CN109368565A - Aerial lift device - Google Patents
Aerial lift device Download PDFInfo
- Publication number
- CN109368565A CN109368565A CN201811511528.XA CN201811511528A CN109368565A CN 109368565 A CN109368565 A CN 109368565A CN 201811511528 A CN201811511528 A CN 201811511528A CN 109368565 A CN109368565 A CN 109368565A
- Authority
- CN
- China
- Prior art keywords
- sprocket
- chassis
- aerial lift
- lift device
- directional wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
- B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
Abstract
The present invention relates to engineering machinery fields, disclose a kind of aerial lift device, wherein, the aerial lift device includes chassis (100), lifting device (300) and workbench (400), the lifting device (300) is installed on the chassis (100), to drive the workbench (400) being arranged on the lifting device (300) lifting, the chassis (100) includes running gear (200), the running gear (200) includes sprocket-type omni-directional wheel (210), to drive the chassis (100) all-around mobile.Sprocket-type omni-directional wheel is able to drive chassis and carries out left and right transverse shifting, oblique straight trip, no-radius pivot stud and the all-around mobile advanced along arbitrary curve track, the travelling performance and range for greatly improving aerial lift device, enable adaptation to various handling situations.
Description
Technical field
The present invention relates to engineering machinery fields, more particularly to a kind of aerial lift device.
Background technique
In the prior art, aerial lift device generally includes workbench, lifting device (such as scissor arms), base apparatus
Deng.Wherein, base apparatus includes running gear, and running gear includes left and right hub motor and wheel, and wheel is that hard rubber is solid
Tire or foam fill tire, such as may include two front-wheels and two rear-wheels.By taking front-wheel drive turns to as an example, left and right wheel
Hub motor can be separately mounted to the inside of two front-wheels.In this arrangement, before aerial lift device can only be realized simply
Afterwards, movement is turned to, can not achieve all-around mobile (such as left and right transverse shifting, oblique straight trip, no-radius pivot stud etc.).Cause
This, aerial lift device it is mobile restricted so that normal operation is restricted.
Summary of the invention
The purpose of the invention is to overcome the problems, such as that aerial lift device of the existing technology is mobile restricted, one is provided
Kind aerial lift device, the aerial lift device can be realized all-around mobile.
To achieve the goals above, one aspect of the present invention provides a kind of aerial lift device, wherein the high altitude operation is set
Standby includes chassis, lifting device and workbench, and the lifting device is installed on the chassis, is arranged with driving in the lifting
Workbench lifting on device, the chassis include running gear, and the running gear includes sprocket-type omni-directional wheel, to drive
The chassis all-around mobile.
Preferably, the sprocket-type omni-directional wheel includes sprocket wheel, chain and multiple rolling units, and the rolling unit includes carrying out
Band plate and trundle, the chain are extended and are pacified along the moving direction of the chain through the chain wheel drive, the creeper tread
Loaded on the chain, the trundle is installed on the creeper tread, and the axis of the trundle of each rolling unit is flat
Row in the creeper tread plate face and favour the extending direction of the creeper tread.
Preferably, the running gear includes the first sprocket-type omni-directional wheel and the second sprocket-type omni-directional wheel, first chain
The inclination of the axis of the trundle of the inclined direction of the axis of the trundle of wheeled omni-directional wheel and the second sprocket-type omni-directional wheel
Contrary, the same side on the chassis is arranged alternately the first sprocket-type omni-directional wheel and the second sprocket-type omni-directional wheel, described
The quantity of the sprocket-type omni-directional wheel of the same side on chassis is even number, and the not ipsilateral corresponding position on the chassis is respectively set described
First sprocket-type omni-directional wheel and the second sprocket-type omni-directional wheel.
Preferably, the chassis includes vehicle frame and pressure-bearing type swing arm, and the running gear includes damper unit, the vibration damping
One end of unit and the vehicle frame are hinged, and the other end and the pressure-bearing type swing arm are hinged.
