CN105775451A - Unattended intelligent barn turning system - Google Patents
Unattended intelligent barn turning system Download PDFInfo
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- CN105775451A CN105775451A CN201610135638.5A CN201610135638A CN105775451A CN 105775451 A CN105775451 A CN 105775451A CN 201610135638 A CN201610135638 A CN 201610135638A CN 105775451 A CN105775451 A CN 105775451A
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- auger
- storehouse
- dentation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D88/00—Large containers
- B65D88/54—Large containers characterised by means facilitating filling or emptying
- B65D88/64—Large containers characterised by means facilitating filling or emptying preventing bridge formation
- B65D88/68—Large containers characterised by means facilitating filling or emptying preventing bridge formation using rotating devices
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- Threshing Machine Elements (AREA)
Abstract
The invention discloses an unattended intelligent barn turning system. The system is used for automatic turning of a barn, barn automatic turning under the condition without manual intervention is achieved, the site barn turning state and videos can be checked remotely in real time, and the problems that an existing barn turning machine cannot intelligently turn the barn, the barn depth cannot be automatically detected, the auger depth cannot be automatically adjusted, and the barn turning track cannot be automatically planned are solved. The unattended intelligent barn turning system is simple in structure, low in cost and good in use effect.
Description
Technical field
The present invention relates to grain field of agricultural machinery, turn over storehouse for silo unattended intelligent.
Background technology
The storehouse of turning over of silo grain is the vital work affecting food storage, and existing storehouse of turning over adopts manpower or half people's force mode to carry out turning over storehouse, wastes a large amount of manpower, and needs manually to carry out intervention and turn over storehouse and cause and turn over storehouse inefficiency.
The such as comparatively ripe currently on the market storehouse machine that turns over, adopts mechanical type Artificial Control to turn over storehouse.Such method no doubt can realize turning over storehouse, the analysis according to patent 201220535313.3,201520473445.1,201220535518.1,201220535147.7,201220534667.6 etc., the problem that there is also following several respects:
One, its auger mechanism stirring lift grain adopts regular length, elongated and shorten and be required for carrying out manual intervention adjustment, and can not accomplish that exact depth turns over storehouse.Second, it is impossible to automatically measure the grain degree of depth, it is necessary to manual intervention estimation grain is spent deeply so that auger mechanism length estimate is made mistakes.3rd, it is impossible to automatically measuring distance silo wall distance, storehouse track is turned in planning automatically.3rd, Cereals is turned over the course changing control mechanism of storehouse machine and is adopted deflecting plate stop to turn to, it is impossible to accurate angle turns to, and this results in needs human intervention in advance to make wall limit and corner can not turn over storehouse.4th, Cereals turn over storehouse machine balance organism bottom adopt planar structure, cause meet tool acclive grain heap time, Cereals is turned over storehouse machine and is run forward difficulty.5th, auger mechanism blade adopts linear type, causes Cereals landing when promoting Cereals so that turn over storehouse efficiency low.The above causes existing Cereals to turn over storehouse machine and must be operated under artificial tight the intervention, and turn over scene, storehouse can not Centralized Monitoring.
Unattended intelligent silo turns over storehouse system can be accomplished automatically to measure grain bulk height, automatically accurate adjustment auger length, automatically obtains distance from the wall, automatically plan that the unattended intelligent turning over the functional realiey such as storehouse track real turns over storehouse, and auger mechanism blade adopts arcuate structure, its Cereals lifting capacity is greatly promoted.
Summary of the invention
For solving the technical problem existed in above-mentioned prior art, the present invention proposes a kind of unattended intelligent silo and turns over storehouse system and can accomplish automatically to measure grain bulk height, automatically accurately regulate auger length, automatically obtain distance from the wall, automatically plan that the unattended intelligent turning over the functional realiey such as storehouse track real turns over storehouse.
Specifically, the invention provides a kind of unattended intelligent silo and turn over storehouse system, described system includes:
Unattended intelligent turns over storehouse machine, it is achieved automatic turning storehouse trajectory planning, the silo degree of depth automatically determine, the auger degree of depth automatically controls, automatic turning storehouse, automatically controlled turn to, turn over storehouse abnormality alarming and carry out the data interaction with parametric controller by network；
Fan Cang control centre platform realizes unattended intelligent is turned over the control of storehouse machine and long-range operation planning, accepts unattended intelligent and turns over storehouse machine real time information and process.
