CN116945006A - Automatic polishing robot - Google Patents
Automatic polishing robot Download PDFInfo
- Publication number
- CN116945006A CN116945006A CN202310839809.2A CN202310839809A CN116945006A CN 116945006 A CN116945006 A CN 116945006A CN 202310839809 A CN202310839809 A CN 202310839809A CN 116945006 A CN116945006 A CN 116945006A
- Authority
- CN
- China
- Prior art keywords
- motor
- grinding
- dust suction
- mounting plate
- polishing
- 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
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/12—Devices for exhausting mist of oil or coolant; Devices for collecting or recovering materials resulting from grinding or polishing, e.g. of precious metals, precious stones, diamonds or the like
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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
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
本发明涉及一种自动打磨机器人，包括动力装置、打磨装置和吸尘装置，动力装置包括底板、安装板和控制组件；底板下方转动设置有两转动轴，两个转动轴两端均设有车轮，转动轴外接有驱动机构，驱动机构与底板固定连接，底板下方设置有吸尘装置；安装板设置在底板上方，安装板前端设置有打磨装置；控制组件设置在安装板上，控制组件一侧设置有电源，驱动机构与控制组件相连，控制组件与电源相连。打磨装置包括打磨杆和电机一，电机一与安装板固定连接，电机一输出轴与打磨杆中部连接，电机一与控制组件相连。本发明可以远程控制动力装置打磨通道内壁，并通过吸尘装置吸收碎屑，相比于传统的人工打磨，效率高，避免了安全隐患。
The invention relates to an automatic grinding robot, which includes a power unit, a grinding device and a dust suction device. The power unit includes a base plate, a mounting plate and a control assembly; two rotating shafts are provided for rotation under the base plate, and wheels are provided at both ends of the two rotating shafts. , a driving mechanism is externally connected to the rotating shaft, and the driving mechanism is fixedly connected to the bottom plate. A dust collection device is provided below the bottom plate; the mounting plate is set above the bottom plate, and a grinding device is set at the front end of the mounting plate; the control component is set on the mounting plate, on one side of the control component A power supply is provided, the driving mechanism is connected to the control component, and the control component is connected to the power supply. The grinding device includes a grinding rod and a motor. The motor is fixedly connected to the mounting plate. The output shaft of the motor is connected to the middle part of the grinding rod. The motor is connected to the control component. The invention can remotely control the power unit to grind the inner wall of the channel and absorb debris through the dust suction device. Compared with traditional manual grinding, it is more efficient and avoids potential safety hazards.
Description
Technical Field
The invention relates to the technical field of polishing equipment, in particular to an automatic polishing robot.
Background
In the chemical industry, tubular structure's equipment and adapting unit are comparatively common, and in the operating cycle, equipment and adapting unit inner wall can form the attachment gradually, need regularly wash its inner wall, when for example producing nylon 66, the chemical reaction that takes place in the channel reactor can have partial copper to separate out, and copper that separates out can adhere to on the channel reactor inner wall, if not in time clear up the impurity on the channel reactor inner wall, not only can increase the burden of channel reactor, can make product quality receive the influence moreover.
Because the space of equipment and a connecting part is limited, the traditional manual polishing method has a certain potential safety hazard, operators are required to operate in the limited space for a long time, the polished scraps can be partially sucked into human bodies, the physical and mental of the operators are adversely affected, meanwhile, the traditional manual polishing method is high in construction difficulty and low in polishing efficiency, the polishing effect can be directly affected by the control of the polishing force of the operators, and if the polishing force is small, the cleaning is incomplete; if the force is large, the surface of the inner wall of the device is damaged.
Disclosure of Invention
The invention provides an automatic polishing robot for solving the problems of high potential safety hazards, high construction difficulty and low polishing efficiency of the traditional manual polishing, which comprises a power device, a polishing device and a dust collection device.
In order to achieve the above object, the technical scheme of the present invention is as follows:
an automatic polishing robot comprises a power device, a polishing device and a dust collection device, wherein the power device comprises a bottom plate, a mounting plate and a control assembly;
two rotating shafts are rotatably arranged below the bottom plate, wheels are arranged at two ends of each rotating shaft, the rotating shafts are externally connected with a driving mechanism, the driving mechanism is fixedly connected with the bottom plate, and a dust collection device is arranged below the bottom plate;
the mounting plate is arranged above the bottom plate, a plurality of support rods are arranged between the bottom plate and the mounting plate, and a polishing device is arranged at the front end of the mounting plate;
the control assembly is arranged on the mounting plate, a power supply is arranged on one side of the control assembly, the driving mechanism is connected with the control assembly, and the control assembly is connected with the power supply.
