CN108928609A - Shuttle Fan Zhao mechanism and turn over pawl control method - Google Patents
Shuttle Fan Zhao mechanism and turn over pawl control method Download PDFInfo
- Publication number
- CN108928609A CN108928609A CN201811009770.7A CN201811009770A CN108928609A CN 108928609 A CN108928609 A CN 108928609A CN 201811009770 A CN201811009770 A CN 201811009770A CN 108928609 A CN108928609 A CN 108928609A
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- Prior art keywords
- motor
- pawl
- transmission shaft
- angular transducer
- bearing
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- 230000007246 mechanism Effects 0.000 title claims abstract description 40
- 230000007306 turnover Effects 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 89
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 9
- 238000009434 installation Methods 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Abstract
The present invention provides shuttle Fan Zhao mechanism, including turns over pawl, transmission component, electric machine assembly and control assembly.Transmission component has a first end and a second end；Electric machine assembly includes motor and motor mounting plate, and the output of motor is pivotally connected to the first end of transmission component；Control assembly includes controller and angular transducer, angular transducer, for acquiring the angle of motor output shaft rotation and feeding back to controller；Turn over the second end that pawl is fixedly attached to transmission component；Controller is configured to the operating of the angle-controlled motor acquired according to angular transducer to control and turn over pawl overturning.It is proposed by the present invention to turn over pawl control method, transmission shaft is driven by motor and turns over pawl operating, centre controls the absolute position for turning over pawl by angular transducer, Fan Zhao mechanism more in the prior art passes through the position that pawl is turned over close to switch detection, improve detection accuracy, it does not need to substantially increase the service life of motor by stall holding position precision simultaneously.
Description
Technical field
The present invention relates to mobile robot control technical field more particularly to shuttle Fan Zhao mechanism and turn over pawl controlling party
Method.
Background technique
Shuttle vehicle type warehousing system is plus high-precision guide rail on traditional shelf, and shuttle is put down on high-precision orbital
The warehouse logistics automated system surely run can allow more shuttles work in same tunnel simultaneously, greatly improve
Storage space utilization rate.Shuttle (RGV) is the intelligent haulage equipment in shuttle vehicle type warehousing system, with its intelligence, flexibly
The characteristics of obtain more and more applications.The executing agency that pawl is shuttle (RGV) is turned over, when carrying out material carrying, turns over pawl
Need the frequent switching between operating position (such as 3-1 of attached drawing 7) and rest position (such as 3-2 of attached drawing 7).
Fan Zhao mechanism is using motor, transmission shaft and the frame mode or motor, shaft coupling that turn over pawl combination composition at present
Device, transmission shaft and the frame mode (such as Chinese patent literature of Patent No. CN201520374236.1) for turning over pawl combination composition,
But the position for turning over pawl passes through close switch and goes detection (such as Chinese patent literature of Patent No. CN201520372532.8), adds
Upper coupling itself back clearance, so that turning over pawl, there are a burst errors in position feedback, therefore turn over pawl in detection close to switch
There can be location error when position, the continuous stall of motor (forbidding it to continue to overturn by physical location) is needed to come under normal conditions
Keep turning over the elaborate position of pawl, such mode both reduces efficiency, has also been substantially damaged electrical machinery life.
In addition, Fan Zhao mechanism on the market is in switching process at present, the effect meeting of bearing on transmission shaft by axial force
It causes bearing impaired, increases maintenance cost；And Fan Zhao mechanism is directly installed in fixed plate, to matching requirements height, simultaneously
It is not easy to installation, replacement and removal maintenance.
Summary of the invention
Present invention seek to address that the above problem, provides shuttle Fan Zhao mechanism and turns over pawl control method, driven by motor
Transmission shaft is operated with pawl is turned over, and centre controls the absolute position for turning over pawl by angular transducer, more in the prior art to turn over
Pawl mechanism passes through the position that pawl is turned over close to switch detection, improves detection accuracy, while not needing by stall holding position precision,
Substantially increase the service life of motor.