Unattended intelligent turns over storehouse machine and at least includes auger controllable motor, rotating link chain, auger ball slider, main control platform, controllable rudder, with the photographic head of range finding, shell, dentation auger, sensor module forms, it is achieved automatic turning storehouse trajectory planning, the silo degree of depth automatically determine, the auger degree of depth automatically controls, automatic turning storehouse, automatically controlled turn to, turn over storehouse abnormality alarming and carried out the functions such as data interaction with parametric controller by network；
Outer casing bottom becomes hull bottom type to construct, and solves the existing storehouse machine plane structure that turns over and occurs that the difficulty situation that moves ahead piled by grain, and hull bottom type structure is relatively easy to when grain heap climbing；
Shell surrounding installs the photographic head with range finding, and the photographic head with range finding is used for measuring the distance of distance wall and gathering ambient video, and by data connecting line, transmits acquired information to main control platform；
Auger controllable motor is arranged on shell, and auger controllable motor is connected to main control platform by cable, accepts instruction and runs, and auger controllable motor is connected to auger ball slider by rotating link chain, drives auger ball slider to rotate；
Auger ball slider is arranged on shell, it is connected to auger controllable motor by rotating link chain, it is connected to main control platform by data wire, the controllable electromagnetic plug accepting main control platform controls, properly functioning lower controllable electromagnetic plug reclaims, dentation auger freely moves up and down in auger ball slider, when needing to turn over storehouse, main control platform sends plug to controllable electromagnetic plug, controllable electromagnetic plug is centripetal carries out plug, and dentation auger and auger ball slider are fixed as one, rotate with auger ball slider；
Dentation auger traverse auger ball slider hollow, auger ball slider positive and negative rotate time drive dentation auger move up and down, when the dentation auger that drives when rotating forward of auger ball slider moves down, dentation auger is driven to move up when auger ball slider rotates backward, in order to regulate dentation auger length；
Controllable rudder, through shell, is fixed on shell, is connected to main control platform by control line, and accept to come about instruction；
Sensor module is fixed on dentation auger end, temperature and imaging in the pressure on sensing contact ground, sensing ground clearance, sensing storehouse, and it is connected to main control platform by sensor module output lead through dentation auger, by acquired information transmission to main control platform；
Main control stage+module, on shell, accepts the information of each parts, and each parts sends instruction and carries out data interaction by network transmission function and Fan Cang control centre platform.
Auger controllable motor at least includes motor, and motor transmission forms, and it is connected to main control platform by connecting line, is powered and controls；
Controllable rudder at least includes rudder controllable motor, rudder motor transmission, rudder, rudder corner induction apparatus forms, and it is connected to main control platform by connecting line, is powered and controls, according to accepting instruction, rotation direction rudder, rudder corner induction apparatus sensing rotational angle, and by rotational angle information transmission to main control platform.
Auger ball slider at least includes power gear, controllable electromagnetic plug, and ball forms, and it is connected to main control platform by data wire, accepts the plug instruction of main control platform；
Auger ball slider obtains rotational power by rotating link chain, when carrying out dentation auger and adjusting, main control platform controls required dentation auger length according to the surveyed ground clearance of sensor module, control auger controllable motor rotate and close controllable electromagnetic plug, driving auger ball slider to rotate, ball slip auger arc shaped blade drives dentation auger to move up and down；
When carrying out turning over storehouse action, the distance wall distance planning operation track that main control platform obtains according to shell, drive and control the rotation of auger controllable motor and open controllable electromagnetic plug, controllable electromagnetic plug fixes dentation auger in centripetal for plug insertion auger bar external tooth, and dentation auger rotates with auger ball slider.
Dentation auger at least by auger bar, auger arc shaped blade, auger bar external tooth forms, and auger bar is hollow, and its outer layer is with auger bar external tooth, and auger arc shaped blade is intertwined and connected outside auger bar, auger arc shaped blade compared with common blade more can twist, promote more object.