Preferably, the damper unit includes hydraulic damper and the vibration damping bullet that is set on the outside of the hydraulic damper
Spring, one end of the hydraulic damper and the vehicle frame are hinged, and the other end and the pressure-bearing type swing arm are hinged.
Preferably, the running gear includes the travel driving motor for driving the sprocket-type omni-directional wheel, the height
Idle job equipment includes the control unit for controlling the travel driving motor, the aerial lift device further include with it is described
The laser radar of control unit electrical connection and/or ultrasonic obstacle avoidance sensor.
Preferably, described control unit includes the platform control device of chassis controller and setting on the working platform,
For the chassis controller for controlling the travel driving motor, the platform control device can receive the chassis controller
Signal and the operation that the travel driving motor can be controlled by the chassis controller.
Preferably: the aerial lift device include setting display on the working platform and with the display
The camera of electrical connection；And/or the laser radar is electrically connected with the platform control device, it is described ultrasound obstacle avoidance sensor with
The chassis controller electrical connection.
Preferably, the lifting device includes pump motor, and the chassis controller is also used to control the pump motor.
Preferably, the aerial lift device includes the supporting leg that is installed on the chassis and can stretch.
Through the above technical solutions, sprocket-type omni-directional wheel, which is able to drive chassis, carries out left and right transverse shifting, oblique straight trip, zero
Radius pivot stud and the all-around mobile advanced along arbitrary curve track, greatly improve the mobility of aerial lift device
Energy and range, enable adaptation to various handling situations.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of embodiment of aerial lift device according to the present invention；
Fig. 2 is the schematic diagram of Fig. 1 high and medium operating equipment lower part main component；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is the structural schematic diagram of the sprocket-type omni-directional wheel in Fig. 1；
Fig. 5 is the block diagram of the control unit for illustrating aerial lift device of the invention and the relationship of associated components.
Description of symbols
The chassis 100-, 110- vehicle frame, 120- pressure-bearing type swing arm, 200- running gear, 210- sprocket-type omni-directional wheel, 211- master
Movable sprocket, 212- driven sprocket, 213- chain, 214- creeper tread, 215- idler wheel, 220- damper unit, 221- hydraulic damper,
222- shock-absorbing spring, 230- travel driving motor, 300- lifting device, 310- pump motor, 320- scissor arms, 400- work are flat
Platform, 500- laser radar, 600- ultrasound obstacle avoidance sensor, 710- chassis controller, 720- platform control device, 800- camera,
900- supporting leg, B- battery.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, left and right " typically refers to
With reference to upper and lower, left and right shown in the drawings；" inside and outside " refers to the inside and outside of the profile relative to each component itself.Below with reference to
Attached drawing and in conjunction with embodiment come the present invention will be described in detail.
The present invention provides a kind of aerial lift device, wherein the aerial lift device includes chassis 100, running gear
200, lifting device 300 and workbench 400, the lifting device 300 are installed on the chassis 100, are arranged with driving in institute
The workbench 400 stated on lifting device 300 is gone up and down, and the chassis 100 includes running gear 200, and the running gear 200 wraps
Sprocket-type omni-directional wheel 210 is included, to drive 100 all-around mobile of chassis.
Wherein, sprocket-type omni-directional wheel 210 is to be able to carry out left and right transverse shifting, oblique straight trip, zero by chain drive
The mechanism of radius pivot stud and the all-around mobile advanced along arbitrary curve track.In the present invention, pass through sprocket-type omnidirectional
Wheel 210 is able to drive chassis 100 and carries out left and right transverse shifting, oblique straight trip, no-radius pivot stud and along arbitrary curve rail
The all-around mobile that mark is advanced, greatly improves the travelling performance and range of aerial lift device, enables adaptation to various works
Industry situation, such as can be at respective road (including the non-urban road such as soil, sand ground, sandstone beach).