The polishing device comprises a polishing rod and a motor I, wherein the motor I is fixedly connected with the mounting plate, an output shaft of the motor I is connected with the middle part of the polishing rod, and the motor I is electrically connected with the control assembly.
Further, the dust collection device comprises a dust collection pipe, a dust collection head and a vacuum generator, wherein the dust collection pipe is obliquely fixed below the bottom plate, the lower end of the dust collection pipe is connected with the dust collection head, the bottom of the dust collection head is attached to the ground, and the upper end of the dust collection pipe is communicated with the vacuum generator;
the vacuum generator is provided with an air inlet, a dust collection port and an air outlet, compressed air is connected to the air inlet through a pipeline, the dust collection port is connected with a dust collection pipe, and a cloth bag is externally connected to the air outlet.
Further, the two ends of the polishing rod are connected with L-shaped plates, each L-shaped plate comprises a vertical part and a transverse part, the vertical parts are connected with the polishing rod, and the middle parts of the transverse parts are connected with polishing heads through springs;
the middle part of the polishing rod is provided with a sleeve, the sleeve is sleeved on the output shaft of the motor and fixedly connected with the output shaft of the motor through a screw, and the polishing rods on two sides of the sleeve are mutually deflected by a certain angle;
the polishing head comprises an outer brush body, an inner brush body and a steel wire brush, wherein the steel wire brush is detachably arranged between the inner brush body and a gap of the outer brush body.
Further, a plurality of first through holes are formed in the two ends of the polishing rod, a plurality of second through holes are formed in the vertical portion of the L-shaped plate, and first bolts are jointly arranged between the second through holes and the corresponding first through holes in a penetrating mode.
Further, the spring both ends all are provided with the fixed block, fixed block one end is provided with the screw thread, on the screw thread on the spring both ends all are connected to two fixed blocks, the screw hole has been seted up to the fixed block other end, threaded hole wears to be equipped with bolt two, and the spring passes through bolt two and links to each other with L shaped plate and polishing head respectively.
Further, the rear end of the mounting plate is provided with a camera, the camera is electrically connected with a power supply, and the situation of the inner wall of the reactor after polishing can be checked in real time through the camera.
Further, the driving mechanism comprises a second motor which is respectively fixed on the upper side and the lower side of the bottom plate, a dust cover is arranged on the outer side of the second motor, and output shafts of the second motors are connected with the rotating shaft through chains.
Further, baffles are arranged around the mounting plate.
Further, the control assembly comprises a first control module and a second control module, the first control module is used for controlling the first motor, the first control module comprises a first remote controller and a speed regulating unit, the speed regulating unit is electrically connected with a control end of the first motor, and the speed regulating unit is in wireless communication connection with the remote controller;
the second control module is used for controlling the second motor, the second control module comprises a driving unit and a second remote controller, the driving unit is electrically connected with the second control end of the motor, and the driving unit is in wireless communication connection with the second remote controller.
Further, a box cover is arranged on the mounting plate, and the first motor, the control component and the power supply on the mounting plate are protected through the box cover.
Through the technical scheme, the invention has the beneficial effects that:
according to the invention, the power device, the polishing device and the dust collection device are arranged, so that the polishing device can polish the inner wall of the channel in the motion process of the power device, the dust collection device can absorb the polished fragments, the robot integrates the polishing of the inner wall of the channel and the cleaning of the fragments, and the robot does not need to manually enter the channel, so that the potential safety hazard is reduced, and compared with the manual polishing, the polishing efficiency is higher, and the polishing effect is better.
According to the invention, the L-shaped plates, the springs and the polishing heads are arranged at the two ends of the polishing rod, so that the polishing length is adjusted according to the adjustment of the L-shaped plates, the applicability is high, and the springs are arranged between the L-shaped plates and the polishing heads, so that the polishing heads can be prevented from damaging the inner wall of the channel reactor.
The polishing rod can freely rotate 360 degrees, no dead angle is left in polishing work, and polishing effect is guaranteed.
According to the polishing device controlled by the first remote controller, the driving mechanism is controlled by the second remote controller, and the two sets of control systems are arranged for control, so that the two sets of control systems can emit signals with different frequencies, the two signals are prevented from interfering with each other, and the stability of the robot is improved.
