CN107444507A - Convey the robot of chemical industry stoste - Google Patents
Convey the robot of chemical industry stoste Download PDFInfo
- Publication number
- CN107444507A CN107444507A CN201710686839.9A CN201710686839A CN107444507A CN 107444507 A CN107444507 A CN 107444507A CN 201710686839 A CN201710686839 A CN 201710686839A CN 107444507 A CN107444507 A CN 107444507A
- Authority
- CN
- China
- Prior art keywords
- container
- chemical industry
- hub
- rangefinder
- industry stoste
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
- B62D33/08—Superstructures for load-carrying vehicles comprising adjustable means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Abstract
The invention discloses a kind of robot for conveying chemical industry stoste, including the bearing system being made up of insulation alms bowl and lid, the balanced support system being made up of base, harmonic speed reducer, the first motor and rocking arm, the running gear being made up of two groups of road wheel groups and the second motor, control the first motor and the single-chip microcomputer of the second motor operating.The present invention can avoid conventional transport device people when chemical industry stoste is sent in transport, accelerate or jerk during chemical industry stoste splash container situation occur, moreover it is possible to transport the climb and fall of chemical industry stoste.
Description
Technical field
The present invention relates to field of machinery automation.A kind of it is more particularly related to machine for conveying chemical industry stoste
People.
Background technology
In recent years, utilization of the robot in auto industry is increasingly popularized, and the manipulator of part is grasped from production line
Automatic welding machinery arm into welding procedure, none does not play an important role, and not only improves production efficiency to enterprise,
Simultaneously on the uninteresting production station of some repetitions, reduce the probability of human error, also reduce recruitment cost in the long run,
However, in chemical production field, but popularity is less high, and one of reason is exactly that the transport of part chemical industry stoste is less pacified
Entirely, some chemical industry stostes are poisonous and harmful or seriously polluted, and existing transportation robot has no problem when transporting parts, but
It is during chemical industry stoste is transported, it is possible to robot occur and starting or stoping moment, chemical industry stoste is splashed splendid attire
Container, so as to leak, in addition, can not also solve the problems, such as robot climb and fall during chemical industry stoste is transported.
The content of the invention
Chemical industry stoste is splashed during can avoiding robot acceleration or jerk it is an object of the present invention to provide one kind
Go out the robot of the conveying chemical industry stoste of container.
In order to realize according to object of the present invention and further advantage, there is provided a kind of machine for conveying chemical industry stoste
People, including：
Bearing system, it is specific to include again：
Alms bowl is incubated, it is cylindrical block, and insulation alms bowl upper surface central coaxial offers a reverse frustoconic groove,
The container equipped with chemical industry stoste is held in the groove, and gap be present between the tilt internal wall of container and the groove, it is described
Multiple circular holes are offered on the tilt internal wall of groove, the circular hole is distributed in varying level aspect, and equal in same level aspect
Even arrangement circularizes, and is provided with the circular hole and props up container with the isodiametric piston rod of the circular hole, described piston rod one end,
The other end forms the hydraulic cavities of a sealing with the circular-hole internal-wall, to provide controllable-thrust, and passes to container by piston rod,
The controllable acceleration of chemical industry stoste in container is set not swing container, the bottom portion of groove is provided with a undamped for holding container
Bottom plate, to reduce container friction, the lower face of the undamped bottom plate is provided with a pressure sensor, with detection
Container and its content weight；
Lid, it is the cylindrical shape of one end closing, and the internal diameter of the lid is more than diameter at the slot opening, while institute
The opening end for stating lid is just fastened on the top of the insulation alms bowl, and the top in the lid is provided with the first rangefinder and the
Two rangefinders, the probe vertical of first rangefinder point to the liquid level in container, and the probe vertical of second rangefinder refers to
To container edge, by the measurement result of the first rangefinder and the second rangefinder to calculate in container liquid level away from container edge height
Degree；
Balanced support system is specific to include again：
Base, it is a plate body；
Harmonic speed reducer, its firm gear are fixedly connected on the base, and bedplate described in the axis parallel of the firm gear
The output axis connection of face, the wave producer of the harmonic speed reducer and one first motor, first motor are fixed on base
On；
Rocking arm, it is a body of rod, and one end of the rocking arm is vertically connected on the lower surface of the insulation alms bowl, other end connection