Sprocket-type omni-directional wheel 210 can have various appropriate forms, as long as comprehensive shifting can be realized by chain drive
It is dynamic.Preferably, as shown in figure 4, the sprocket-type omni-directional wheel 210 includes sprocket wheel, chain 213 and multiple rolling units, institute
Stating rolling unit includes creeper tread 214 and trundle 215, and the chain 213 passes through the chain wheel drive, the creeper tread 214
Extend and be installed on the chain 213 along the moving direction of the chain 213, the trundle 215 is installed on the creeper tread
214, the axis of the trundle 215 of each rolling unit is parallel to the plate face of the creeper tread 214 and favours institute
State the extending direction of creeper tread 214.Wherein, on individual sprocket-type omni-directional wheel 210, the arrangement phase of each rolling unit
Together, that is, the axis of trundle 215 is identical relative to the tilt angle of the extending direction of corresponding creeper tread 214.When walking, chain
Wheeled omni-directional wheel 210 is by trundle 215 and ground face contact, to carry out all-around mobile as needed.
The sprocket-type omni-directional wheel 210 of present embodiment combines the technical characterstic of chain conveyer, creeper tread and Mecanum wheel,
On the basis of having the function of all-around mobile, also there is good cross-country ability.Specifically, since creeper tread 214 is installed
In chain 213, trundle 215 and ground are makes discontinuous contacts, to pass through different trundles in the uneven situation in ground
215 contact with the different height position on ground, to be well adapted to the height change on ground.
Wherein, to drive chassis 100 to carry out all-around mobile, the running gear 200 may include that the first sprocket-type is complete
To wheel, (the first sprocket-type omni-directional wheel and the second sprocket-type omni-directional wheel all have above-mentioned sprocket-type omnidirectional with the second sprocket-type omni-directional wheel
The structure of wheel 210), the inclined direction of the axis of the trundle 215 of the first sprocket-type omni-directional wheel and second sprocket-type
Opposite (for example, the rolling on the top surface for being located at chain 213 of the inclined direction of the axis of the trundle 215 of omni-directional wheel
For unit, if the axis of the trundle 215 of the first sprocket-type omni-directional wheel is equivalent to the extending direction up time from creeper tread 214
Needle rotational angle α, then the axis of the trundle 215 of the second sprocket-type omni-directional wheel is equivalent to inverse from the extending direction of creeper tread 214
Hour hands rotational angle α), the same side on the chassis 100 is arranged alternately the first sprocket-type omni-directional wheel and the second sprocket-type is complete
To wheel, the quantity of the sprocket-type omni-directional wheel 210 of the same side on the chassis 100 is even number, not ipsilateral pair on the chassis 100
Answer position that the first sprocket-type omni-directional wheel and the second sprocket-type omni-directional wheel is respectively set.Specifically, as shown in figure 3, chassis 100
Left side is the first sprocket-type omni-directional wheel, and right side is the second sprocket-type omni-directional wheel, passes through above-mentioned setting, the first sprocket-type omnidirectional
The axis of the trundle 215 of wheel and the axis of the trundle 215 of the corresponding position of the second sprocket-type omni-directional wheel are substantially vertical.
For example, running gear 200 may include four sprocket-type omni-directional wheels 210, wherein two sprocket-type omni-directional wheels
210 be the first sprocket-type omni-directional wheel, other two sprocket-type omni-directional wheel 210 is the second sprocket-type omni-directional wheel, the side on chassis 100
(such as left side) one first sprocket-type omni-directional wheel of setting is as front-wheel and a second sprocket-type omni-directional wheel as rear-wheel, chassis
The other side (right side) be arranged a second sprocket-type omni-directional wheel as front-wheel and a first sprocket-type omni-directional wheel as rear-wheel；
For another example running gear 200 may include eight sprocket-type omni-directional wheels 210, wherein four sprocket-type omni-directional wheels 210 are first
Sprocket-type omni-directional wheel, four additional sprocket-type omni-directional wheel 210 is the second sprocket-type omni-directional wheel, along vertical sequence, chassis
100 left side can be arranged alternately the first sprocket-type omni-directional wheel, the second sprocket-type omni-directional wheel, the first sprocket-type omni-directional wheel and second
Sprocket-type omni-directional wheel, the right side on chassis 100 can be arranged alternately the second sprocket-type omni-directional wheel, the first sprocket-type omni-directional wheel, second
Sprocket-type omni-directional wheel and the first sprocket-type omni-directional wheel.