Drawings
FIG. 1 is an overall schematic view of an automatic grinding robot of the present invention;
FIG. 2 is a schematic view of a mounting plate and upper parts of an automatic grinding robot according to the present invention;
FIG. 3 is a schematic view of the base plate and upper parts of the automatic grinding robot according to the first embodiment of the present invention;
FIG. 4 is a schematic diagram II of the bottom plate and upper parts of the automatic polishing robot according to the present invention;
FIG. 5 is a schematic view of a dust extraction device in an automatic grinding robot according to the present invention;
FIG. 6 is a schematic view of a polishing rod in an automatic polishing robot according to the present invention;
FIG. 7 is a schematic view of a spring in an automatic grinding robot according to the present invention;
FIG. 8 is a schematic view of a sanding head in an automatic sanding robot according to the present invention;
fig. 9 is a schematic view of a fixed block in an automatic polishing robot according to the present invention.
Reference numerals: 1 is a bottom plate, 2 is a mounting plate, 3 is a box cover, 4 is a rotating shaft, 5 is a wheel, 6 is a dust collection device, 601 is a dust collection pipe, 602 is a dust collection head, 603 is a vacuum generator, 604 is a cloth bag, 605 is a pipeline, 7 is a supporting rod, 8 is a polishing rod, 9 is a motor I, 10 is a control component, 11 is a power supply, 12 is an L-shaped plate, 13 is a spring, 14 is a polishing head, 15 is a camera, 16 is a motor II, 17 is a baffle, and 18 is a fixed block.
Detailed Description
The invention is further described with reference to the drawings and detailed description which follow:
example 1
As shown in fig. 1-9, an automatic polishing robot comprises a power device, a polishing device and a dust collection device 6, wherein the power device comprises a bottom plate 1, a mounting plate 2 and a control assembly 10;
two rotating shafts 4 are rotatably arranged below the bottom plate 1, wheels 5 are arranged at two ends of each rotating shaft 4, the rotating shafts 4 are externally connected with a driving mechanism, the driving mechanism is fixedly connected with the bottom plate 1, and a dust collection device 6 is arranged below the bottom plate 1;
the mounting plate 2 is arranged above the bottom plate 1, a plurality of supporting rods 7 are arranged between the bottom plate 1 and the mounting plate 2, and a polishing device is arranged at the front end of the mounting plate 2;
the control assembly 10 is arranged on the mounting plate 2, a power supply 11 is arranged on one side of the control assembly 10, the driving mechanism is connected with the control assembly 10, and the control assembly 10 is connected with the power supply 11.
The polishing device comprises a polishing rod 8 and a motor I9, wherein the motor I9 is fixedly connected with the mounting plate 2, an output shaft of the motor I9 is connected with the middle part of the polishing rod 8, and the motor I9 is connected with the control assembly 10.
In this embodiment, the dust collection device 6 includes a dust collection pipe 601, a dust collection head 602 and a vacuum generator 603, where the dust collection pipe 601 is obliquely fixed below the base plate 1, the lower end of the dust collection pipe 601 is connected with the dust collection head 602, the bottom of the dust collection head 602 is attached to the ground, the upper end of the dust collection pipe 601 is connected with the vacuum generator 603, and the bottom of the dust collection head 602 can be set to be arc according to actual needs and attached to the inner wall of the channel reactor;
the vacuum generator 603 is provided with an air inlet, a dust collection port and an air outlet, compressed air is connected to the air inlet through a pipeline 605, the dust collection port is connected with a dust collection pipe 601, when compressed air is introduced into the vacuum generator 603 through the pipeline 605, the compressed air can generate negative pressure in the vacuum generator 603, suction can be generated at the dust collection port, dust, debris and other impurities can be absorbed at the dust collection port, the air outlet is externally connected with a cloth bag 604, and the cloth bag 604 can be connected with the air outlet through a connecting pipe, so that the cloth bag 604 can be installed outside a power device, and the cloth bag 604 can be conveniently installed and detached.
According to the invention, the dust collection device 6 is used for collecting the ground scraps, the inner wall of the grinding channel is integrated with the scraps cleaning, and the scraps do not need to enter the channel manually, so that the potential safety hazard is reduced, and compared with manual grinding, the grinding efficiency is higher, and the grinding effect is better.
