CN110228768A - A kind of synchronization lifting mechanism of heavy duty four-way shuttle robot - Google Patents
A kind of synchronization lifting mechanism of heavy duty four-way shuttle robot Download PDFInfo
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- CN110228768A CN110228768A CN201910462142.2A CN201910462142A CN110228768A CN 110228768 A CN110228768 A CN 110228768A CN 201910462142 A CN201910462142 A CN 201910462142A CN 110228768 A CN110228768 A CN 110228768A
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- oil cylinder
- oil
- electromagnetism
- double
- valve
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Classifications
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- 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
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
- B66F7/20—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks by several jacks with means for maintaining the platforms horizontal during movement
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
- F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of synchronization lifting mechanism of heavily loaded four-way shuttle robot, synchronization lifting mechanism includes pallet lift mechanism and commutation elevating mechanism；Pallet lift mechanism includes hydraulic electric motor, double-direction gearpump, fuel tank, 5 electromagnetism on-off valves, 4 oil cylinders；The hydraulic electric motor drives double-direction gearpump, drives double-direction gearpump positive and negative rotation by hydraulic electric motor positive and negative rotation；Double-direction gearpump is connected with fuel tank；4 form series loop between oil cylinder and double-direction gearpump, an electromagnetism on-off valve is respectively in series between 4 oil cylinders, respectively connect into and out of hydraulic fluid port an electromagnetism on-off valve in double-direction gearpump.The design of commutation elevating mechanism is identical as pallet lift mechanism.The present invention drives double-direction gearpump using servo motor, and the elevating function of oil cylinder is realized by hydraulic electric motor motor positive and inverse, and oil circuit is simpler, and solenoid valve quantity used reduces half, is convenient for assembly, and at low cost, and leakage of oil probability and failure rate reduce 50%.
Description
Technical field
The present invention relates to a kind of synchronization lifting mechanism more particularly to a kind of synchronous elevators of heavily loaded four-way shuttle robot
Structure.
Background technique
Four-way shuttle robot is widely used in domestic and international intelligent three-dimensional warehouse system, it can by internal elevating mechanism
Realize laterally walking and longitudinal walking, flexibility is high, can arbitrarily convert service tunnel.Both it is suitble to low discharge, highdensity storage,
Also it is suitble to high flow capacity, highdensity storage, the maximization of efficiency, cost, resource may be implemented.
It include two sets of mutually independent elevating mechanisms in four-way shuttle robot: pallet lift mechanism and commutation elevator
Structure, every set elevating mechanism is made of four lifting units, therefore the synchronism of four lifting units is most important, it is related to four
The stability and safety run to shuttle.
The synchronization lifting mechanism that the robot of four-way shuttle currently on the market uses is broadly divided into two kinds: electric cylinders synchronization mechanism and
Hydraulic efficiency synchronous mechanism.Wherein, electric cylinders synchronization mechanism is to drive four lifting units using four groups of electric cylinders, by servo-drive and
PLC guarantees the synchronism of lifting process.Although this elevating mechanism synchronization accuracy is very high, use cost is too high, and in weight
Occasion is carried, internal ball-screw service life is not grown.Hydraulic efficiency synchronous mechanism is to pass through four groups using tandem hydraulic synchronization loop
Oil cylinder drives four lifting units, concatenated mode is used between oil cylinder, i.e., the oil outlet of previous oil cylinder is as the latter oil
The oil inlet of cylinder, to realize four group oil cylinder synchronization liftings.Electromagnetism on-off valve 1.1,1.2,1.3,1.4,1.5 is same as shown in Figure 1:
When Shi get electricity, oil cylinder is synchronous to be risen；When electromagnetism on-off valve 1.6,1.7,1.8,1.9,1.10 obtains electric simultaneously, the synchronous decline of oil cylinder.
Since hydraulic efficiency synchronous mechanism use cost is low, bearing capacity is strong, and the application in four-way shuttle robot is increasingly
Extensively, and in heavily loaded field its advantage is gradually demonstrated out.But this set hydraulic efficiency synchronous mechanism the drawbacks of still remaining it, i.e., by
Portion's oil pipe, solenoid valve number are more in the inner, and in long-time use process, oil seepage phenomena and failure rate can be increased, and influence
Working efficiency.
Summary of the invention
In view of the above problems, the present invention provides a kind of oil circuit is simple, convenient for assembly, heavily loaded four-way shuttle machine at low cost
The synchronization lifting mechanism of device people.