The pressure inductor that sensor module is at least found range by band, temperature inductor, photographic head, sensor module controller, sensor module output lead, hold-doun nut forms, and pressure inductor, temperature inductor, photographic head are connected to sensor module controller by data wire, sensor module controller is connected to main control platform by sensor module output lead through auger bar, and sensor module is fixed on dentation auger end by hold-doun nut；
Pressure inductor sensing terminal pressure with range finding, when end touches ground, its pressure increases, and carries out ground clearance mensuration, and carrying out finding range according to technical Analysis employing ultrasonic sensing device more effectively penetrates grain；
Temperature inductor sensing grain temperature；
Photographic head employing is infrared will effectively obtain grain heap lower section image depending on photographic head.
Fan Cang control centre platform realizes unattended intelligent is turned over the control of storehouse machine and long-range operation planning, accepts unattended intelligent and turns over storehouse machine real time information and process.
Having the beneficial effect that of the technique scheme of the present invention: owing to have employed technique scheme, compared with prior art, it is achieved real unattended intelligent turns over storehouse, and structure is simple, and with low cost, result of use is good.
Accompanying drawing explanation
Fig. 1 is the structural representation that unattended intelligent of the present invention turns over storehouse machine；
Fig. 2 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-auger controllable motor；
Fig. 3 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-auger ball slider；
Fig. 4 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-controllable rudder；
Fig. 5 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-dentation auger；
Fig. 6 is the top view structural representation that unattended intelligent of the present invention turns over storehouse machine-dentation auger；
Fig. 7 is the sectional structure schematic diagram that unattended intelligent of the present invention turns over storehouse machine-dentation auger；
Fig. 8 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-auger bar；
Fig. 9 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-sensor module.
Being labeled as in accompanying drawing: 1-auger controllable motor, 2-rotating link chain, 3-auger ball slider, 4-main control platform, 5-controllable rudder, the 6-photographic head with range finding, 7-shell, 8-dentation auger, 9-sensor module, 1-1 motor, 1-2 motor transmission, 3-1 power gear, 3-2 controllable electromagnetic plug, 3-3 ball, 5-1 rudder controllable motor, 5-2 rudder motor transmission, 8-1 auger bar, 8-2 auger arc shaped blade, 8-3 auger bar external tooth, the 9-1 pressure inductor with range finding, 9-2 temperature inductor, 9-3 photographic head, 9-4 sensor module controls it, 9-5 sensor module output lead, 9-6 hold-doun nut.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, it is described in detail below in conjunction with the accompanying drawings and the specific embodiments.Those skilled in the art should know, following specific embodiment or detailed description of the invention, be the present invention it is that the set-up mode of series of optimum that concrete summary of the invention enumerate is explained further, and all can be combined with each other or interrelated use between those set-up modes, cannot be associated arranging or being used in conjunction with other embodiment or embodiment unless clearly proposed some of which or a certain specific embodiment or embodiment in the present invention.Meanwhile, following specific embodiment or embodiment are only used as optimized set-up mode, not as the understanding limiting protection scope of the present invention.
Additionally need and be pointed out that; proposed by the invention each embodiment or the method for unattended intelligent silo being turned over to storehouse system effect; can carry out arbitrarily combining or combination use; such as wherein two or more adjustment modes any can be used in combination with; to improve Detection results and system accuracy; can also only with single mode therein, above-mentioned these combine or split, and are regarded as falling within protection scope of the present invention.
Below by way of each specific embodiment, to the present invention be available for preferred embodiment be described in detail.Each design parameter numerical value involved in each specific embodiment below, is only used as and enumerates and use, to facilitate the explanation to embodiment of the present invention, be not intended as the restriction of scope.
Embodiment 1
It is an object of the invention to: offer utilizes a kind of unattended intelligent silo to turn over storehouse system, can accomplish automatically to measure grain bulk height, automatically accurate adjustment auger length, automatically obtain distance from the wall, automatically plan that the unattended intelligent turning over the functional realiey such as storehouse track real turns over storehouse.