In this embodiment, the two ends of the polishing rod 8 are connected with L-shaped plates 12, the L-shaped plates 12 include a vertical portion and a horizontal portion, the vertical portion is connected with the polishing rod 8, the middle portion of the horizontal portion is connected with a polishing head 14 through a spring 13, and by arranging the spring 13 between the L-shaped plates 12 and the polishing head 14, the arrangement can avoid the polishing head 14 from damaging the inner wall of the channel reactor;
the middle part of the polishing rod 8 is provided with a sleeve, the sleeve is sleeved on the output shaft of the motor I9 and is fixedly connected with the output shaft through a screw, the polishing rods 8 on two sides of the sleeve are mutually deflected by a certain angle, and the polishing rods 8 can blow forward while rotating, so that the polished scraps are blown to the front, the contact between the scraps and a power device is reduced, and the service life of the power device is prolonged;
the polishing head 14 comprises an outer brush body, an inner brush body and a steel wire brush, wherein the steel wire brush is detachably arranged between the inner brush body and a gap of the outer brush body, when the polishing head 14 is worn greatly, the polishing effect of the polishing head 14 can be ensured only by replacing the steel wire brush inside the polishing head, and the resource waste is reduced.
In this embodiment, the two ends of the polishing rod 8 are provided with a plurality of first through holes, the vertical portion of the L-shaped plate 12 is provided with a plurality of second through holes, and bolts I are jointly arranged between the second through holes and the corresponding first through holes in a penetrating manner, so that the length of the polishing rod 8 can be adjusted, and the universality of the robot is improved;
in this embodiment, the two ends of the spring 13 are provided with the fixing blocks 18, one end of the fixing block 18 is provided with threads, the two ends of the spring are connected to the threads on the two fixing blocks 18, the other end of the fixing block 18 is provided with a threaded hole, a second bolt is arranged in the threaded hole in a penetrating manner, and the spring 13 is respectively connected with the L-shaped plate 12 and the polishing head 14 through the second bolt. The corresponding spring 13 and the polishing head 14 can be replaced according to the condition of the inner wall of the channel reactor, so that the polishing effect is ensured.
In this embodiment, mounting panel 2 rear end is provided with camera 15, camera 15 links to each other with power 11, can inspect the reactor inner wall condition after polishing in real time through camera 15, carries out real-time adjustment grinding device's operating condition according to the condition of polishing, has guaranteed the effect of polishing, the camera can 360 rotation control to can transmit the picture to cell-phone or computer through wifi, carry out real-time monitoring to the reactor inner wall.
In this embodiment, actuating mechanism is including fixing the motor two 16 in the upper and lower both sides of bottom plate 1 respectively, the motor two 16 outside is provided with the dust cover, and the output shaft of two motor two 16 all links to each other with axis of rotation 4 through the chain, through setting up the dust cover in motor two 16 outsides, blocks to polish the piece and get into inside the motor, causes motor two 16 to damage, through setting up two motor two 16, two motor two 16 link to each other with power 11 and control assembly 10 through two sets of subassemblies respectively, when one of them motor two 16 damages, can continue the work through another motor two 16, has increased the reliability of robot action.
In this embodiment, the baffle plates 17 are all around the mounting plate 2 to protect internal parts.
In this embodiment, the control assembly 10 includes a first control module and a second control module, where the first control module is used to control the first motor 9, the first control module includes a first remote controller and a speed regulation unit, the speed regulation unit is electrically connected with the control end of the first motor 9, and the speed regulation unit is connected with a wireless communication with the remote controller;
the second control module is used for controlling the second motor 16, the second control module comprises a driving unit and a second remote controller, the driving unit is electrically connected with the control end of the second motor 16, the driving unit is in wireless communication connection with the second remote controller, and the driving unit is connected with the second remote controller;
according to the invention, two sets of control systems are arranged for control, and can emit signals with different frequencies, so that the two signals are prevented from interfering with each other, and the stability of the robot is improved.
In this embodiment, the cover 3 is disposed on the mounting plate 2, so as to block the ground scraps and dust and protect the parts on the mounting plate 2 from operating normally.