In order to solve problem above, present invention employs following technical solutions: a kind of heavy duty four-way shuttle robot it is same
Elevating mechanism is walked, including four-way shuttle robot body and synchronization lifting mechanism, the synchronization lifting mechanism include pallet liter
Descending mechanism and commutation elevating mechanism；It is characterized in that, the pallet lift mechanism includes hydraulic electric motor, double-direction gearpump, oil
Case, valve group I, 5 electromagnetism on-off valve, oil cylinder I, oil cylinder II, oil cylinder III, oil cylinder IV；The hydraulic electric motor drives two-way gear
Pump drives double-direction gearpump positive and negative rotation by hydraulic electric motor positive and negative rotation；Double-direction gearpump is connected with fuel tank, 5 electromagnetism on-off valves
It is mounted in valve group I；An electromagnetism on-off valve is equipped between double-direction gearpump oil inlet and oil cylinder I, in oil cylinder I and oil cylinder II
Between be equipped with an electromagnetism on-off valve, between oil cylinder II and oil cylinder III be equipped with an electromagnetism on-off valve, in oil cylinder III and oil cylinder
It is equipped with an electromagnetism on-off valve between IV, an electromagnetism on-off valve is equipped between oil cylinder IV and double-direction gearpump oil outlet.Institute
The commutation elevating mechanism stated includes hydraulic electric motor, double-direction gearpump, fuel tank, valve group II, 5 electromagnetism on-off valve, oil cylinder V, oil cylinder
VI, oil cylinder VII, oil cylinder VIII.The hydraulic electric motor drives double-direction gearpump, drives two-way gear by hydraulic electric motor positive and negative rotation
Pump positive and negative rotation；Double-direction gearpump is connected with fuel tank, and 5 electromagnetism on-off valves are mounted in valve group II；In double-direction gearpump oil inlet
It is equipped with an electromagnetism on-off valve between oil cylinder V, an electromagnetism on-off valve is equipped between oil cylinder V and oil cylinder VI, in oil cylinder
It is equipped with an electromagnetism on-off valve between VI and oil cylinder VII, an electromagnetism on-off valve is equipped between oil cylinder VII and oil cylinder VIII, in oil
An electromagnetism on-off valve is equipped between cylinder VIII and double-direction gearpump oil outlet.The pallet lift mechanism and the commutation liter
Descending mechanism is mutually indepedent at work, does not interfere with each other.
The pallet lift mechanism is fixed on four-way shuttle robot bottom with I, II, III, IV 4 oil cylinder, and is in
In same level, and 4 oil cylinders are identical；The commutation elevating mechanism, which is fixed on four-way with V, VI, VII, VIII 4 oil cylinder, to be worn
At the top of shuttle robot, and in same level, and 4 oil cylinders are identical.This design is in order to guarantee in every kind of elevating mechanism 4
The piston rods starting position of oil cylinder is consistent with final position, and in-oil cylinder effective bearing area is consistent, to improve elevator
The synchronization accuracy of structure.
The sensor is laser displacement sensor.The sensor uses Analog control, to the monitoring accuracy of position
It is very high, real-time monitoring is carried out convenient for the synchronism to the elevating mechanism, realizes the closed-loop control of system.
Compared with the immediate prior art, the present invention is specific following the utility model has the advantages that the present invention is driven using servo motor
Double-direction gearpump realizes the elevating function of oil cylinder by hydraulic electric motor positive and negative rotation, and oil circuit is simpler, and solenoid valve quantity used subtracts
Few half, convenient for assembling, and it is at low cost, leakage of oil probability and failure rate reduce 50%.Since the bearing capacity of hydraulic oil is extremely strong,
The bearing capacity of mechanism is improved, therefore is suitable for heavily loaded occasion.
Detailed description of the invention
Fig. 1 is the working principle diagram of four-way shuttle robot hydraulic efficiency synchronous mechanism in the prior art.
Fig. 2 is the structural schematic diagram of heavily loaded four-way shuttle robot of the invention.
Fig. 3 is the structural schematic diagram of the display pallet of heavily loaded four-way shuttle robot of the invention.
Fig. 4 is the working principle diagram of the synchronization lifting mechanism of heavily loaded four-way shuttle robot of the invention.