On the periphery of a cylinder, the cylinder is connected to by flange coaxial on the flexbile gear of the harmonic oscillator, so that
The rocking arm and the insulation alms bowl being connected with the rocking arm are always maintained at vertically；
Running gear is specific to include again：
Two groups of road wheel groups, its direction of travel is parallel with the rotational plane of the rocking arm, two groups of road wheel group parallel side-by-sides
Below the base, and two groups of road wheel groups are symmetrically distributed in the both sides of the rocking arm, and the road wheel group is by more
Individual big hub and two small hub compositions, the big hub and small hub form a line, and two small hubs are located at institute respectively
The head and the tail both ends of big hub queue are stated, the big hub and small hub are connected by a crawler belt, and the road wheel group is being moved
One the 3rd rangefinder is provided with front of dynamic direction, the probe vertical of the 3rd rangefinder points to ground with real-time measuring probe
Away from ground level；
Second motor, its rotating speed are fixed, and the output shaft of second motor is connected to drive with a big hub rotating shaft
The road wheel group keeps steady motion speed；
Single-chip microcomputer, it is arranged on the base, and the single-chip microcomputer is connected with the hydraulic cavities, also with first ranging
Instrument, the second rangefinder, pressure sensor communication connection, with according to liquid level in container away from container edge height, chemical industry stoste it is viscous
Stagnant coefficient, container and its content weight calculate the thrust that hydraulic cavities provide, and the single-chip microcomputer electrically connects with first motor,
Communicated to connect with the 3rd rangefinder, to control the rotational angle of rocking arm.
Preferably, the bottom of the groove offers multiple vertical through holes, is additionally provided with below the insulation alms bowl
The straight line electric cylinders consistent with the number of openings, the output end of the straight line electric cylinders passes through from the through hole is connected to the nothing
Damp the lower surface of bottom plate.
Preferably, the lower edge of the lid and the upper edge of the insulation alms bowl are hinged, so that the lid is vertical
Face overturns or fastened.
Preferably, first rangefinder and the second rangefinder use ultrasonic range finder.
Preferably, the piston rod props up one end of container and is connected with the cambered plate being bonded with container outer wall.
Preferably, the insulation alms bowl uses ceramic material.
Preferably, the big hub or the small hub are provided centrally with rotating shaft, and the rotating shaft both ends each extend over
To the both sides of the big hub or the small hub, the base lower face is provided with and the big hub and small hub quantity one
The multipair suspension rod caused, axis of rotation of each pair suspension rod with a big hub or small hub are connected.
The present invention comprises at least following beneficial effect：
1st, by controlling hydraulic cavities to pass to the thrust of piston rod, the acceleration of control container is less than chemical industry stoste because viscous
Acceleration caused by resistance hysteresis, so as to avoid chemical industry stoste from spilling container, ensure that chemical industry stoste is not splashed and waste and cause environment
Pollution.
2nd, calculated by the 3rd rangefinder in the starting of unit interval and the measurement result at end in the unit interval
Probe and the difference in height on ground, then than the displacement in the upper robot unit interval, you can draw the inclined plane that will be run into
Inclination angle tangent value, so as to extrapolate the inclination angle for the inclined plane that will be run into, and then control balanced support system call interception container
Inclination angle, chemical industry stoste is poured down or forth during avoiding climb and fall.
3rd, container is pushed out by straight line electric cylinders being incubated alms bowl, it is more convenient without manual operation, in addition compared to oil cylinder,
The motion of straight line electric cylinders is more steady, also prevent rocking for push process vessel.
4th, the kinetic stability of robotic conveyance process can be strengthened by crawler travel, encounter out-of-flatness position on mill floor
Rock caused by putting smaller, while each wheel hub is avoided that that is moved between wheel hub interferes using stand alone type suspension, also increases
The walking stability of Qiang Liao robots.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the side structure schematic diagram of the robot of conveying chemical industry stoste of the present invention；
Fig. 2 is the downslope motion state diagram of the robot of conveying chemical industry stoste of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be noted that in the description of the invention, term " transverse direction ", " longitudinal direction ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, it is for only for ease of the description present invention and simplifies description, is not instruction or implies signified dress
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.
