bowl of coal shoveling mechanism articulates on main robot automobile body to through hydraulic cylinder drive, rubbing crusher constructs by two helical drum constitutions, and the cylinder is by motor drive, will through rolling coal shoveling mechanism shovels the coal of getting smashes and transports extremely transport mechanism's feed inlet department, coal shoveling mechanism inside is equipped with motor and belt, and the installation is by the coal shoveling plate on the belt, conveys the cinder after smashing to coal storage bin, and coal storage bin is used for collecting and storing the cinder after smashing, coal storage bin accessible scissors fork lift platform risees and inclines, and coal storage bin box one side board is articulated with the box to realize opening and shutting through motor drive.
Description
Technical Field
The invention relates to the field of robots, in particular to a coal breakage cleaning and recovery integrated device for a coal mine belt conveyor.
Background
Most coal mines adopt band conveyer to transport the colliery of gathering at present, but because belt adhesion cinder can lead to the cinder to form in the belt below piling up, serious can hinder the belt even and rotate in the transportation. At present, most of the devices adopt a manual cleaning mode, and are shut down periodically to perform manual cleaning. However, this method consumes a lot of manpower, and cannot ensure continuous operation of the conveyor belt, the cleaning and coal transporting efficiency is low, and the cleaning difficulty of the fallen coal accumulated for a long time is large. The existing cleaning robot cannot adapt to the environment with dim, damp and dusty roads and steps on the road surface in the transportation channel; the fallen coal is in a moist soil shape and has caking, and the existing cleaning robot cannot ideally complete the operation task.
Disclosure of Invention
The invention aims to solve the technical problem of low efficiency of the existing coal breakage cleaning, and designs a coal breakage cleaning and recycling integrated robot which can clean the coal breakage accumulated in a belt conveyor channel and send the coal breakage back to the upper part of the belt conveyor.
In order to realize the purpose, the invention adopts the following technical scheme:
a coal breakage cleaning and recovery integrated robot comprises a coal scraping sub-robot which is responsible for pushing falling coal of a belt conveyor out to a pedestrian side, and a main robot which is responsible for cleaning and collecting the falling coal of the pedestrian side and the coal scraped by the sub-robot under the belt conveyor and transporting the collected falling coal back to the belt conveyor;
the sub-robot comprises a scraper, a scraper bracket and a sub-robot body for realizing movement;
the main robot comprises a coal shoveling mechanism, a main robot body, a crushing mechanism, a conveying mechanism and a coal storage bin;
the coal shoveling mechanism comprises a bucket and a bucket connecting rod;
the crushing mechanism comprises a spiral roller;
the conveying mechanism comprises a conveying belt and a coal shoveling plate;
the coal storage bin comprises a coal storage bin cover, a coal storage bin box body and a coal storage bin lifting scissor fork.
Furthermore, wheels are arranged below the scraper support to enable the scraper support to move on the ground; the scraper is hinged on the scraper bracket and overturns through a motor; the scraper support pass through the pneumatic cylinder and connect the sub-robot automobile body on, the hydraulic stem promotes the scraper support reach the belt conveyer below, and utilize the scraper blade scrape the coal breakage of belt conveyer below to the other people's bank of china side of belt conveyer.
Furthermore, a bucket of the coal shoveling mechanism is hinged to the main robot body and driven by a hydraulic cylinder to overturn to shovel coal.
Furthermore, the crushing mechanism is composed of two spiral rollers, the rollers are installed on the main robot body and driven by a motor, and coal shoveled by the coal shoveling mechanism is crushed and conveyed to the feed inlet of the conveying mechanism through rolling.
Further, the conveying mechanism is internally provided with a motor and a conveying belt, the conveying belt is provided with a coal shoveling plate, the conveying belt is driven to rotate through the motor, and the coal shoveling plate on the conveying belt conveys coal cinder at the feed inlet, which is crushed by the crushing mechanism, to the discharge outlet.
Furthermore, the coal storage bin is arranged below the discharge hole of the conveying mechanism and used for collecting and storing crushed coal cinder; a scissor fork lifting platform is arranged below the coal storage bin, and the lifting platform drives the coal storage bin to lift the scissor fork by a hydraulic cylinder, so that the coal storage bin can be lifted and inclined; the coal storage bin cover is hinged with the coal storage bin box body and is driven by a motor to open and close.