To reach above-mentioned purpose, the technical solution adopted in the present invention is as follows:
Shuttle Fan Zhao mechanism, is mounted on shuttle by a fixed plate, including turn over pawl, transmission component, electric machine assembly with
And control assembly, in which:
The transmission component has a first end and a second end；
The electric machine assembly, including motor and the motor mounting plate that is mounted in fixed plate, the output shaft of the motor is from motor
A mounting hole on mounting plate passes through the first end for being fixedly attached to the transmission component；
The control assembly includes controller and the angular transducer that is electrically connected with the controller,
The angular transducer, for acquiring the angle of motor output shaft rotation and feeding back to controller；
The second end turned over pawl and be fixedly attached to the transmission component；
The controller is configured to the operating of the angle-controlled motor acquired according to angular transducer to control and turn over pawl overturning.
In further embodiment, angular transducer has an inner hole for adapting to motor output shaft, and the inner hole is set
It is set to as motor output shaft rotates.
In further embodiment, the transmission component includes transmission shaft, first bearing and second bearing,
The transmission shaft have the transmission shaft first end that is connect with motor output shaft and with the transmission shaft second that turns over pawl and connect
End,
The transmission shaft first end is connected with first bearing,
The transmission shaft second end is connected with second bearing.
In further embodiment,
The bushing being sheathed on transmission shaft is additionally provided between the first bearing and second bearing；
The second bearing and turn over the spacer for being additionally provided with and being sheathed on transmission shaft between pawl.
In further embodiment, the transmission component further includes fixing seat, and the fixing seat is fixedly mounted on fixed plate
On；
The transmission shaft is connected in the fixing seat by first bearing and second bearing.
In further embodiment, the motor output shaft has one used for positioning to scabble side, the transmission shaft first
End end face has first slot for adapting to motor output shaft, first slot of the motor output shaft insertion transmission shaft
Transmission shaft is fixedly connected by hole by fastening bolt with motor output shaft.
In further embodiment, shuttle Fan Zhao mechanism further includes a gasket, and the pawl that turns over has the second slot,
Second slot of pawl is turned in transmission shaft second end insertion, and by fastening bolt by transmission shaft, to turn over pawl, gasket successively solid
Fixed connection.
In further embodiment, the control assembly is integrally square plate structure, and the motor mounting plate is towards control
The mounting groove with control assembly physical fit is provided in the one side of component processed.
In further embodiment, the mounting groove periphery of the motor mounting plate, which is additionally provided with, takes board slot.
Improvement according to the present invention, it is also proposed that turn over pawl control method, be based on shuttle Fan Zhao above-mentioned mechanism, this method
Include:
Controller sends a signal to the rotation of motor control motor；
Motor drives angular transducer and transmission component rotation；
Transmission component drive turns over pawl rotation and makees flip-flop movement, while the angle of angular transducer acquisition motor output shaft rotation and anti-
It is fed to controller；
The operating for the angle-controlled motor that controller is acquired according to angular transducer turns over pawl overturning to control.
Shuttle Fan Zhao proposed by the present invention mechanism and pawl control method is turned over, it is compared with prior art, significant beneficial
Effect is, drives transmission shaft by motor and turns over pawl operating, centre carries out the absolute position for turning over pawl by angular transducer
Control, Fan Zhao mechanism more in the prior art pass through the position for turning over pawl close to switch detection, improve detection accuracy, be not required to simultaneously
Stall holding position precision is leaned on, the service life of motor is substantially increased；Increase bushing on the inside of two bearings on transmission shaft,
Guarantee that bearing will not generate damage to bearing because of the retraction of fastening bolt；And Fan Zhao mechanism is divided by Optimal Structure Designing
Electric machine assembly and transmission component are assembled integrally finally by shape positioning, independent to assemble, and are reduced installation, are replaced and tear open
Unload maintenance cost.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, and attached drawing is not intended in proportion
It draws.In the accompanying drawings, identical label table can be used by each of showing identical or nearly identical component part in each figure
Show.For clarity, in each figure, not each component part is labeled.Now, example will be passed through and refer to attached drawing
The embodiment of various aspects of the invention described, in the accompanying drawings:
Fig. 1 is the overall structure diagram of the shuttle Fan Zhao mechanism of preferred embodiment of the present invention.
Fig. 2 is the explosive view of the shuttle Fan Zhao mechanism of preferred embodiment of the present invention.