The working process comprises the following steps: according to the condition of the inner wall of the channel reactor, the relative positions of the L-shaped plate 12 and the end part of the polishing rod 8 are adjusted to adjust the length of the polishing rod 8, so that the polishing head 14 is more attached to the inner wall of the channel reactor, and a power device is placed inside the channel reactor;
compressed air is introduced into the pipeline 605, dust inside the channel reactor and scraps generated after polishing are absorbed by the dust absorption head 602, the first motor 9 is started by the first motor 9, the polishing rod 8 is driven by the first motor 9 to polish the inner wall of the channel reactor, the second motor 16 is started by the second motor 16, the power device is driven to move forwards, in the polishing process of the power device, pictures fed back in real time by the camera 15 can be used for observing the polishing condition of the inner wall of the channel reactor, the first motor 9 is regulated according to the polishing condition of the inner wall of the channel reactor, and the polishing effect of the inner wall of the channel reactor is ensured.
The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent changes or modifications of the structure, characteristics and principles described in the claims should be included in the scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310839809.2A CN116945006A (en) | 2023-07-10 | 2023-07-10 | Automatic polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310839809.2A CN116945006A (en) | 2023-07-10 | 2023-07-10 | Automatic polishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116945006A true CN116945006A (en) | 2023-10-27 |
Family
ID=88448533
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310839809.2A Pending CN116945006A (en) | 2023-07-10 | 2023-07-10 | Automatic polishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116945006A (en) |
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|---|---|---|---|---|
| EP0795360A1 (en) * | 1996-03-12 | 1997-09-17 | S.E.P.S. (S.A.) | Method and device for cleaning ducts |
| US20070155285A1 (en) * | 2006-01-05 | 2007-07-05 | Cpt, Inc. | Riding floor polishing machine |
| CN102864955A (en) * | 2012-09-21 | 2013-01-09 | 北京宏地车港科技有限公司 | Power driving device for lifting platform of stereo garage |
| CN105083373A (en) * | 2015-06-15 | 2015-11-25 | 南京航空航天大学 | Steering-by-wire feeling device based on parameter estimation and control method thereof |
| CN109108759A (en) * | 2018-10-29 | 2019-01-01 | 三筑工科技有限公司 | A kind of concrete floor cleaning machine device people |
| CN110524329A (en) * | 2019-08-16 | 2019-12-03 | 郑军锋 | A unmanned aerial vehicle robot for pipe guardrail is polished |
| CN212857007U (en) * | 2020-06-29 | 2021-04-02 | 湖北省工业建筑集团安装工程有限公司 | Cleaning mechanism integrating dust removal, paint spraying and rust removal |
| CN112630229A (en) * | 2021-03-09 | 2021-04-09 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN114800199A (en) * | 2021-01-27 | 2022-07-29 | 广东博智林机器人有限公司 | Grinding device and mortar cleaning robot |
| CN218801352U (en) * | 2022-10-28 | 2023-04-07 | 中国石油化工集团有限公司 | Remote control type automatic dust absorption pipeline inner wall rust removal device |
-
2023
- 2023-07-10 CN CN202310839809.2A patent/CN116945006A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0795360A1 (en) * | 1996-03-12 | 1997-09-17 | S.E.P.S. (S.A.) | Method and device for cleaning ducts |
| US20070155285A1 (en) * | 2006-01-05 | 2007-07-05 | Cpt, Inc. | Riding floor polishing machine |
| CN102864955A (en) * | 2012-09-21 | 2013-01-09 | 北京宏地车港科技有限公司 | Power driving device for lifting platform of stereo garage |
| CN105083373A (en) * | 2015-06-15 | 2015-11-25 | 南京航空航天大学 | Steering-by-wire feeling device based on parameter estimation and control method thereof |
| CN109108759A (en) * | 2018-10-29 | 2019-01-01 | 三筑工科技有限公司 | A kind of concrete floor cleaning machine device people |
| CN110524329A (en) * | 2019-08-16 | 2019-12-03 | 郑军锋 | A unmanned aerial vehicle robot for pipe guardrail is polished |
| CN212857007U (en) * | 2020-06-29 | 2021-04-02 | 湖北省工业建筑集团安装工程有限公司 | Cleaning mechanism integrating dust removal, paint spraying and rust removal |
| CN114800199A (en) * | 2021-01-27 | 2022-07-29 | 广东博智林机器人有限公司 | Grinding device and mortar cleaning robot |
| CN112630229A (en) * | 2021-03-09 | 2021-04-09 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN218801352U (en) * | 2022-10-28 | 2023-04-07 | 中国石油化工集团有限公司 | Remote control type automatic dust absorption pipeline inner wall rust removal device |
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