Furthermore, the main robot vehicle body and the sub robot vehicle body are arranged on a single track, and the track wheels are driven by a motor to move; the main robot vehicle body and the sub robot vehicle body are installed on the side surface and supported by the auxiliary wheel.
The invention discloses a coal breakage cleaning and recycling integrated robot which comprises a sub-robot for scraping coal and a main robot for collecting coal cinder and conveying the coal cinder back to the position above a belt. The main robot comprises a coal shoveling mechanism, a crushing mechanism, a conveying mechanism and a coal storage bin, and the arrangement of the structure enables the device to realize continuous coal breakage cleaning and recovery operation, greatly improves the operating efficiency of the belt conveyor, solves the problems that the manual cleaning efficiency is low, the labor consumption is high, and the belt conveyor needs to be shut down during manual coal cleaning, can continuously operate, realizes the timed cleaning of the ground, and solves the problem that the cleaning difficulty is high due to excessive coal breakage;
according to the invention, the scissor fork lifting platform of the coal storage bin adopts push rods with different lengths, so that the coal storage bin is inclined while the coal storage bin is lifted, and the coal slag is more favorably poured; the coal storage bin unloads coal to the belt conveyor at regular time, so that the coal storage bin is prevented from overflowing due to overfilling, and the cleaning and recycling efficiency and effect are ensured;
according to the invention, the spiral roller is adopted by the crushing mechanism, so that the coal cinder is conveyed to the feeding hole of the conveying device while the large coal cinder is crushed, the subsequent conveying of the coal cinder is facilitated, the conveying efficiency of the coal cinder is improved, and the whole structure of the robot is more compact.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used for describing the embodiments are briefly introduced below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a coal breakage cleaning and recovery integrated robot of the present invention;
FIG. 2 is a schematic structural diagram of a main robot body of the coal breakage cleaning and recovery integrated robot of the invention;
FIG. 3 is a schematic diagram of the internal structure of a main robot transfer device of the coal breakage cleaning and recycling integrated robot of the present invention;
fig. 4 is a schematic structural view of a coal storage bin of the coal breakage cleaning and recovery integrated robot.
In the drawings, the components represented by the respective reference numerals are listed below:
1 sub robot automobile body, 2 scraper blade supports, 3 scraper blades, 4 main robot automobile bodies, 5 buckets, 6 rubbing crusher constructs, 7 coal bunker, 8 transport mechanism, 51 bucket connecting rod, 52 bucket connecting rod, 53 pneumatic cylinders, 54 pneumatic cylinders, 61 spiral cylinder, 62 spiral cylinder, 63 cylinder motors, 81 transport mechanism motors, 82 conveyer belt, 83 shovel boards, 71 coal bunker lid, 72 coal bunker box, 73 coal bunker lift scissors fork, 74 coal bunker lift hydraulic cylinder, 9 tracks.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the technical scheme in the embodiment of the invention will be clearly and completely described below with reference to the attached drawings in the embodiment of the invention, and the described embodiment only uses one cleaning and recycling process as an embodiment, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 4, the invention is a coal breakage cleaning and recovery integrated robot, comprising a sub-robot for scraping coal breakage below a belt and a main robot for collecting the coal breakage and sending the coal breakage back to the belt conveyor, wherein the sub-robot comprises a sub-robot body 1, a scraper support 2 and a scraper 3, the scraper support 2 is connected to the sub-robot body 1 through a hydraulic cylinder, wheels are installed below the scraper support 2, the scraper support 2 can move below the belt conveyor under the thrust of the hydraulic cylinder, the scraper 3 is hinged to the scraper support 2 and moves along with the scraper support 2, and the scraper 3 can be overturned under the drive of a motor; the main robot comprises a main robot body 4, a bucket 5, a crushing mechanism 6, a conveying mechanism 8 and a coal storage bin 7, wherein the bucket 5 is hinged to the body 4 and is driven by a hydraulic cylinder to overturn to shovel coal into the crushing mechanism 6, the crushing mechanism 6 crushes large coal blocks and conveys the crushed coal blocks to a feed inlet of the conveying mechanism 8, the conveying mechanism 8 conveys the coal to the coal storage bin 7, and the coal storage bin lifts the coal storage bin through a scissor fork lifting platform and dumps collected coal drops above a belt conveyor; the sub robot vehicle body 1 and the main robot vehicle body 4 each include a rail wheel moving on a rail and an auxiliary wheel for supporting.