Fig. 3 is that the electric machine assembly of the shuttle Fan Zhao mechanism of preferred embodiment of the present invention and the installation of control assembly are illustrated
Figure.
Fig. 4 is the schematic diagram of the transmission component of the shuttle Fan Zhao mechanism of preferred embodiment of the present invention.
Fig. 5 is that the installation of the electric machine assembly and transmission component of the shuttle Fan Zhao mechanism of preferred embodiment of the present invention is illustrated
Figure.
Fig. 6 is that the positioning of the electric machine assembly and transmission component of the shuttle Fan Zhao mechanism of preferred embodiment of the present invention is illustrated
Figure.
Fig. 7 is the operation schematic diagram for turning over pawl of the shuttle Fan Zhao mechanism of preferred embodiment of the present invention.
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and above-mentioned institute's accompanying drawings is cooperated to be described as follows.
Preferred embodiment according to the present invention proposes shuttle Fan Zhao mechanism, turns over the execution machine that pawl is shuttle (RGV)
Structure turns over pawl and needs in operating position (such as 3-1 of attached drawing 7) and rest position (such as 3-2 of attached drawing 7) when carrying out material carrying
Between frequent switching.Existing Fan Zhao mechanism needs the continuous stall of motor (to forbid it to continue by physical location under normal conditions
Overturning) keep turning over the elaborate position of pawl, efficiency is both reduced, electrical machinery life has also been substantially damaged；And when equipment is surprisingly broken
After electricity, when re-powering, needs to determine initial position by stall, can not determine absolute position, reduce efficiency.
Therefore, the invention proposes shuttle Fan Zhao mechanism, be mounted on shuttle by a fixed plate 5, it is whole with
The movement of shuttle and move.As shown in Figures 1 to 7, pawl 3, transmission component 2, electric machine assembly 1 and control assembly are turned over including
4.Transmission component 2 has a first end and a second end.Electric machine assembly 1, including motor 1-1 and the motor being mounted in fixed plate 5 peace
Loading board 1-2.Motor 1-1 includes fuselage and motor output shaft 1-11, and motor output shaft 1-11 is from the peace on motor mounting plate 1-2
Dress hole is threaded through the first end that bolt is fixedly attached to transmission component 2.Control assembly 4 is mounted on motor mounting plate 1-2,
Including controller and the angular transducer 4-1 being electrically connected with the controller.Angular transducer 4-1, for acquiring motor output shaft 1-
The angle of 11 rotations simultaneously feeds back to controller；Angular transducer 4-1 also has an inner hole 4- for adapting to motor output shaft 1-11
11, inner hole 4-11 are configured to rotate with motor output shaft 1-11.Turn over pawl 3 is fixedly attached to transmission component 2
Two ends.The operating for the angle-controlled motor 1-1 that controller is acquired according to angular transducer 4-1 turns over the overturning of pawl 3 to control.
It should be understood that controller above-mentioned, angular transducer 4-1 and motor 1-1 are technologies known in the art,
Existing, or any structure appropriate of the following exploitation can be used in disclosure according to the present invention, and details are not described herein.At this
In embodiment, angular transducer 4-1 is pushed down from cabling in the raised floor, wire pressing block, and cable is protected not to be damaged；Motor mounting plate 1-2 is to adopt
It is formed with aluminium alloy one-time mechanical processing method.
The operation principle of the present invention is that: control assembly 4 sends a signal to motor 1-1 according to the instruction of host computer, and motor is defeated
Shaft 1-11 rotation drive angular transducer 4-1 inner hole 4-11 and transmission component 2 rotate, the second end of transmission component 2 with turn over
Mode is fixed by screw between pawl 3 to be driven；Meanwhile during motor output shaft 1-11 rotation, angular transducer 4-1 is real
When feed back the rotation position of motor output shaft 1-11 out to controller, when upturned position (operating position or rest position) is close
When, controller controls motor 1-1 pre-decelerating, stops and keeps on the absolute position of needs, if turning over pawl 3 by external strength
After rotation, for Real-time Feedback to controller, controller sends a signal to motor 1-1 after angular transducer 4-1 detection, motor 1-1 after
Continuous rotation, goes to the absolute position of needs.If equipment when re-powering, is recorded by after accident power-off due to control assembly 4
It is absolute position, control assembly 4 will send signal control motor 1-1 and continue to be rotated up the position turned over before pawl 3 is restored to power-off
It sets.Fan Zhao mechanism disclosed in this invention is assembled integrally by the modularized design of various components, and by shape positioning,
Independent assembly, reduces installation, replacement and removal maintenance cost.