As depicted in figs. 1 and 2, the present invention provides a kind of robot for conveying chemical industry stoste, including：
Bearing system, it is specific to include again：
Alms bowl 1 is incubated, it is cylindrical block, and it is recessed that the insulation upper surface central coaxial of alms bowl 1 offers a reverse frustoconic
Groove, the container 2 equipped with chemical industry stoste is held in the groove, and gap be present between the tilt internal wall of container 2 and the groove,
Multiple circular holes are offered on the tilt internal wall of the groove, the circular hole is distributed in varying level aspect, and in same level layer
Face is evenly distributed to be circularized, and piston rod 3 isodiametric with the circular hole is provided with the circular hole, and described one end of piston rod 3 is supported
Firmly container 2, the other end form the hydraulic cavities 4 of a sealing with the circular-hole internal-wall, and the bottom of the circular hole offers insertion and extremely protected
The first through hole of the warm outer wall of alms bowl 1, the first through hole are connected by flexible pipe with a hydraulic station, and the hydraulic station, which is fixed on, below will
On the base 10 to be described, bought oil by hydraulic station to hydraulic cavities 4 to provide controllable-thrust, and appearance is passed to by piston rod 3
Device 2, make 2 controllable acceleration of container, so that chemical industry stoste does not swing container 2, the bottom portion of groove is provided with one and holds container 2
Undamped bottom plate 5, to reduce the friction of container 2, thus without the interference of frictional force, the institute of container 2 is dynamic to be come
From piston rod 3, make control more accurate, the lower face of the undamped bottom plate 5 is provided with a pressure sensor 6, with inspection
Xylometer 2 and its content weight, due to container 2 and its content weight or one, therefore calculate the acceleration of container 2 also
It is to be defined by the gross weight of container 2 and its content；
Lid 7, it is the cylindrical shape of one end closing, and the internal diameter of the lid 7 is more than diameter at the slot opening, simultaneously
The opening end of the lid 7 is just fastened on the top of the insulation alms bowl 1, and the top in the lid 7 is provided with the first ranging
The rangefinder 9 of instrument 8 and second, the probe vertical of first rangefinder 8 point to the liquid level in container 2, second rangefinder 9
Probe vertical points to container 2 edge, by the measurement result of the first rangefinder 8 and the second rangefinder 9 to calculate liquid in container 2
The edge of identity distance container 2 height, reach boundary condition because chemical industry stoste reaches the edge of container 2, therefore can be existed according to chemical industry stoste
The moment at the edge of container 2, the chemical industry stoste sectional area of metal line during crossing calmness in container 2 are former to calculate this part chemical industry
The viscosity resistance of liquid, and with this come determine hydraulic cavities 4 can be piston rod 3 provide maximum thrust；
Balanced support system is specific to include again：
Base 10, it is a plate body, it is generally desirable to which the area of base 10 is projected on base 10 more than the bearing system
Area, the stability of such robot can be more preferable, and shortcoming is that volume is larger；
Harmonic speed reducer 11, its firm gear is fixedly connected on the base 10, and bottom described in the axis parallel of the firm gear
The output axis connection of 10 plate faces of seat, the wave producer of the harmonic speed reducer 11 and one first motor, first motor are consolidated
It is scheduled on base 10, the torque of first motor steadily can be effectively passed to by harmonic speed reducer 11 which will be described
Rocking arm 12；
Rocking arm 12, it is a body of rod, and one end of the rocking arm 12 is vertically connected on the lower surface of the insulation alms bowl 1, another
End is connected on the periphery of a cylinder, and the cylinder is connected to the flexbile gear of the harmonic oscillator by flange coaxial
On, so as to the rocking arm 12 and be always maintained at vertically with the insulation alms bowl 1 that the rocking arm 12 is connected；Running gear is specific to include again：
Two groups of road wheel groups, its direction of travel is parallel with the rotational plane of the rocking arm 12, and two groups of road wheel groups are parallel simultaneously
Row are arranged on the lower section of base 10, and two groups of road wheel groups are symmetrically distributed in the both sides of the rocking arm 12, the road wheel
Group is made up of multiple big hubs 13 and two small hubs 14, and the big hub 13 and small hub 14 form a line, and two small