Through the technical scheme:
this robot is when moving, and the sub robot removes in main robot the place ahead, when scraping the coal operation, and the sub robot motion that stops to promote scraper blade support 2 through the hydraulic stem on the extension sub robot automobile body 1 and remove to the band conveyer below, remove the in-process, scraper blade 3 passes through the motor drive upset, keeps certain angle with ground, makes scraper blade 2 can follow accumulational coal breakage top and pass through. When scraper support reachd band conveyer below farthest end, rotate through motor drive scraper blade 3 with ground vertically position, further, the hydraulic stem shrink on the sub-robot automobile body 1, pulling scraper support 2 drives scraper blade 3 and removes to the direction that is close to the sub-robot automobile body, and the removal in-process, scraper blade 3 scrapes out band conveyer below the coal breakage on the ground and is located the moving path of main robot, makes things convenient for subsequent collection and recovery operation.
The main robot and the sub-robot move forward together, the coal scraped by the scraper 2 is shoveled into the bucket 5 of the main robot, the main robot is contracted and installed on the main robot body 4 through the hydraulic cylinder 53 and the hydraulic cylinder 54 to pull the bucket connecting rod 51 and the bucket connecting rod 52, so that the bucket 5 shoveled the coal slag is turned over, the coal slag is dumped to the crushing mechanism 6, and the bucket 5 is reset after dumping operation is completed. Further, the screw drum 61 and the screw drum 62 are driven by the drum motor 63 and the gear to rotate in opposite directions, the cinder poured into the crushing mechanism 6 is crushed, and the crushed cinder is conveyed to the feed inlet of the conveying mechanism 8 by the rotation of the screw.
Further, the conveyor motor 81 rotates to drive the conveyor belt 82 and the coal shoveling plate 83 on the conveyor belt 82 to rotate, the coal scrapping plate 83 scrapes pulverized coal cinder conveyed to the feed port of the conveyor 8, the pulverized coal cinder is driven to move upwards through the conveyor belt 82, and the coal cinder shoveled by the coal scrapping plate 83 is poured to the discharge port when reaching the top end.
Further, the coal bunker 7 is arranged below the discharge hole of the conveying mechanism 8, the coal bunker box body 72 can collect coal cinder dumped from the conveying mechanism 8, after a certain period of time, the coal bunker box body lifting hydraulic cylinder 74 can push the coal bunker lifting scissor fork 73 to move, and further push the coal bunker box body 72 to move upwards, so that the coal bunker box body 72 reaches the upper part of the belt conveyor, the coal bunker cover 71 hinged with the coal bunker box body 72 is further driven by a motor to rotate to a position parallel to the bottom plate of the coal bunker box body 72, the coal bunker cover 74 at the moment serves as a coal cinder channel, the coal cinder collected in the coal bunker box body 72 is dumped onto the belt conveyor by utilizing gravity, and the coal bunker cover 71 and the coal bunker lifting scissor fork 73 are reset after dumping operation is completed.
At this point, once cleaning and recovery operation is completed, the robot continues to advance and circulates the cleaning and recovery process.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. The utility model provides a fallen coal cleans and retrieves integration robot which characterized in that: comprises a sub robot and a main robot;
the sub-robot comprises a scraper (3), a scraper bracket (2) and a sub-robot body (1) for realizing movement;
the main robot comprises a coal shoveling mechanism, a main robot body (4), a crushing mechanism (6), a conveying mechanism (8) and a coal storage bin (7);
the coal shoveling mechanism comprises a bucket (5) and bucket connecting rods (51) (52);
the crushing mechanism comprises a spiral roller (61) (62);
the conveying mechanism comprises a conveying belt (82) and a coal shoveling plate (83);
the coal storage bin (7) comprises a coal storage bin cover (71), a coal storage bin box body (72) and a coal storage bin lifting scissor fork (73).
2. The integrated robot for cleaning and recovering fallen coal as claimed in claim 1, wherein wheels are mounted below the scraper support (2) to enable the scraper support to move on the ground; the scraper (3) is hinged on the scraper bracket (2) and is turned over by a motor; scraper blade support (2) connect through the pneumatic cylinder sub-robot automobile body (1) on, the hydraulic stem promotes scraper blade support (2) reach the belt conveyer below, and utilize scraper blade (3) scrape the broken coal of belt conveyer below to the other people's bank of china side of belt conveyer.
