CN110980534A - Automatic cropping transport vehicle - Google Patents

Automatic cropping transport vehicle Download PDF

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Publication number
CN110980534A
CN110980534A CN201911392322.4A CN201911392322A CN110980534A CN 110980534 A CN110980534 A CN 110980534A CN 201911392322 A CN201911392322 A CN 201911392322A CN 110980534 A CN110980534 A CN 110980534A
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CN
China
Prior art keywords
walking
shaft
wheel
rotating
driving
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Granted
Application number
CN201911392322.4A
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Chinese (zh)
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CN110980534B (en
Inventor
张家春
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Hangzhou Ruiguan Technology Co Ltd
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Hangzhou Ruiguan Technology Co Ltd
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Priority to CN201911392322.4A priority Critical patent/CN110980534B/en
Publication of CN110980534A publication Critical patent/CN110980534A/en
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Publication of CN110980534B publication Critical patent/CN110980534B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/08—Trolleys or crabs, e.g. operating above runways with turntables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/14—Trolley or crane travel drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/16—Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

The invention relates to an automatic cropping transport vehicle, which comprises a vehicle body, a traveling mechanism, a rotating platform, a lifting mechanism and a loading mechanism, wherein the vehicle body is connected with an empty rail through the traveling mechanism; the travelling mechanism drives the vehicle body to move on the empty rail, the lifting mechanism drives the loading mechanism to lift, the loading mechanism can load and unload the yardage roll, and the rotating platform can rotate around the rotating central shaft so as to adjust the direction of the yardage roll loaded on the loading mechanism; the automatic cropping transport vehicle disclosed by the invention can be used for loading and transporting the yardage rolls tied up by cropping, can be used for automatically transferring and stacking the yardage rolls after cropping, saves manpower and material resources, saves time, improves efficiency and is worthy of vigorous popularization.

Description

Automatic cropping transport vehicle
Technical Field
The invention belongs to the technical field of industrial automation, and particularly relates to an automatic cropping transport vehicle.
Background
The introduction of the intelligent workshop carries out automatic wireless data acquisition and wireless data updating on data of each operation link, such as warehouse arrival inspection, warehousing, ex-warehouse, allocation, warehouse moving and shifting, inventory checking and the like, ensures the rapidity and the accuracy of data input of each link of warehouse management, ensures that enterprises timely and accurately master real data of inventory, and reasonably keeps and controls the inventory of the enterprises. Through scientific coding, the batch, the shelf life and the like of the articles can be effectively managed conveniently. By using the warehouse location management function of the system, the current locations of all the stock materials can be mastered in time, and the work efficiency of warehouse management is improved.
The intelligent workshop wireless transmission network can be connected with warehouse information intelligent equipment such as temperature, humidity, security protection and equipment monitoring according to the needs of a warehouse. Various systems are completely integrated in a network, and multiple applications are invested once, so that repeated investment is avoided.
Automatic commodity circulation is transported and is the especially important link in intelligent workshop, and the material of weaving workshop among the prior art transports the flow as follows:
loom to transfer stacking station
And manually transporting from the loom to a transfer palletizing station.
Second, transfer pile up neatly station arrives cloth inspection buffer platform
And conveying the cloth by a forklift from the transfer stacking area to the cloth inspecting buffer table of the cloth inspecting table.
Third, cloth inspecting buffer platform to finished cloth buffer vehicle
From the cloth inspecting buffer table of the cloth inspecting table to the finished cloth buffer vehicle, the forklift transports the finished cloth.
Fourthly, finished cloth buffer vehicle is loaded on the truck or stored in a warehouse
And conveying the finished cloth by a forklift from a finished cloth buffer vehicle to loading or storage.
According to the process, the cropping transferring process of the weaving workshop in the prior art is basically completed through manual work and forklift transferring, the time consumption is long, the labor consumption is high, the automation degree is low, and the information management platform of the intelligent workshop cannot be accessed.