Wherein, 1 be sensor I, 2 be sensor II, 3 be sensor III, 4 be sensor IV, 5 be sensor V, 6 is biography
Sensor VI, 7 is that sensor VII, 8 is that sensor VIII, 9 is electric cabinet, 10 is battery, and 11 be oil cylinder I, 12 be that oil cylinder II, 13 is
It is oil cylinder V, 16 be oil cylinder VI, 17 be oil cylinder VII, 18 be oil cylinder VIII, 19 is hydraulic electric motor, 20 that oil cylinder III, 14, which is oil cylinder IV, 15,
It is fuel tank for double-direction gearpump, 21,22 be movable motor, 23 be valve group I, 24 is that valve group II, 25 is pallet, 26 is electromagnetism on-off
Valve.
Specific embodiment
The present invention is further elaborated below.
As shown in Figures 2 to 4, the present invention provides a kind of synchronization lifting mechanism of heavily loaded four-way shuttle robot, four-ways
Its inside of shuttle robot is equipped with two servo motors: movable motor 22 and hydraulic electric motor 19.
Movable motor 22 drives respective sprocket wheel after a double output shaft decelerator is slowed down, and cooperates the laser displacement of surrounding
The position feedback of sensor 1, laser displacement sensor 2, laser displacement sensor 3 and laser displacement sensor 4 realizes that four-way is worn
Lateral, longitudinal walking of the shuttle robot in tiered warehouse facility.
Hydraulic electric motor 19 is the power source of synchronization lifting mechanism, the synchronization lifting mechanism include pallet lift mechanism and
Commutate elevating mechanism.
As shown in Fig. 2, the pallet lift mechanism includes hydraulic electric motor 19, double-direction gearpump 20, fuel tank 21, valve group I
23,5 electromagnetism on-off valves 26, oil cylinder I 11, oil cylinder II 12, oil cylinder III 13, oil cylinder IV 14.Oil cylinder I 11, oil cylinder II 12, oil cylinder III
13, oil cylinder IV 14 is 4 identical oil cylinders, is fixed on four-way shuttle robot bottom, and in same level；Two-way gear
Pump 20 is connected with fuel tank 21, and 5 electromagnetism on-off valves 26 are mounted in valve group I 23.Hydraulic electric motor 19 drives double-direction gearpump 20, leads to
It crosses 19 positive and negative rotation of hydraulic electric motor and drives double-direction gearpump positive and negative rotation, cooperate tandem hydraulic synchronization loop, realize that four group oil cylinders are same
Step lifting, and laser displacement sensor 5 and laser displacement sensor 6 is cooperated to carry out the synchronism of the pallet lift mechanism
Real-time monitoring realizes closed-loop control.
Shown in tandem hydraulic synchronization loop as shown in figure 4, being equipped between double-direction gearpump oil inlet and oil cylinder I 11
One electromagnetism on-off valve is equipped with an electromagnetism on-off valve, in oil cylinder II 12 and oil cylinder III 13 between oil cylinder I 11 and oil cylinder II 12
Between be equipped with an electromagnetism on-off valve, between oil cylinder III 13 and oil cylinder IV 14 be equipped with an electromagnetism on-off valve, in oil cylinder IV 14
An electromagnetism on-off valve is equipped between double-direction gearpump oil outlet.
Specific work process are as follows:
Guarantee first full of oil in oil cylinder I, oil cylinder II, oil cylinder III, the upper oil cavitie of oil cylinder IV and all oil pipes, when hydraulic
When motor rotates forward, double-direction gearpump is driven to rotate forward, all electromagnetism on-off valves obtain electric, and oil circuit conducting, hydraulic oil is from double-direction gearpump
Left side oil pipe enters I lower oil cavitie of oil cylinder, pushes piston rod to move up, the hydraulic oil in I upper oil cavitie of oil cylinder is all squeezed into oil
II lower oil cavitie of cylinder, hydraulic oil push piston rod to move up, and the hydraulic oil in II upper oil cavitie of oil cylinder is all squeezed under oil cylinder III
Oil pocket, hydraulic oil push piston rod to move up, and the hydraulic oil in III upper oil cavitie of oil cylinder is all squeezed into IV lower oil cavitie of oil cylinder, liquid
Pressure oil pushes piston rod to move up, and the hydraulic oil in IV upper oil cavitie of oil cylinder is all squeezed out, from double-direction gearpump right side oil pipe
Fuel tank is returned to, to realize four group oil cylinder synchronizations of jacking up.When 4 group oil cylinder synchronizations of jacking up in place after, laser displacement sensor 5 and swash
The displacement signal that Optical displacement sensor 6 will test feeds back to system, all electromagnetism on-off valve power loss, and oil circuit is closed, hydraulic electricity
Machine stalling, oil cylinder (oil cylinder I 11, oil cylinder II 12, oil cylinder III 13, oil cylinder IV 14) are in state of pressure keeping, four group oil cylinder jackings movement
It completes.