3. The coal breakage cleaning and recovery integrated robot as claimed in claim 1, wherein a bucket (5) of the coal shoveling mechanism is hinged to the main robot body (4) and is driven by a hydraulic cylinder to overturn for shoveling coal.
4. The coal breakage cleaning and recovery integrated robot as claimed in claim 1, wherein the crushing mechanism (6) is composed of two spiral rollers (61) (62), the rollers (61) (62) are mounted on the main robot body (4), the rollers (61) (62) are driven by a motor, and the coal shoveled by the coal shoveling mechanism is crushed and transported to the feed inlet of the conveying mechanism (8) through rolling.
5. The coal breakage cleaning and recycling integrated robot as claimed in claim 1, wherein a motor and a conveyor belt (82) are arranged inside the conveyor mechanism (8), a coal shoveling plate (83) is mounted on the conveyor belt (82), the conveyor belt (82) is driven to rotate by the motor, and the coal shoveling plate (83) on the conveyor belt (82) conveys the coal cinder crushed by the crushing mechanism (6) at the feed port to the discharge port.
6. The coal dropping cleaning and recycling integrated robot as claimed in claim 1, wherein the coal storage bin (7) is arranged below the discharge port of the conveying mechanism (8) and is used for collecting and storing pulverized coal slag; a scissor fork lifting platform is arranged below the coal storage bin (8), and the lifting platform drives the coal storage bin to lift a scissor fork (73) through a hydraulic cylinder, so that the coal storage bin (7) can be lifted and inclined; the coal storage bin cover (71) is hinged with the coal storage bin box body (72) and is driven by a motor to open and close.
7. The coal breakage cleaning and recovery integrated robot as claimed in claim 1, wherein the main robot body (4) and the sub robot body (1) are mounted on a single rail (9) and move by driving rail wheels through a motor; the main robot vehicle body (4) and the sub robot vehicle body (1) are installed on the side surface and supported by the auxiliary wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210776510.2A CN114955461A (en) | 2022-07-01 | 2022-07-01 | Fallen coal cleaning and recycling integrated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210776510.2A CN114955461A (en) | 2022-07-01 | 2022-07-01 | Fallen coal cleaning and recycling integrated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114955461A true CN114955461A (en) | 2022-08-30 |
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ID=82967306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210776510.2A Pending CN114955461A (en) | 2022-07-01 | 2022-07-01 | Fallen coal cleaning and recycling integrated robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN114955461A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116765005A (en) * | 2023-06-29 | 2023-09-19 | 平顶山天安煤业股份有限公司 | Mining multifunctional inspection robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010045852A (en) * | 1999-11-09 | 2001-06-05 | 이구택 | Multistage disposing device of fallen ore from a reciprocating conveyer |
| CN108726426A (en) * | 2018-04-24 | 2018-11-02 | 句容市有色金属铸造厂 | A kind of metal fillings transhipment mount structure |
| CN209127515U (en) * | 2018-12-06 | 2019-07-19 | 牛永江 | A kind of walking bottom belt hydraulic control clear coal machine automatically |
| CN111301991A (en) * | 2020-04-20 | 2020-06-19 | 申闪光 | Equipment for cleaning accumulated coal at bottom of main conveying belt |
| CN216661326U (en) * | 2021-10-13 | 2022-06-03 | 大唐陕西发电有限公司 | Pulverized coal powder conveying device for power generation of thermal power plant |
-
2022
- 2022-07-01 CN CN202210776510.2A patent/CN114955461A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010045852A (en) * | 1999-11-09 | 2001-06-05 | 이구택 | Multistage disposing device of fallen ore from a reciprocating conveyer |
| CN108726426A (en) * | 2018-04-24 | 2018-11-02 | 句容市有色金属铸造厂 | A kind of metal fillings transhipment mount structure |
| CN209127515U (en) * | 2018-12-06 | 2019-07-19 | 牛永江 | A kind of walking bottom belt hydraulic control clear coal machine automatically |
| CN111301991A (en) * | 2020-04-20 | 2020-06-19 | 申闪光 | Equipment for cleaning accumulated coal at bottom of main conveying belt |
| CN216661326U (en) * | 2021-10-13 | 2022-06-03 | 大唐陕西发电有限公司 | Pulverized coal powder conveying device for power generation of thermal power plant |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116765005A (en) * | 2023-06-29 | 2023-09-19 | 平顶山天安煤业股份有限公司 | Mining multifunctional inspection robot |
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