Disclosure of Invention
The invention aims to solve the problems and provide an automatic cropping transport vehicle which replaces a manual operation and a forklift to transport and stack yardage rolls.
The invention realizes the purpose through the following technical scheme:
the automatic cropping transport vehicle comprises a vehicle body, a travelling mechanism, a rotating platform, a lifting mechanism and a loading mechanism, wherein the vehicle body is connected with an air rail through the travelling mechanism; the travelling mechanism drives the vehicle body to move on the empty rail, the lifting mechanism drives the loading mechanism to lift, the loading mechanism can load and unload the yardage roll, and the rotating platform can rotate around the rotating central shaft so as to adjust the direction of the yardage roll loaded on the loading mechanism.
As a further optimization scheme of the invention, the travelling mechanism comprises a travelling wheel, a travelling wheel carrier and a travelling driving mechanism, the travelling wheel is connected with the travelling wheel carrier through a wheel shaft, the bottom of the travelling wheel carrier is fixedly connected with a vehicle body, and the wheel shaft of the travelling wheel is connected with an output shaft of the travelling driving mechanism.
As a further optimization scheme of the invention, the walking driving mechanism comprises a walking motor and a walking transmission mechanism, and an output shaft of the walking motor is connected with a wheel shaft of the walking wheel through the walking transmission mechanism. The walking motor drives the walking wheels to rotate along with the walking wheel shafts through the transmission of the walking transmission mechanism.
As a further optimization scheme of the invention, the walking transmission mechanism comprises a transmission case, a driving bevel gear and a driven bevel gear, wherein the driving bevel gear is arranged in the transmission case through a driving shaft, the driven bevel gear is arranged in the transmission case through a driven shaft, the driving bevel gear and the driven bevel gear are in meshing transmission, the driving shaft is connected with an output shaft of a walking motor through a spline or a coupling, and the driven shaft is connected with a wheel shaft of a walking wheel through a spline or a coupling. The walking motor drives the driving shaft to rotate, the driving shaft drives the driven shaft to rotate through bevel gear transmission, and the driven shaft drives the wheel shaft of the walking wheel to rotate.
As a further optimization scheme of the invention, the walking wheel frames on the two sides of the walking wheel are provided with side guide wheels, and the side guide wheels are connected with the walking wheel frames through wheel shafts. The side guide wheels are positioned on two sides of the air rail to guide the movement of the vehicle body, limit the traveling wheels to shift towards two sides relative to the transfer rail and avoid derailing of the transport vehicle.
As a further optimization scheme of the invention, a rotation central shaft between the rotary platform and the vehicle body is connected with a rotation driving mechanism, and an output shaft of the rotation driving mechanism is connected with the rotation central shaft through a transmission mechanism. The rotary driving mechanism drives the rotary central shaft to rotate, and then drives the rotary platform to rotate.
As a further optimization scheme of the invention, the lifting mechanism comprises a winding drum and a lifting driving mechanism, the winding drum is connected with the loading mechanism through a steel wire rope, a winding drum shaft is arranged at the center of the winding drum, two ends of the winding drum shaft are connected with the rotating platform through bearings, and one end of the winding drum shaft is connected with an output shaft of the lifting driving mechanism.
As a further optimization scheme of the invention, the loading mechanism comprises a mechanical claw and a claw seat, two mechanical claws which are symmetrically arranged are arranged on the claw seat, the upper part of the mechanical claw is connected with the claw seat through a rotating shaft, and the upper end of the mechanical claw is connected with a loading driving mechanism in the claw seat. The loading driving mechanism drives the mechanical claws to rotate so as to clamp the yardage roll or the empty pipe between the mechanical claws.
As a further optimization scheme of the automatic cropping transport vehicle, the automatic cropping transport vehicle further comprises a clamping mechanism, the clamping mechanism is arranged at two ends of the rotating platform and comprises two symmetrically arranged clamping arms, the clamping arms are connected with the rotating platform through a rotating shaft, and the rotating shaft is connected with a clamping driving mechanism in the rotating platform. The clamping driving mechanism drives the rotating shaft to rotate so as to drive the clamping arms to rotate, so that the two clamping arms clamp the fabric roll in the middle.