Wheel hub 14 is located at the head and the tail both ends of the queue of big hub 13 respectively, and the big hub 13 and small hub 14 are connected by a crawler belt 15
Integrally, the road wheel group is provided with one the 3rd rangefinder 16, the spy of the 3rd rangefinder 16 in front of moving direction
Head is perpendicularly oriented to ground with real-time measuring probe away from ground level, wherein the mounting means of the road wheel group is more various, can
In a manner of use is traditional, wheel hub relative in two road wheel groups is stringed together by a rotating shaft, then in the lower plate of base 10
Face sets hanging stick, and the axis of rotation of hanging stick and wheel hub is connected, and independent suspension type can also be used, by the rotating shaft of each wheel hub
The lower face of base 10, the axis of rotation connection of hanging stick and wheel hub are fixed on by independent hanging stick；
Second motor 17, its rotating speed are fixed, and the output shaft of second motor 17 is connected with a rotating shaft of big hub 13
To drive the road wheel group to keep steady motion speed, in the so more convenient unit of account time, the movement of robot away from
From；
Single-chip microcomputer 18, it is arranged on the base 10, and the single-chip microcomputer 18 is connected with the hydraulic cavities 4, also with it is described
First rangefinder 8, the second rangefinder 9, pressure sensor 6 communicate to connect, with according to liquid level in container 2 away from the edge of container 2 height,
The coefficient of viscosity, container 2 and its content weight of chemical industry stoste calculate the thrust that hydraulic cavities 4 provide, the single-chip microcomputer 18 and institute
The electrical connection of the first motor is stated, is communicated to connect with the 3rd rangefinder 16, to control the rotational angle of rocking arm 12.
Above-described embodiment in use, be loaded into chemical industry stoste container 2 be put into insulation alms bowl 1 in after, pressure pass
Sensor 6 will measure the gross weight of container 2 for loading chemical industry stoste, and the invariablenes turning speed of the second motor 17 is meant that, robot
Final speed can know in advance, due to robot from static to the process of constant speed quickly, time and movement needed for it
Distance it is substantially negligible, but now because container 2 is placed on undamped bottom plate 5, so without frictional force
Accelerate container 2, container 2 and chemical industry stoste are at inactive state, chemical industry stoste is not spilt container 2 it is necessary to making
The acceleration of work stoste is more than the acceleration of container 2, and the thrust of chemical industry stoste is provided by viscosity resistance completely, and container 2 pushes away
Power is provided by piston rod 3 completely, is to reach to spill boundary condition because chemical industry stoste reaches the edge of container 2, therefore can be according to chemical industry
For stoste in the moment at the edge of container 2, the chemical industry stoste sectional area of metal line during crossing calmness in container 2 calculates this part
The viscosity resistance of chemical industry stoste, and it can be the maximum thrust that piston rod 3 provides to extrapolate hydraulic cavities 4 according to Newton's second law,
Bought oil so as to allow single-chip microcomputer 18 to export electric signal control hydraulic cavities 4, until container 2 and chemical industry stoste reach the constant fortune of robot
Dynamic speed.When robot needs climb and fall, the 3rd rangefinder 16 can measure unit interval starting and end away from
The height on ground, and send measurement result to single-chip microcomputer 18 and calculate probe and the difference in height on ground in the unit interval, then compare
Displacement in the upper robot unit interval, you can the inclination angle tangent value for the inclined plane that will be run into is drawn, so as to calculate
Go out the inclination angle for the inclined plane that will be run into, and then control the inclination angle of balanced support system call interception container 2, during avoiding climb and fall
Chemical industry stoste is poured down or forth.
In another embodiment, the bottom of the groove offers multiple the second vertical through holes, described to be incubated under alms bowl 1
Side is additionally provided with the straight line electric cylinders 19 consistent with second number of openings, and the output ends of the straight line electric cylinders 19 is from described second
Through the lower surface for being connected to the undamped bottom plate 5 in through hole, container 2 is pushed out insulation alms bowl 1, nothing by straight line electric cylinders 19
Need manual operation more convenient, in addition compared to oil cylinder, the motion of straight line electric cylinders 19 is more steady, also prevent push process appearance
Device 2 rocks.