In some preferred embodiments, as shown in Figure 2 and Figure 4, transmission component 2 includes transmission shaft 2-1, first bearing 2-
2 and second bearing 2-3.Transmission shaft 2-1 has the transmission shaft first end connecting with motor output shaft 1-11 and connects with pawl 3 is turned over
The transmission shaft second end connect.Transmission shaft first end is connected to first bearing 2-2 inner hole, and transmission shaft second end is connected to second bearing
The inner hole of 2-3.In the present embodiment, first bearing 2-2 and second bearing 2-3 is deep groove ball bearing, first bearing 2-2 and second
The bushing 2-5 being sheathed on transmission shaft 2-1 is additionally provided between bearing 2-3.Second bearing 2-3 and turning over is additionally provided between pawl 3
The spacer 2-4 being sheathed on transmission shaft 2-1.In this way, increasing bushing 2- between upper two bearings (2-2,2-3) of transmission shaft 2-1
5, it both ensure that spacer 2-4 will not axially kill bearing, and also guaranteed transmission shaft 2-1 by axial position will not be generated when axial force
It moves, increases axial limiting, when screw 6 is locked, as shown in figure 4, pressure, which is transferred to, turns over pawl 3, axial force will continue to be transmitted to
It on bushing 2-5, is not transferred on the Internal and external cycle of first bearing 2-2 and second bearing 2-3, protects first bearing 2-2 and second
Bearing 2-3 is not damaged, and improves its service life, reduces maintenance cost.
Preferably, as shown in Figure 2 and Figure 4, for the ease of modularization installation, disassembly and maintenance, transmission component 2 further includes solid
Reservation 2-6, fixing seat 2-6 are fixedly mounted in fixed plate 5；Transmission shaft 2-1 is connected by first bearing 2-2 and second bearing 2-3
It is connected on fixing seat 2-6.
In certain embodiments, as shown in figure 5, motor output shaft 1-11 has one used for positioning to scabble side, transmission shaft
First end end face has first slot for adapting to motor output shaft 1-11, it should be appreciated that angular transducer 4-1's is interior
What hole 4-11 equally adapted to motor output shaft 1-11 scabbles side.Motor output shaft 1-11 is inserted into the first slot of transmission shaft 2-1,
Transmission shaft 2-1 is fixedly connected with motor output shaft 1-11 by fastening bolt, eliminates motor output shaft 1-11 and transmission shaft
Idle running back clearance between 2-1.In this way, motor output shaft 1-11 rotation drives angular transducer 4-1 inner hole 4-11 rotation, feed back out
Angle change is also that ensure that from structure by scabbling side transmission certainly, between motor output shaft 1-11 and transmission shaft 2-1
It turns over pawl 3 to be fixed on transmission shaft 2-1, is not likely to produce offset at work, while also ensuring the fool proof of installation.
Preferably, as shown in Fig. 2, shuttle Fan Zhao mechanism further includes a gasket 3-3, pawl 3 is turned over the second slot, transmission
Axis second end, which is inserted into, turns over the second slot of pawl 3, and by fastening bolt by transmission shaft 2-1, turn over that pawl 3, gasket 3-3 are successively fixed to be connected
It connects, effectively protects and turn over pawl 3 when working transition and idle transition frequent switching, bolt is not quaked loose, and it is steady to improve structure
It is qualitative.
In some preferred embodiments, as shown in figure 3, for the installation and removal convenient for control assembly 4, control assembly 4
For the industrial control board of the whole plate structure that is square, motor mounting plate 1-2 is towards being provided with and control group in the one side of control assembly 4
The mounting groove of 4 physical fit of part；The mounting groove periphery of motor mounting plate 1-2, which is additionally provided with, takes board slot 1-21.