In view of the cross-country ability for increasing aerial lift device, independent suspension structure is preferably provided with come arteries and veins when reducing cross-country
Dynamic shock loading.Specifically, the chassis 100 includes vehicle frame 110 and pressure-bearing type swing arm 120, the running gear 200 includes subtracting
Shake unit 220, and one end of the damper unit 220 and the vehicle frame 110 are hinged, and the other end and the pressure-bearing type swing arm 120 are cut with scissors
It connects.By making damper unit 220 be articulated with pressure-bearing type swing arm 120, the obstacle climbing ability of aerial lift device can be further improved.
Furthermore it is possible to understand, the damper unit 220 of corresponding number can be set in corresponding each sprocket-type omni-directional wheel 210.
Wherein, damper unit 220 can use various appropriate forms, for example, as shown in figure 3, the damper unit 220 can
With the shock-absorbing spring 222 for including hydraulic damper 221 and being set on the outside of the hydraulic damper 221, the hydraulic damper
221 one end and the vehicle frame 110 are hinged, and the other end and the pressure-bearing type swing arm 120 are hinged.By making 222 sets of shock-absorbing spring
It is located at 221 outside of hydraulic damper, the structure of damper unit 220 can be made more compact.
In the present invention, the running gear 200 may include the hoofing part for driving the sprocket-type omni-directional wheel 210
Motor 230, the aerial lift device may include the control unit for controlling the travel driving motor 230.As a result, may be used
To control the operation of travel driving motor 230 by control unit, the movement of sprocket-type omni-directional wheel 210 is then controlled, to control
The movement of running gear 200 processed.
Preferably, as shown in Fig. 2, the aerial lift device can also include the laser being electrically connected with the control unit
Radar 500.By be arranged laser radar 500, can scan aerial lift device will by above ground portion and thus construct
Map.For the accuracy for improving map, multiple laser radars can be set along the height and width direction of aerial lift device
500, or laser radar 500 is set can along height and width direction movably.By laser radar 500 construct map for
Indoor environment is especially advantageous, specifically, map can be constructed, indoor environment is presented by map, indicates barrier
Shape (such as width), to be avoided when aerial lift device enters.Wherein, the map of building can be transmitted to control
Unit processed, so that control unit is arrived at the destination according to specified destination automatic cruising.In addition, aerial lift device (example
On workbench 400) display can be set, the map of building can be shown by display, so as to workbench 400
On personnel voluntarily driven according to map.
In addition, as shown in Fig. 2, the aerial lift device can also include that the ultrasound being electrically connected with the control unit is kept away
Hinder sensor 600.Ultrasonic obstacle avoidance sensor 600 can incude barrier by the ultrasonic obstacle avoidance sensor 600 of detection reflection,
By the way that ultrasonic obstacle avoidance sensor 600 is arranged, control unit can control running gear according to the signal of ultrasonic obstacle avoidance sensor 600
200 movement, to avoid barrier.Due to aerial lift device of the invention can all-around mobile, preferably in high altitude operation
At least one ultrasonic obstacle avoidance sensor 600 is all arranged in each side of the periphery of equipment, to cooperate all-around mobile to realize full side
The automatic evacuation in position.