In another embodiment, the lower edge of the lid 7 and the upper edge of the insulation alms bowl 1 are hinged, so that the lid
Body 7 overturns or fastened in vertical plane, so facilitates the switch of lid 7, can also strengthen the heat insulating ability of lid 7.
In another embodiment, the rangefinder 9 of the first rangefinder 8 and second uses ultrasonic range finder, due to measurement
Distance it is closer, so the measurement accuracy of ultrasonic range finder and laser range finder is more or less the same, but because chemical industry stoste
Hot gas can change atmospheric density, so as to have influence on the propagation of laser, so being used herein ultrasonic range finder.
In another embodiment, one end that the piston rod 3 props up container 2 is connected with the cambered surface being bonded with the outer wall of container 2
Plate, the power on such piston rod 3 is with regard to that can uniformly transfer to container 2, it is not easy to the phenomenon for offseting or skidding occur.
In another embodiment, the insulation alms bowl 1 uses ceramic material, compared to other materials, ceramic insulation
Performance is more preferable, the heat of chemical industry stoste in energy long-time holding container 2.
In another embodiment, the big hub 13 or the small hub 14 are provided centrally with rotating shaft, the rotating shaft two
End extends respectively to the both sides of the big hub 13 or the small hub 14, and the lower face of base 10 is provided with and the bull wheel
The multipair suspension rod 20 consistent with the quantity of small hub 14 of hub 13, each pair suspension rod 20 turn with the rotating shaft of a big hub 13 or small hub 14
Dynamic connection, so each wheel hub are avoided that that is moved between wheel hub interferes using stand alone type suspension, also enhance robot
Walking stability.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (7)
- A kind of 1. robot for conveying chemical industry stoste, it is characterised in that including：Bearing system, it is specific to include again：Alms bowl is incubated, it is cylindrical block, and insulation alms bowl upper surface central coaxial offers a reverse frustoconic groove, described The container equipped with chemical industry stoste is held in groove, and gap be present between the tilt internal wall of the container and the groove, it is described Multiple circular holes are offered on the tilt internal wall of groove, the circular hole is distributed in varying level aspect, and equal in same level aspect Even arrangement circularizes, and is provided with the circular hole and props up container with the isodiametric piston rod of the circular hole, described piston rod one end, The other end forms the hydraulic cavities of a sealing with the circular-hole internal-wall, to provide controllable-thrust, and passes to container by piston rod, The controllable acceleration of chemical industry stoste in container is set not swing container, the bottom portion of groove is provided with a undamped for holding container Bottom plate, to reduce container friction, the lower face of the undamped bottom plate is provided with a pressure sensor, with detection Container and its content weight；Lid, it is the cylindrical shape of one end closing, and the internal diameter of the lid is more than diameter at the slot opening, while the lid The opening end of body is just fastened on the top of the insulation alms bowl, and the top in the lid is provided with the first rangefinder and second and surveyed Distance meter, the probe vertical of first rangefinder point to the liquid level in container, and the probe vertical of second rangefinder, which points to, to be held Device edge, by the measurement result of the first rangefinder and the second rangefinder to calculate in container liquid level away from container edge height；Balanced support system is specific to include again：Base, it is a plate body；Harmonic speed reducer, its firm gear are fixedly connected on the base, and base plate face described in the axis parallel of the firm gear, institute The wave producer of harmonic speed reducer and the output axis connection of one first motor are stated, first motor is fixed on base；Rocking arm, it is a body of rod, and one end of the rocking arm is vertically connected on the lower surface of the insulation alms bowl, and the other end is connected to one On the periphery of cylinder, the cylinder is connected to by flange coaxial on the flexbile gear of the harmonic oscillator, so that described Rocking arm and the insulation alms bowl being connected with the rocking arm are always maintained at vertically；Running gear is specific to include again：Two groups of road wheel groups, its direction of travel is parallel with the rotational plane of the rocking arm, two groups of road wheel group parallel side-by-side installations Below the base, and two groups of road wheel groups are symmetrically distributed in the both sides of the rocking arm, and the road wheel group is by multiple big Wheel hub and two small hub compositions, the big hub and small hub form a line, and two small hubs are respectively positioned at described big The head and the tail both ends of wheel hub queue, the big hub and small hub are connected by a crawler belt, and the road wheel group is in movement side To front be provided with one the 3rd rangefinder, the probe vertical of the 3rd rangefinder points to ground with real-time measuring probe away from ground Face height；Second motor, its rotating speed are fixed, and the output shaft of second motor is connected described to drive with a big hub rotating shaft Road wheel group keeps steady motion speed；Single-chip microcomputer, it is arranged on the base, and the single-chip microcomputer is connected with the hydraulic cavities, also with first rangefinder, Second rangefinder, pressure sensor communication connection, with according to viscous system of the liquid level in container away from container edge height, chemical industry stoste Number, container and its content weight calculate the thrust that hydraulic cavities provide, and the single-chip microcomputer electrically connects with first motor, with institute The communication connection of the 3rd rangefinder is stated, to control the rotational angle of rocking arm.