Unattended intelligent turns over storehouse machine, it is achieved automatic turning storehouse trajectory planning, the silo degree of depth automatically determine, the auger degree of depth automatically controls, automatic turning storehouse, automatically controlled turn to, turn over storehouse abnormality alarming and carry out the data interaction with parametric controller by network；
Fan Cang control centre platform realizes unattended intelligent is turned over the control of storehouse machine and long-range operation planning, accepts unattended intelligent and turns over storehouse machine real time information and process.
Unattended intelligent turns over storehouse machine and at least includes auger controllable motor, rotating link chain, auger ball slider, main control platform, controllable rudder, with the photographic head of range finding, shell, dentation auger, sensor module forms, it is achieved automatic turning storehouse trajectory planning, the silo degree of depth automatically determine, the auger degree of depth automatically controls, automatic turning storehouse, automatically controlled turn to, turn over storehouse abnormality alarming and carried out the functions such as data interaction with parametric controller by network；
Outer casing bottom becomes hull bottom type to construct, and solves the existing storehouse machine plane structure that turns over and occurs that the difficulty situation that moves ahead piled by grain, and hull bottom type structure is relatively easy to when grain heap climbing；
Shell surrounding installs the photographic head with range finding, and the photographic head with range finding is used for measuring the distance of distance wall and gathering ambient video, and by data connecting line, transmits acquired information to main control platform；
Auger controllable motor is arranged on shell, and auger controllable motor is connected to main control platform by cable, accepts instruction and runs, and auger controllable motor is connected to auger ball slider by rotating link chain, drives auger ball slider to rotate；
Auger ball slider is arranged on shell, it is connected to auger controllable motor by rotating link chain, it is connected to main control platform by data wire, the controllable electromagnetic plug accepting main control platform controls, properly functioning lower controllable electromagnetic plug reclaims, dentation auger freely moves up and down in auger ball slider, when needing to turn over storehouse, main control platform sends plug to controllable electromagnetic plug, controllable electromagnetic plug is centripetal carries out plug, and dentation auger and auger ball slider are fixed as one, rotate with auger ball slider；
Fixing of auger, can adopt controllable electromagnetic plug, spring plug etc., is computed this patent and adopts controllable electromagnetic plug more stable；
The dentation outer layer of the inserted auger of controllable electromagnetic plug, it would however also be possible to employ poroid outer layer, for ensureing the structural intergrity of auger, this patent adopts dentation outer layer；
Accurately adjust auger length, prior art mainly includes that ball slides, steel wire pulls, electromagnetism adjustment, gear driven etc., through field test, this patent is selected ball sliding technology to realize auger length and is accurately adjusted；
Dentation auger traverse auger ball slider hollow, auger ball slider positive and negative rotate time drive dentation auger move up and down, when the dentation auger that drives when rotating forward of auger ball slider moves down, dentation auger is driven to move up when auger ball slider rotates backward, in order to regulate dentation auger length；
Controllable rudder, through shell, is fixed on shell, is connected to main control platform by control line, and accept to come about instruction, and it adopts steering angle sensor to carry out perception steering angle realization and accurately turns to；
Sensor module is fixed on dentation auger end, temperature and imaging in the pressure on sensing contact ground, sensing ground clearance, sensing storehouse, and it is connected to main control platform by sensor module output lead through dentation auger, by acquired information transmission to main control platform；
Analyze after tested, the induction apparatus measuring use of distance, mainly adopt the technology such as infrared, ultrasound wave, but for reaching accessible range finding, it is to avoid the Cereals image to range finding, this patent adopts ultrasonic ranging induction apparatus；
Main control stage+module is on shell, accept the information of each parts, and each parts are sent instruction and carry out data interaction by network transmission function and Fan Cang control centre platform, and by calculate voluntarily realize accurate auger length adjustment, coming about in accurate direction, angle is come about automatically, accurate planned trajectory voluntarily turns over storehouse etc..