Similarly, when hydraulic electric motor inverts, double-direction gearpump reversion is driven, all electromagnetism on-off valves obtain electric, oil circuit conducting,
Hydraulic oil enters IV upper oil cavitie of oil cylinder from oil pipe on the right side of double-direction gearpump, and the piston rod of four group oil cylinders is same under the action of hydraulic oil
Step moves down.After 4 group oil cylinders, which synchronize, to be fallen into place, what laser displacement sensor 5 and laser displacement sensor 6 will test
Displacement signal feeds back to system, all electromagnetism on-off valve electricity, and oil circuit is closed, hydraulic electric motor stalling, oil cylinder (oil cylinder I 11, oil cylinder II
12,14) oil cylinder III 13, oil cylinder IV are in state of pressure keeping, and four group oil cylinder lowering actions are completed.
The commutation elevating mechanism includes II 24,5 hydraulic electric motor 19, double-direction gearpump 20, fuel tank 21, valve group electromagnetism
On-off valve 26, oil cylinder V 15, oil cylinder VI 16, oil cylinder VII 17, oil cylinder VIII 18；The hydraulic electric motor 19 drives double-direction gearpump
20,20 positive and negative rotation of double-direction gearpump is driven by 19 positive and negative rotation of hydraulic electric motor；Oil cylinder V 15, oil cylinder VI 16, oil cylinder VII 17, oil cylinder
VIII 18 be 4 identical oil cylinders, is fixed at the top of four-way shuttle robot, and in same level；Double-direction gearpump 20 with
Fuel tank 21 is connected, and 5 electromagnetism on-off valves 26 are mounted in valve group II 24；It is set between double-direction gearpump oil inlet and oil cylinder V 15
There is an electromagnetism on-off valve, an electromagnetism on-off valve is equipped between oil cylinder V 15 and oil cylinder VI 16, in oil cylinder VI 16 and oil cylinder
It is equipped with an electromagnetism on-off valve between VII 17, an electromagnetism on-off valve is equipped between oil cylinder VII 17 and oil cylinder VIII 18, in oil cylinder
An electromagnetism on-off valve is equipped between VIII 18 and double-direction gearpump oil outlet.Laser displacement sensor 7 and laser displacement sensor 8
Real-time monitoring is carried out to the synchronism of the commutation elevating mechanism, realizes closed-loop control.
The commutation elevating mechanism is identical as pallet lift mechanism working principle.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of synchronization lifting mechanism of heavy duty four-way shuttle robot, including four-way shuttle robot body and synchronous elevator
Structure, the synchronization lifting mechanism include pallet lift mechanism and commutation elevating mechanism；
It is characterized in that, the pallet lift mechanism includes hydraulic electric motor (19), double-direction gearpump (20), fuel tank (21), valve
Group I (23), 5 electromagnetism on-off valves (26), oil cylinder I (11), oil cylinder II (12), oil cylinder III (13), oil cylinders IV (14)；The liquid
Medium-voltage Motor (19) drives double-direction gearpump (20), drives double-direction gearpump (20) positive and negative rotation by hydraulic electric motor (19) positive and negative rotation；
Double-direction gearpump (20) is connected with fuel tank (21), and 5 electromagnetism on-off valves (26) are mounted in valve group I (23)；In double-direction gearpump
It is equipped with an electromagnetism on-off valve (26) between oil inlet and oil cylinder I (11), one is equipped between oil cylinder I (11) and oil cylinder II (12)
A electromagnetism on-off valve (26) is equipped with an electromagnetism on-off valve (26), in oil cylinder III between oil cylinder II (12) and oil cylinder III (13)
(13) an electromagnetism on-off valve (26) is equipped between oil cylinder IV (14), between oil cylinder IV (14) and double-direction gearpump oil outlet
Equipped with an electromagnetism on-off valve (26)；
The commutation elevating mechanism includes hydraulic electric motor (19), double-direction gearpump (20), fuel tank (21), valve group II (24), 5
Electromagnetism on-off valve (26), oil cylinder V (15), oil cylinder VI (16), oil cylinder VII (17), oil cylinder VIII (18)；The hydraulic electric motor (19)
It drives double-direction gearpump (20), double-direction gearpump (20) positive and negative rotation is driven by hydraulic electric motor (19) positive and negative rotation；Double-direction gearpump
(20) it is connected with fuel tank (21), 5 electromagnetism on-off valves (26) are mounted in valve group II (24)；In double-direction gearpump oil inlet and oil
It is equipped with an electromagnetism on-off valve (26) between cylinder V (15), it is logical that an electromagnetism is equipped between oil cylinder V (15) and oil cylinder VI (16)
Disconnected valve (26) are equipped with an electromagnetism on-off valve (26) between oil cylinder VI (16) and oil cylinder VII (17), in oil cylinder VII (17) and oil
It is equipped with an electromagnetism on-off valve (26) between cylinder VIII (18), one is equipped between oil cylinder VIII (18) and double-direction gearpump oil outlet
Electromagnetism on-off valve (26).