- 2. the robot of conveying chemical industry stoste as claimed in claim 1, it is characterised in that the bottom of the groove offers more Individual vertical through hole, described be incubated below alms bowl are additionally provided with the straight line electric cylinders consistent with the number of openings, the straight-line electric The output end of cylinder is from the through hole through the lower surface for being connected to the undamped bottom plate.
- 3. as claimed in claim 1 conveying chemical industry stoste robot, it is characterised in that the lower edge of the lid with it is described The upper edge of insulation alms bowl is hinged, so that the lid overturns or fastened in vertical plane.
- 4. the robot of conveying chemical industry stoste as claimed in claim 1, it is characterised in that first rangefinder and second is surveyed Distance meter uses ultrasonic range finder.
- 5. the robot of conveying chemical industry stoste as claimed in claim 1, it is characterised in that the piston rod props up the one of container End is connected with the cambered plate being bonded with container outer wall.
- 6. the robot of conveying chemical industry stoste as claimed in claim 1, it is characterised in that the insulation alms bowl uses ceramic material Make.
- 7. the robot of conveying chemical industry stoste as claimed in claim 1, it is characterised in that the big hub or the small hub Be provided centrally with rotating shaft, the rotating shaft both ends extend respectively to the both sides of the big hub or the small hub, the base Lower face is provided with the multipair suspension rod consistent with the big hub and small hub quantity, each pair suspension rod with a big hub or steamboat The axis of rotation connection of hub.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710686839.9A CN107444507B (en) | 2017-08-11 | 2017-08-11 | Convey the robot of chemical industry stoste |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710686839.9A CN107444507B (en) | 2017-08-11 | 2017-08-11 | Convey the robot of chemical industry stoste |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107444507A true CN107444507A (en) | 2017-12-08 |
| CN107444507B CN107444507B (en) | 2019-04-26 |
Family
ID=60492306
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710686839.9A Active CN107444507B (en) | 2017-08-11 | 2017-08-11 | Convey the robot of chemical industry stoste |
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| Country | Link |
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| CN (1) | CN107444507B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115871589A (en) * | 2022-12-09 | 2023-03-31 | 贵州电网有限责任公司 | Transportation device with anti-tipping capability and method |
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| CN106043474A (en) * | 2016-06-22 | 2016-10-26 | 安庆海纳信息技术有限公司 | Concrete transferring vehicle used for building |
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|---|---|---|---|---|
| JP2013129339A (en) * | 2011-12-22 | 2013-07-04 | Chikusui Canycom Inc | Remote operation type conveyor vehicle |
| CN203332250U (en) * | 2013-06-19 | 2013-12-11 | 天津良鸿机械有限公司 | Sludge curing agent carrier vehicle |
| CN203920951U (en) * | 2014-01-23 | 2014-11-05 | 北京申江风冷发动机有限责任公司 | Hydraulic-driven crawler type water pump vehicle |
| CN104097704A (en) * | 2014-07-16 | 2014-10-15 | 浙江小精农机制造有限公司 | Crawler type field transporting vehicle |
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| CN115871589A (en) * | 2022-12-09 | 2023-03-31 | 贵州电网有限责任公司 | Transportation device with anti-tipping capability and method |
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| Publication number | Publication date |
|---|---|
| CN107444507B (en) | 2019-04-26 |
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