Improvement according to the present invention, it is also proposed that turn over pawl control method, be based on shuttle Fan Zhao above-mentioned mechanism, such as Fig. 1
To shown in Fig. 3, this method comprises:
Controller sends a signal to motor 1-1 and controls motor 1-1 rotation.
Motor 1-1 drives angular transducer 4-1 and transmission component 2 to rotate.
The drive of transmission component 2 turns over the rotation of pawl 3 and makees flip-flop movement, while angular transducer 4-1 acquires motor output shaft 1-11
The angle of rotation simultaneously feeds back to controller.
The operating for the angle-controlled motor 1-1 that controller is acquired according to angular transducer 4-1 turns over the overturning of pawl 3 to control.
If equipment is by after accident power-off, when re-powering, what it is due to the record of control assembly 4 is absolute position, control group
Part 4, which will send signal control motor 1-1, to be continued to be rotated up the position turned over before pawl 3 is restored to power-off.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (10)
1. shuttle Fan Zhao mechanism, is mounted on shuttle by a fixed plate, which is characterized in that including turning over pawl, transmission group
Part, electric machine assembly and control assembly, in which:
The transmission component has a first end and a second end；
The electric machine assembly, including motor and motor mounting plate, the output shaft of the motor are fixedly attached to the transmission component
First end；
The control assembly, is mounted on motor mounting plate, including controller and the angular transducer that is electrically connected with the controller,
The angular transducer, for acquiring the angle of motor output shaft rotation and feeding back to controller；
The second end turned over pawl and be fixedly attached to the transmission component；
The controller is configured to the operating of the angle-controlled motor acquired according to angular transducer to control and turn over pawl overturning.
2. shuttle Fan Zhao according to claim 1 mechanism, which is characterized in that angular transducer has one to adapt to motor
The inner hole of output shaft, the inner hole are configured to rotate with motor output shaft.
3. shuttle Fan Zhao according to claim 1 mechanism, which is characterized in that the transmission component includes transmission shaft,
One bearing and second bearing,
The transmission shaft have the transmission shaft first end that is connect with motor output shaft and with the transmission shaft second that turns over pawl and connect
End；
The transmission shaft first end is connected with first bearing；
The transmission shaft second end is connected with second bearing.
4. shuttle Fan Zhao according to claim 3 mechanism, which is characterized in that
The bushing being sheathed on transmission shaft is additionally provided between the first bearing and second bearing；
The second bearing and turn over the spacer for being additionally provided with and being sheathed on transmission shaft between pawl.
5. shuttle Fan Zhao according to claim 3 mechanism, which is characterized in that the transmission component further includes fixing seat,
The fixing seat is fixedly mounted in fixed plate；
The transmission shaft is connected in the fixing seat by first bearing and second bearing.
6. shuttle Fan Zhao according to claim 3 mechanism, which is characterized in that the motor output shaft has one to be used to determine
Side is scabbled in position, and transmission shaft first end end face has first slot for adapting to motor output shaft, the motor output
Axis is inserted into first slot of transmission shaft, is fixedly connected with transmission shaft with motor output shaft by fastening bolt.
7. shuttle Fan Zhao according to claim 3 mechanism, which is characterized in that shuttle Fan Zhao mechanism further includes one
Gasket, for the pawl that turns over the second slot, second slot of pawl is turned in the transmission shaft second end insertion, and passes through fastening spiral shell
Bolt by transmission shaft, turn over pawl, gasket is fixedly connected sequentially.
8. shuttle Fan Zhao according to claim 1 mechanism, which is characterized in that the control assembly is the whole plate that is square
Shape structure, the motor mounting plate is towards the mounting groove being provided in the one side of control assembly with control assembly physical fit.
9. shuttle Fan Zhao according to claim 8 mechanism, which is characterized in that the mounting groove periphery of the motor mounting plate
It is additionally provided with and takes board slot.