The invention has the beneficial effects that:
1) the automatic cropping transport vehicle can load and transport the yardage rolls tied up by cropping, can automatically finish transferring and stacking the yardage rolls after cropping, saves manpower and material resources, saves time, improves efficiency, and is worthy of vigorous popularization;
2) the automatic cropping transport vehicle can be connected to the information management platform in a wired or wireless mode.
Drawings
FIG. 1 is a first schematic view of an empty pipe transported by an automatic cropping truck according to the first embodiment of the invention;
FIG. 2 is a second schematic view of the empty pipe transported by the automatic doffing transporting vehicle according to the first embodiment of the invention;
FIG. 3 is a first schematic view of the unloading empty pipe of the automatic doffing transporting vehicle according to the first embodiment of the invention;
FIG. 4 is a second schematic view of the automatic doffing conveyor of the present invention unloading empty tubes in the first embodiment;
FIG. 5 is a third schematic view of the unloading empty pipe of the automatic doffing transporting vehicle according to the first embodiment of the invention;
FIG. 6 is a first schematic view of the automatic doffing transport vehicle of the present invention;
FIG. 7 is a second schematic view of the automatic doffing truck of the present invention;
FIG. 8 is a first schematic diagram of the lifting cloth roll of the automatic doffing transport cart according to the first embodiment of the present invention;
FIG. 9 is a second schematic view of the lifting cloth roll of the automatic doffing transporting vehicle according to the first embodiment of the invention;
FIG. 10 is a first schematic view of a cloth roll clamped by the automatic doffing transporting vehicle according to the first embodiment of the invention;
FIG. 11 is a second schematic view of a cloth roll clamped by the automatic doffing transporting cart according to the first embodiment of the present invention;
FIG. 12 is a first schematic view of the automatic doffing transport cart of the present invention unloading fabric rolls to a first perching rack in accordance with a first embodiment;
FIG. 13 is a second schematic view of the automatic doffing cart of the present invention unloading fabric rolls to the cloth inspecting buffer rack in the first embodiment;
FIG. 14 is a third schematic view of the automatic doffing transport cart of the present invention unloading fabric rolls to a cloth inspecting buffer rack in the first embodiment;
FIG. 15 is a fourth schematic view of the automatic doffing transport cart of the present invention unloading fabric rolls to the cloth inspecting buffer rack in the first embodiment;
FIG. 16 is a schematic view of the automatic doffing truck of the present invention moving to a palletizing station in a first embodiment;
FIG. 17 is a first schematic diagram of a stacking roll of an automatic doffing truck according to the first embodiment of the present invention;
fig. 18 is a schematic diagram two of the stacking rolls of the automatic cropping truck according to the first embodiment of the invention.
In the figure: the automatic cloth inspecting and stacking device comprises a vehicle body 1, a traveling mechanism 2, a rotating platform 3, a lifting mechanism 4, a loading mechanism 5, a rotating central shaft 6, a traveling wheel 7, a traveling wheel frame 8, a traveling driving mechanism 9, a side guide wheel 10, a winding drum 11, a mechanical claw 12, a claw seat 13, a clamping arm 14, an empty rail 100, a loom 101, a cloth inspecting buffer frame 102 and a stacking support 103.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
Example one
As shown in fig. 1-18, the automatic cropping transportation vehicle comprises a vehicle body 1, a traveling mechanism 2, a rotary platform 3, a lifting mechanism 4 and a loading mechanism 5, wherein the vehicle body 1 is connected with an empty rail 100 through the traveling mechanism 2, the rotary platform 3 is arranged at the bottom of the vehicle body 1, the rotary platform 3 is rotatably connected with the vehicle body 1 through a rotary central shaft 6, and the lifting mechanism 4 and the loading mechanism 5 connected with the lifting mechanism 4 are arranged at the bottom of the rotary platform 3; the traveling mechanism 2 drives the vehicle body 1 to move on the empty rail 100, the lifting mechanism 4 drives the loading mechanism 5 to lift, the loading mechanism 5 can load and unload the yardage roll, and the rotating platform 3 can rotate around the rotating central shaft 6 to further adjust the direction of the yardage roll loaded on the loading mechanism 5.