Claims (7)
1. a unattended intelligent silo turns over storehouse system, this system intervenes automatic turning storehouse for silo is unmanned, and remotely carry out override and storehouse state is turned in real time monitoring, solve the existing storehouse machine that turns over intelligence to turn over storehouse, can not automatically survey grain deeply, auger length can not be automatically adjusted, can not automatically plan shortcomings such as turning over storehouse track, it is characterized in that, described system includes:
Unattended intelligent turns over storehouse machine, it is achieved automatic turning storehouse trajectory planning, the silo degree of depth automatically determine, the auger degree of depth automatically controls, automatic turning storehouse, automatically controlled turn to, turn over storehouse abnormality alarming and carry out the data interaction with parametric controller by network；
Fan Cang control centre platform realizes unattended intelligent is turned over the control of storehouse machine and long-range operation planning, accepts unattended intelligent and turns over storehouse machine real time information and process.
2. method according to claim 1, it is characterised in that described in include following:
Unattended intelligent turns over storehouse machine and at least includes auger controllable motor, rotating link chain, auger ball slider, main control platform, controllable rudder, with the photographic head of range finding, shell, dentation auger, sensor module forms, it is achieved automatic turning storehouse trajectory planning, the silo degree of depth automatically determine, the auger degree of depth automatically controls, automatic turning storehouse, automatically controlled turn to, turn over storehouse abnormality alarming and carried out the functions such as data interaction with parametric controller by network；
Outer casing bottom becomes hull bottom type to construct, and solves the existing storehouse machine plane structure that turns over and occurs that the difficulty situation that moves ahead piled by grain, and hull bottom type structure is relatively easy to when grain heap climbing；
Shell surrounding installs the photographic head with range finding, and the photographic head with range finding is used for measuring the distance of distance wall and gathering ambient video, and by data connecting line, transmits acquired information to main control platform；
Auger controllable motor is arranged on shell, and auger controllable motor is connected to main control platform by cable, accepts instruction and runs, and auger controllable motor is connected to auger ball slider by rotating link chain, drives auger ball slider to rotate；
Auger ball slider is arranged on shell, it is connected to auger controllable motor by rotating link chain, it is connected to main control platform by data wire, the controllable electromagnetic plug accepting main control platform controls, properly functioning lower controllable electromagnetic plug reclaims, dentation auger freely moves up and down in auger ball slider, when needing to turn over storehouse, main control platform sends plug to controllable electromagnetic plug, controllable electromagnetic plug is centripetal carries out plug, and dentation auger and auger ball slider are fixed as one, rotate with auger ball slider；
Dentation auger traverse auger ball slider hollow, auger ball slider positive and negative rotate time drive dentation auger move up and down, when the dentation auger that drives when rotating forward of auger ball slider moves down, dentation auger is driven to move up when auger ball slider rotates backward, in order to regulate dentation auger length；
Controllable rudder, through shell, is fixed on shell, is connected to main control platform by control line, and accept to come about instruction；
Sensor module is fixed on dentation auger end, temperature and imaging in the pressure on sensing contact ground, sensing ground clearance, sensing storehouse, and it is connected to main control platform by sensor module output lead through dentation auger, by acquired information transmission to main control platform；
Main control stage+module, on shell, accepts the information of each parts, and each parts sends instruction and carries out data interaction by network transmission function and Fan Cang control centre platform.
3. method according to claim 2, it is characterised in that described in include following:
Auger controllable motor at least includes motor, and motor transmission forms, and it is connected to main control platform by connecting line, is powered and controls；
Controllable rudder at least includes rudder controllable motor, rudder motor transmission, rudder, rudder corner induction apparatus forms, and it is connected to main control platform by connecting line, is powered and controls, according to accepting instruction, rotation direction rudder, rudder corner induction apparatus sensing rotational angle, and by rotational angle information transmission to main control platform.
4. method according to claim 2, it is characterised in that described in include following:
Auger ball slider at least includes power gear, controllable electromagnetic plug, and ball forms, and it is connected to main control platform by data wire, accepts the plug instruction of main control platform；
Auger ball slider obtains rotational power by rotating link chain, when carrying out dentation auger and adjusting, main control platform controls required dentation auger length according to the surveyed ground clearance of sensor module, control auger controllable motor rotate and close controllable electromagnetic plug, driving auger ball slider to rotate, ball slip auger arc shaped blade drives dentation auger to move up and down；
When carrying out turning over storehouse action, the distance wall distance planning operation track that main control platform obtains according to shell, drive and control the rotation of auger controllable motor and open controllable electromagnetic plug, controllable electromagnetic plug fixes dentation auger in centripetal for plug insertion auger bar external tooth, and dentation auger rotates with auger ball slider.