2. a kind of synchronization lifting mechanism of heavily loaded four-way shuttle robot according to claim 1, it is characterised in that: described
Oil cylinder I (11), oil cylinder II (12), oil cylinder III (13), oil cylinder IV (14) be fixed on four-way shuttle robot bottom, and in same
In one horizontal plane.
3. a kind of synchronization lifting mechanism of heavily loaded four-way shuttle robot according to claim 1, it is characterised in that: described
Oil cylinder V (15), oil cylinder VI (16), oil cylinder VII (17), oil cylinder VIII (18) be fixed at the top of four-way shuttle robot, and be in
In same level.
4. a kind of synchronization lifting mechanism of heavily loaded four-way shuttle robot according to claim 1 or 2, it is characterised in that:
The oil cylinder I (11), oil cylinder II (12), oil cylinder III (13), oil cylinder IV (14) oil cylinder are identical.
5. a kind of synchronization lifting mechanism of heavily loaded four-way shuttle robot according to claim 1 or 3, it is characterised in that:
(18 oil cylinders are identical for the oil cylinder V (15), oil cylinder VI (16), oil cylinder VII (17), oil cylinder VIII.
6. a kind of synchronization lifting mechanism of heavily loaded four-way shuttle robot according to claim 1, it is characterised in that: described
Sensor be laser displacement sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910462142.2A CN110228768A (en) | 2019-05-30 | 2019-05-30 | A kind of synchronization lifting mechanism of heavy duty four-way shuttle robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910462142.2A CN110228768A (en) | 2019-05-30 | 2019-05-30 | A kind of synchronization lifting mechanism of heavy duty four-way shuttle robot |
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| CN110228768A true CN110228768A (en) | 2019-09-13 |
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ID=67858208
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| CN201910462142.2A Pending CN110228768A (en) | 2019-05-30 | 2019-05-30 | A kind of synchronization lifting mechanism of heavy duty four-way shuttle robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111977241A (en) * | 2020-08-31 | 2020-11-24 | 江苏智库智能科技有限公司 | Thin four-way shuttle |
| CN112012973A (en) * | 2020-08-28 | 2020-12-01 | 江苏智库智能科技有限公司 | Hydraulic cylinder system for four-way shuttle |
| CN115973643A (en) * | 2023-01-06 | 2023-04-18 | 湖州生力液压有限公司 | Energy-saving hydraulic control system of rail guided vehicle |
| CN111188799B (en) * | 2020-03-03 | 2024-04-05 | 合肥搬易通科技发展有限公司 | Tandem oil cylinder system applied to synchronous wheel and correction method thereof |
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| CN108488122A (en) * | 2018-03-30 | 2018-09-04 | 江苏恒立液压科技有限公司 | Multi-cylinder synchronization hydraulic system |
| CN207827811U (en) * | 2018-01-03 | 2018-09-07 | 西南交通大学 | A kind of lifting ladder vehicle that can be walked certainly |
| CN211004386U (en) * | 2019-05-30 | 2020-07-14 | 江苏智库智能科技有限公司 | Synchronous lifting mechanism of heavy-load four-way shuttle robot |
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| JPS5063378A (en) * | 1973-08-16 | 1975-05-29 | ||
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111188799B (en) * | 2020-03-03 | 2024-04-05 | 合肥搬易通科技发展有限公司 | Tandem oil cylinder system applied to synchronous wheel and correction method thereof |
| CN112012973A (en) * | 2020-08-28 | 2020-12-01 | 江苏智库智能科技有限公司 | Hydraulic cylinder system for four-way shuttle |
| CN111977241A (en) * | 2020-08-31 | 2020-11-24 | 江苏智库智能科技有限公司 | Thin four-way shuttle |
| CN115973643A (en) * | 2023-01-06 | 2023-04-18 | 湖州生力液压有限公司 | Energy-saving hydraulic control system of rail guided vehicle |
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