The walking mechanism 2 comprises a walking wheel 7, a walking wheel carrier 8 and a walking driving mechanism 9, the walking wheel 7 is connected with the walking wheel carrier 8 through a wheel shaft, the bottom of the walking wheel carrier 8 is fixedly connected with the vehicle body 1, and the wheel shaft of the walking wheel 7 is connected with an output shaft of the walking driving mechanism 9.
Preferably, the walking driving mechanism 9 comprises a walking motor and a walking transmission mechanism, and an output shaft of the walking motor is connected with a wheel shaft of the walking wheel 7 through the walking transmission mechanism. The walking motor drives the walking wheel 7 to rotate along with the walking wheel 7 shaft through the transmission of the walking transmission mechanism.
As a specific walking transmission mechanism, bevel gear transmission is adopted, the walking transmission mechanism comprises a transmission case, a driving bevel gear and a driven bevel gear, the driving bevel gear is arranged in the transmission case through a driving shaft, the driven bevel gear is arranged in the transmission case through a driven shaft, the driving bevel gear and the driven bevel gear are in meshing transmission, the driving shaft is connected with an output shaft of a walking motor through a spline or a coupling, and the driven shaft is connected with a wheel shaft of a walking wheel 7 through a spline or a coupling. The walking motor drives the driving shaft to rotate, the driving shaft drives the driven shaft to rotate through bevel gear transmission, and the driven shaft drives the wheel shaft of the walking wheel 7 to rotate.
The travel motor is preferably a servomotor. Can be controlled more accurately by connecting the driver with a control system.
Preferably, the walking wheel frames 8 on both sides of the walking wheel 7 are provided with side guide wheels 10, and the side guide wheels 10 are connected with the walking wheel frames 8 through wheel shafts. The side guide wheels 10 are positioned on two sides of the empty rail 100, guide the movement of the vehicle body 1, limit the traveling wheels 7 to deviate towards two sides relative to the transfer rail and avoid derailment of the transport vehicle.
A rotation center shaft 6 between the rotary platform 3 and the vehicle body 1 is connected with a rotation driving mechanism, and an output shaft of the rotation driving mechanism is connected with the rotation center shaft 6 through a transmission mechanism. The rotation driving mechanism drives the rotation central shaft 6 to rotate, and further drives the rotation platform 3 to rotate.
Preferably, the rotary driving mechanism is a servo motor, the transmission mechanism is a gear transmission mechanism, a driving gear is fixedly arranged on an output shaft of the rotary driving mechanism, the driving gear is meshed with a driven gear on the rotary central shaft 6, and the driving gear and the driven gear drive the rotary central shaft 6 to rotate.
The lifting mechanism 4 comprises a winding drum 11 and a lifting driving mechanism, the winding drum 11 is connected with the loading mechanism 5 through a steel wire rope, a winding drum shaft is arranged at the center of the winding drum 11, two ends of the winding drum shaft are connected with the rotating platform 3 through bearings, and one end of the winding drum shaft is connected with an output shaft of the lifting driving mechanism.
Preferably, the lifting driving mechanism can adopt a servo motor, and an output shaft of the servo motor is connected with the drum shaft through a coupler.
The loading mechanism 5 comprises a mechanical claw 12 and a claw seat 13, two mechanical claws 12 which are symmetrically arranged are arranged on the claw seat 13, the upper part of the mechanical claw 12 is connected with the claw seat 13 through a rotating shaft, and the upper end of the mechanical claw 12 is connected with a loading driving mechanism in the claw seat 13. The loading driving mechanism drives the mechanical claws 12 to rotate so as to clamp the yardage roll or the empty pipe between the mechanical claws 12.