10. pawl control method is turned over, based on shuttle Fan Zhao mechanism, feature described in any one of preceding claims 1-9
It is, this method comprises:
Controller sends a signal to the rotation of motor control motor；
Motor drives angular transducer and transmission component rotation；
Transmission component drive turns over pawl rotation and makees flip-flop movement, while the angle of angular transducer acquisition motor output shaft rotation and anti-
It is fed to controller；
The operating for the angle-controlled motor that controller is acquired according to angular transducer turns over pawl overturning to control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811009770.7A CN108928609A (en) | 2018-08-31 | 2018-08-31 | Shuttle Fan Zhao mechanism and turn over pawl control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811009770.7A CN108928609A (en) | 2018-08-31 | 2018-08-31 | Shuttle Fan Zhao mechanism and turn over pawl control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108928609A true CN108928609A (en) | 2018-12-04 |
Family
ID=64443130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811009770.7A Withdrawn CN108928609A (en) | 2018-08-31 | 2018-08-31 | Shuttle Fan Zhao mechanism and turn over pawl control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108928609A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776559A (en) * | 2019-09-09 | 2020-10-16 | 北京京东乾石科技有限公司 | Warehouse shuttle car |
| CN112244824A (en) * | 2020-09-09 | 2021-01-22 | 四川九八村信息科技有限公司 | Intelligent blood sampling instrument |
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|---|---|---|---|---|
| US4742468A (en) * | 1986-06-16 | 1988-05-03 | Yamate Industrial Co., Ltd. | Lift truck control system |
| CN103983229A (en) * | 2014-05-29 | 2014-08-13 | 哈尔滨量具刃具集团有限责任公司 | Split-type structure angular displacement sensor installed quickly and installation method |
| CN204713847U (en) * | 2015-06-02 | 2015-10-21 | 无锡凯乐士科技有限公司 | A kind of pull-fork assembly |
| CN205865001U (en) * | 2016-08-08 | 2017-01-11 | 江苏常发农业装备股份有限公司 | Angle displacement adjusting mechanism of automatically controlled lifting mechanism |
| CN106378948A (en) * | 2016-11-22 | 2017-02-08 | 浦林成山（山东）轮胎有限公司 | Unwinding control device of tire treads |
| CN107381021A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of transfer robot for gripping power and automatically controlling |
| CN207698702U (en) * | 2018-01-05 | 2018-08-07 | 常州市新创智能科技有限公司 | Overturn tooling |
| CN108438786A (en) * | 2018-04-28 | 2018-08-24 | 江苏华章物流科技股份有限公司 | Shuttle Fan Zhao mechanisms |
| CN208731938U (en) * | 2018-08-31 | 2019-04-12 | 张彦晓 | Shuttle Fan Zhao mechanism |
-
2018
- 2018-08-31 CN CN201811009770.7A patent/CN108928609A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4742468A (en) * | 1986-06-16 | 1988-05-03 | Yamate Industrial Co., Ltd. | Lift truck control system |
| CN103983229A (en) * | 2014-05-29 | 2014-08-13 | 哈尔滨量具刃具集团有限责任公司 | Split-type structure angular displacement sensor installed quickly and installation method |
| CN204713847U (en) * | 2015-06-02 | 2015-10-21 | 无锡凯乐士科技有限公司 | A kind of pull-fork assembly |
| CN205865001U (en) * | 2016-08-08 | 2017-01-11 | 江苏常发农业装备股份有限公司 | Angle displacement adjusting mechanism of automatically controlled lifting mechanism |
| CN106378948A (en) * | 2016-11-22 | 2017-02-08 | 浦林成山（山东）轮胎有限公司 | Unwinding control device of tire treads |
| CN107381021A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of transfer robot for gripping power and automatically controlling |
| CN207698702U (en) * | 2018-01-05 | 2018-08-07 | 常州市新创智能科技有限公司 | Overturn tooling |
| CN108438786A (en) * | 2018-04-28 | 2018-08-24 | 江苏华章物流科技股份有限公司 | Shuttle Fan Zhao mechanisms |
| CN208731938U (en) * | 2018-08-31 | 2019-04-12 | 张彦晓 | Shuttle Fan Zhao mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776559A (en) * | 2019-09-09 | 2020-10-16 | 北京京东乾石科技有限公司 | Warehouse shuttle car |
| CN111776559B (en) * | 2019-09-09 | 2021-10-15 | 北京京东乾石科技有限公司 | Warehouse shuttle car |
| CN112244824A (en) * | 2020-09-09 | 2021-01-22 | 四川九八村信息科技有限公司 | Intelligent blood sampling instrument |
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