In the present invention, described control unit may include chassis controller 710, and the chassis controller 710 is for controlling
The travel driving motor 230.Preferably, described to manipulate aerial lift device convenient for the operator on workbench 400
Control unit includes the platform control device 720 being arranged on the workbench 400, and the platform control device 720 can receive
The signal of the chassis controller 710 and the behaviour that the travel driving motor 230 can be controlled by the chassis controller 710
Make.More specifically, operation panel has can be set in platform control device 720, can be set on operation panel various operation buttons and/
Or steering wheel, so that the operator on workbench 400 operates.
Wherein, control block diagram of the invention can be as shown in figure 5, aerial lift device of the invention can be set and chain
The corresponding travel driving motor 230 of the quantity of wheeled omni-directional wheel 210, chassis controller 710 can be controlled separately each.
Moreover it is preferred that the aerial lift device includes the display being arranged on workbench 400 and shows with described
The case where showing the camera 800 of device electrical connection, being observed so as to operator according to camera 800 operates aerial lift device.Its
In, camera 800, which can be, can operate mobile, be to operate camera 800 and to be moved to the position for being not easy to observe and check
No there are barriers, to monitor the surrounding enviroment of aerial lift device in real time.
In addition, for the map convenient for showing building to operator, the laser radar 500 can be manipulated with the platform
Device 720 is electrically connected.For convenient for making evacuation reaction in time according to the signal of ultrasonic obstacle avoidance sensor 600, the ultrasound avoidance is passed
Sensor 600 can be electrically connected with the chassis controller 710.
In addition, control unit of the invention can also control other electric devices of aerial lift device.For example, the liter
Falling unit 300 includes pump motor 310, and the chassis controller 710 is also used to control the pump motor 310.In addition, of the invention
Aerial lift device can have the battery for powering to electric device (such as travel driving motor 230 and pump motor 310)
B。
Since aerial lift device of the invention has more flexible mobility and cross-country ability, for the peace for ensuring high altitude operation
Quan Xing, it is preferable that the aerial lift device includes the supporting leg 900 that is installed on the chassis 100 and can stretch.Exist as a result,
When aerial lift device is mobile, supporting leg 900 pack up without with ground face contact；When aerial lift device is mobile in place, pass through lifting
300 lift operation platform 400 of device, can for the stabilization for ensuring workbench 400 when operator is ready for high altitude operation
It is supported in ground first to stretch out supporting leg 900, so that sprocket-type omni-directional wheel 210 is detached from ground, preferably to ensure that chassis 100 can
It will not be moved relative to ground.Thereby, it is possible to improve, aerial lift device enters to cheat the stability of operation and operator is making
The safety of movement on industry platform 400.
Aerial lift device of the invention can be the various specific equipment for being suitable for movement with workbench 400.Example
It such as, can be masts type aerial lift device or scissor-type aerial lift device according to the concrete form of lifting device 300.Fig. 1
Shown is scissor-type aerial lift device, and lifting device 300 further includes the scissor arms 320 driven by pump motor 310, work
The top of scissor arms 320 is arranged in platform 400.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited thereto.At this
It, can be with various simple variants of the technical solution of the present invention are made in the range of the technology design of invention.The present invention includes each tool
Body technique feature is combined in any suitable manner.In order to avoid unnecessary repetition, the present invention is to various possible groups
No further explanation will be given for conjunction mode.But it should also be regarded as the disclosure of the present invention for these simple variants and combination, belongs to
Protection scope of the present invention.
Claims (10)
1. a kind of aerial lift device, which is characterized in that the aerial lift device includes chassis (100), lifting device (300)
With workbench (400), the lifting device (300) is installed on the chassis (100), is arranged with driving in the lifting device
(300) workbench (400) lifting on, the chassis (100) includes running gear (200), running gear (200) packet
Sprocket-type omni-directional wheel (210) are included, to drive the chassis (100) all-around mobile.
2. aerial lift device according to claim 1, which is characterized in that the sprocket-type omni-directional wheel (210) includes chain
Wheel, chain (213) and multiple rolling units, the rolling unit include creeper tread (214) and trundle (215), the chain
(213) by the chain wheel drive, the creeper tread (214) extends along the moving direction of the chain (213) and is installed on institute
It states chain (213), the trundle (215) is installed on the creeper tread (214), the trundle of each rolling unit
(215) axis is parallel to the plate face of the creeper tread (214) and favours the extending direction of the creeper tread (214).