Preferably, the loading driving mechanism is a cylinder, and a piston rod of the cylinder is hinged with the upper end of the mechanical claw 12. When the piston rod of the cylinder stretches, the mechanical claw 12 is driven to rotate, and the hollow pipe or the cloth roll is clamped through the lever action.
The automatic cropping transport vehicle further comprises an embracing and clamping mechanism, the embracing and clamping mechanism is arranged at two ends of the rotating platform 3, the embracing and clamping mechanism comprises two embracing clamp arms 14 which are symmetrically arranged, the embracing clamp arms 14 are connected with the rotating platform 3 through rotating shafts, and the rotating shafts are connected with an embracing and clamping driving mechanism in the rotating platform 3. The holding and clamping driving mechanism drives the rotating shaft to rotate, so as to drive the holding and clamping arms 14 to rotate, and therefore the two holding and clamping arms 14 hold and clamp the fabric roll in the middle.
Preferably, the holding and clamping driving mechanism is a servo motor, and the output shaft is connected with the rotating shaft of the holding and clamping arm 14 through a transmission mechanism.
The transmission mechanism can be a worm gear and worm transmission mechanism, an output shaft of the servo motor is connected with a worm, a worm gear is fixedly arranged on a rotating shaft of the holding arm 14, and the worm is meshed with the worm gear. The worm gear drives the holding arm 14 to rotate, so that a larger transmission ratio is provided.
The working principle of the invention is as follows:
as shown in fig. 1, the traveling mechanism 2 drives the vehicle body 1 to move along the empty rail 100;
as shown in fig. 1-11, the traveling mechanism 2 drives the automatic cropping transport vehicle to carry an empty tube to move to a cropping station of the loom 101, then the loading mechanism 5 is lowered to unload the empty tube, the cloth roll bundled by the cropping is loaded, then the loading mechanism 5 and the cloth roll are lifted by the lifting mechanism 4, and after the cloth roll is lifted in place, the cloth roll is clasped and protected by the clasping and clamping mechanism, so that the stability of the cloth roll is improved.
As shown in fig. 12-15, the traveling mechanism 2 drives the automatic cropping transportation vehicle to move to the cropping station, then the lifting mechanism 4 descends the loading mechanism 5 and the cloth roll, and the loading mechanism 5 unloads the cloth roll onto the cropping buffer frame 102 to wait for cropping;
as shown in fig. 16-18, the traveling mechanism 2 drives the automatic cropping truck to move to the cloth inspecting station, then the lifting mechanism 4 descends the loading mechanism 5, the loading mechanism 5 loads the inspected cloth roll, then the automatic cropping truck moves to the stacking station, then the rotary driving mechanism drives the rotary platform 3 to rotate by 90 degrees, the lifting mechanism 4 descends the cloth roll to the stacking support 103 to perform unidirectional stacking, and the rotary platform 3 and the loading mechanism 5 reset after the stacking is completed.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (9)

1. Automatic cropping transport vechicle, its characterized in that: the device comprises a vehicle body, a traveling mechanism, a rotating platform, a lifting mechanism and a loading mechanism, wherein the vehicle body is connected with an air rail through the traveling mechanism; the travelling mechanism drives the vehicle body to move on the empty rail, the lifting mechanism drives the loading mechanism to lift, the loading mechanism can load and unload the yardage roll, and the rotating platform can rotate around the rotating central shaft so as to adjust the direction of the yardage roll loaded on the loading mechanism.
2. The automatic cropping transporter of claim 1, wherein: the walking mechanism comprises a walking wheel, a walking wheel frame and a walking driving mechanism, the walking wheel is connected with the walking wheel frame through a wheel shaft, the bottom of the walking wheel frame is fixedly connected with the vehicle body, and the wheel shaft of the walking wheel is connected with an output shaft of the walking driving mechanism.