5. method according to claim 2, it is characterised in that described in include following:
Dentation auger at least by auger bar, auger arc shaped blade, auger bar external tooth forms, and auger bar is hollow, and its outer layer is with auger bar external tooth, and auger arc shaped blade is intertwined and connected outside auger bar, auger arc shaped blade compared with common blade more can twist, promote more object.
6. method according to claim 2, it is characterised in that described in include following:
The pressure inductor that sensor module is at least found range by band, temperature inductor, photographic head, sensor module controller, sensor module output lead, hold-doun nut forms, and pressure inductor, temperature inductor, photographic head are connected to sensor module controller by data wire, sensor module controller is connected to main control platform by sensor module output lead through auger bar, and sensor module is fixed on dentation auger end by hold-doun nut；
Pressure inductor sensing terminal pressure with range finding, when end touches ground, its pressure increases, and carries out ground clearance mensuration, and carrying out finding range according to technical Analysis employing ultrasonic sensing device more effectively penetrates grain；
Temperature inductor sensing grain temperature；
Photographic head employing is infrared will effectively obtain grain heap lower section image depending on photographic head.
7. method according to claim 1, it is characterised in that described in include following:
Fan Cang control centre platform realizes unattended intelligent is turned over the control of storehouse machine and long-range operation planning, accepts unattended intelligent and turns over storehouse machine real time information and process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610135638.5A CN105775451B (en) | 2016-03-11 | 2016-03-11 | Unattended intelligent silo turns over storehouse system |
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| CN201610135638.5A CN105775451B (en) | 2016-03-11 | 2016-03-11 | Unattended intelligent silo turns over storehouse system |
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| CN105775451B CN105775451B (en) | 2018-03-13 |
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Cited By (6)
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| CN109696935A (en) * | 2018-12-10 | 2019-04-30 | 江苏科技大学 | It is a kind of with the management system and its implementation of turning over storehouse quality evaluation |
| CN109814645A (en) * | 2018-12-10 | 2019-05-28 | 江苏科技大学 | A kind of warm and humid survey monitoring unit of silo and its implementation |
| CN110495308A (en) * | 2019-09-12 | 2019-11-26 | 张新侠 | Mobile grain shovelling machine |
| CN110523127A (en) * | 2019-09-20 | 2019-12-03 | 湖北龙泉机械有限公司 | A kind of agricultural solid-liquid separating machine and its application method |
| CN111994647A (en) * | 2020-09-02 | 2020-11-27 | 界首市金龙机械设备有限公司 | Intelligent robot turns over storehouse machine |
| CN114906496A (en) * | 2022-05-07 | 2022-08-16 | 安徽省凯杰机械制造有限公司 | Full-automatic self-propelled digging and turning mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109696935A (en) * | 2018-12-10 | 2019-04-30 | 江苏科技大学 | It is a kind of with the management system and its implementation of turning over storehouse quality evaluation |
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| CN109814645B (en) * | 2018-12-10 | 2020-10-16 | 江苏科技大学 | Granary temperature and humidity measurement monitoring unit and implementation method thereof |
| CN110495308A (en) * | 2019-09-12 | 2019-11-26 | 张新侠 | Mobile grain shovelling machine |
| CN110523127A (en) * | 2019-09-20 | 2019-12-03 | 湖北龙泉机械有限公司 | A kind of agricultural solid-liquid separating machine and its application method |
| CN111994647A (en) * | 2020-09-02 | 2020-11-27 | 界首市金龙机械设备有限公司 | Intelligent robot turns over storehouse machine |
| CN114906496A (en) * | 2022-05-07 | 2022-08-16 | 安徽省凯杰机械制造有限公司 | Full-automatic self-propelled digging and turning mechanism |
| CN114906496B (en) * | 2022-05-07 | 2023-09-12 | 安徽省凯杰机械制造有限公司 | Full-automatic self-propelled excavating and turning mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105775451B (en) | 2018-03-13 |
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