3. aerial lift device according to claim 2, which is characterized in that the running gear (200) includes the first chain
Wheeled omni-directional wheel and the second sprocket-type omni-directional wheel, the inclination side of the axis of the trundle (215) of the first sprocket-type omni-directional wheel
To the inclined direction of the axis of the trundle (215) with the second sprocket-type omni-directional wheel on the contrary, the chassis (100) it is same
Side is arranged alternately the first sprocket-type omni-directional wheel and the second sprocket-type omni-directional wheel, the sprocket wheel of the same side of the chassis (100)
The quantity of formula omni-directional wheel (210) is even number, and first sprocket wheel is respectively set in the not ipsilateral corresponding position of the chassis (100)
Formula omni-directional wheel and the second sprocket-type omni-directional wheel.
4. aerial lift device according to claim 2, which is characterized in that the chassis (100) include vehicle frame (110) and
Pressure-bearing type swing arm (120), the running gear (200) include damper unit (220), one end of the damper unit (220) with
Hingedly, the other end and the pressure-bearing type swing arm (120) are hinged for the vehicle frame (110).
5. aerial lift device according to claim 4, which is characterized in that the damper unit (220) includes hydraulic resistance
Buddhist nun's device (221) and the shock-absorbing spring (222) being set on the outside of the hydraulic damper (221), the hydraulic damper (221)
Hingedly, the other end and the pressure-bearing type swing arm (120) are hinged for one end and the vehicle frame (110).
6. aerial lift device according to claim 1, which is characterized in that the running gear (200) includes for driving
The travel driving motor (230) of the sprocket-type omni-directional wheel (210) is moved, the aerial lift device includes for controlling the row
The control unit of driving motor (230) is walked, the aerial lift device further includes the laser thunder being electrically connected with the control unit
Up to (500) and/or ultrasonic obstacle avoidance sensor (600).
7. aerial lift device according to claim 6, which is characterized in that described control unit includes chassis controller
(710) and platform control device (720) on the workbench (400) is set, the chassis controller (710) is for controlling
The travel driving motor (230), the platform control device (720) can receive the signal of the chassis controller (710) simultaneously
The operation of the travel driving motor (230) can be controlled by the chassis controller (710).
8. aerial lift device according to claim 7, it is characterised in that:
The aerial lift device includes the display being arranged on the workbench (400) and is electrically connected with the display
Camera (800)；And/or
The laser radar (500) is electrically connected with the platform control device (720), the ultrasound obstacle avoidance sensor (600) and institute
State chassis controller (710) electrical connection.
9. aerial lift device according to claim 6, which is characterized in that the lifting device (300) includes pump motor
(310), the chassis controller (710) is also used to control the pump motor (310).
10. aerial lift device described in any one of -9 according to claim 1, which is characterized in that the high altitude operation is set
Standby includes the supporting leg (900) that is installed on the chassis (100) and can stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811511528.XA CN109368565A (en) | 2018-12-11 | 2018-12-11 | Aerial lift device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811511528.XA CN109368565A (en) | 2018-12-11 | 2018-12-11 | Aerial lift device |
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| Publication Number | Publication Date |
|---|---|
| CN109368565A true CN109368565A (en) | 2019-02-22 |
Family
ID=65373231
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811511528.XA Pending CN109368565A (en) | 2018-12-11 | 2018-12-11 | Aerial lift device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111182189A (en) * | 2020-01-21 | 2020-05-19 | 宁波财经学院 | Box type shooting device for manufacturing stop-motion animation |
| CN111842302A (en) * | 2020-07-30 | 2020-10-30 | 重庆交通大学 | Intelligent cleaning device for ship cargo hold |
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Application publication date: 20190222 |