3. The automatic cropping transporter of claim 2, wherein: the walking driving mechanism comprises a walking motor and a walking transmission mechanism, and an output shaft of the walking motor is connected with a wheel shaft of the walking wheel through the walking transmission mechanism.
4. The automatic cropping transporter of claim 2, wherein: the walking transmission mechanism comprises a transmission box, a driving bevel gear and a driven bevel gear, the driving bevel gear is arranged in the transmission box through a driving shaft, the driven bevel gear is arranged in the transmission box through a driven shaft, the driving bevel gear and the driven bevel gear are in meshing transmission, the driving shaft is connected with an output shaft of a walking motor through a spline or a coupling, and the driven shaft is connected with a wheel shaft of a walking wheel through a spline or a coupling.
5. The automatic cropping transporter of claim 2, wherein: and the walking wheel frames on two sides of the walking wheel are provided with side guide wheels, and the side guide wheels are connected with the walking wheel frames through wheel shafts.
6. The automatic cropping transporter of claim 1, wherein: and a rotating central shaft between the rotating platform and the vehicle body is connected with a rotating driving mechanism, and an output shaft of the rotating driving mechanism is connected with the rotating central shaft through a transmission mechanism.
7. The automatic cropping transporter of claim 1, wherein: the lifting mechanism comprises a winding drum and a lifting driving mechanism, the winding drum is connected with the loading mechanism through a steel wire rope, a winding drum shaft is arranged at the center of the winding drum, two ends of the winding drum shaft are connected with the rotating platform through bearings, and one end of the winding drum shaft is connected with an output shaft of the lifting driving mechanism.
8. The automatic cropping transporter of claim 1, wherein: the loading mechanism comprises a mechanical claw and a claw seat, two mechanical claws are symmetrically arranged on the claw seat, the upper part of the mechanical claw is connected with the claw seat through a rotating shaft, and the upper end of the mechanical claw is connected with a loading driving mechanism in the claw seat.
9. The automatic cropping transporter of claim 1, wherein: the automatic cropping transport vehicle further comprises an embracing and clamping mechanism, the embracing and clamping mechanism is arranged at two ends of the rotating platform and comprises two symmetrical embracing clamp arms, the embracing clamp arms are connected with the rotating platform through rotating shafts, and the rotating shafts are connected with an embracing and clamping driving mechanism in the rotating platform.
CN201911392322.4A 2019-12-30 2019-12-30 Automatic doffing transport vehicle Active CN110980534B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911392322.4A CN110980534B (en) 2019-12-30 2019-12-30 Automatic doffing transport vehicle

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Application Number Priority Date Filing Date Title
CN201911392322.4A CN110980534B (en) 2019-12-30 2019-12-30 Automatic doffing transport vehicle

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CN110980534A true CN110980534A (en) 2020-04-10
CN110980534B CN110980534B (en) 2024-10-11

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000159349A (en) * 1998-11-24 2000-06-13 Koei Sangyo Kk Single-rail heavy machinery transporting truck
CN110356981A (en) * 2019-07-31 2019-10-22 中国铁道科学研究院集团有限公司铁道建筑研究所 A kind of steering hoisting mechanism applied to tunnel prefabricated component assembly trolley
CN209551765U (en) * 2018-09-29 2019-10-29 何海霞 A kind of mechanical grip device for machine-building
CN211971550U (en) * 2019-12-30 2020-11-20 杭州锐冠科技有限公司 Automatic cropping transport vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000159349A (en) * 1998-11-24 2000-06-13 Koei Sangyo Kk Single-rail heavy machinery transporting truck
CN209551765U (en) * 2018-09-29 2019-10-29 何海霞 A kind of mechanical grip device for machine-building
CN110356981A (en) * 2019-07-31 2019-10-22 中国铁道科学研究院集团有限公司铁道建筑研究所 A kind of steering hoisting mechanism applied to tunnel prefabricated component assembly trolley
CN211971550U (en) * 2019-12-30 2020-11-20 杭州锐冠科技有限公司 Automatic cropping transport vehicle

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