CN113184213A - Airport luggage quick positioning and carrying system that leaves port based on arm - Google Patents
Airport luggage quick positioning and carrying system that leaves port based on arm Download PDFInfo
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- CN113184213A CN113184213A CN202110466732.XA CN202110466732A CN113184213A CN 113184213 A CN113184213 A CN 113184213A CN 202110466732 A CN202110466732 A CN 202110466732A CN 113184213 A CN113184213 A CN 113184213A
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- 230000005540 biological transmission Effects 0.000 claims description 31
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000005266 casting Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- CJRQAPHWCGEATR-UHFFFAOYSA-N n-methyl-n-prop-2-ynylbutan-2-amine Chemical compound CCC(C)N(C)CC#C CJRQAPHWCGEATR-UHFFFAOYSA-N 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
- B64F1/322—Cargo loaders specially adapted for loading air freight containers or palletized cargo into or out of the aircraft
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a mechanical arm-based airport departure luggage rapid positioning and handling system, which belongs to the technical field of industrial vision and comprises a rapid moving and positioning seventh shaft main body, wherein a mechanical arm mounting unit is arranged at the top of the rapid moving and positioning seventh shaft main body, a mechanical arm is arranged at the top of the mechanical arm mounting unit, and a locking device and a guiding and anti-tipping device are respectively arranged at the lower part of the rapid moving and positioning seventh shaft main body and are respectively matched with a guide rail assembly. The invention (or invention) discloses a mechanical arm-based airport luggage rapid positioning and handling system, which is driven by a stepping motor, a magnetic grid ruler is arranged on a guide rail, and a reading head is arranged on a main body and matched with the magnetic grid ruler to realize precise positioning; the mechanical arm mounting unit can be lifted up and down, the motor drives the lead screw to rotate, and the four guide posts guide, so that a mechanical arm grabbing range dead zone of the mechanical arm is avoided.
Description
Technical Field
The invention discloses a mechanical arm-based airport departure luggage rapid positioning and carrying system, and belongs to the technical field of industrial vision.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. The mechanical arm can be used for industrial scenes such as stacking and assembling, but the cost is high, and high cost is generated if the mechanical arm is used in a large batch in the luggage carrying process.
The seventh axis of the mechanical arm is also called a robot walking axis, a mechanical arm track and the like, is mainly used for expanding the operation radius of the mechanical arm and expanding the application range function of the mechanical arm, and is mainly applied to the fields of welding, casting, machining, intelligent storage, automobiles, aerospace and other industries. However, the current seventh shaft has high requirements on environment, relatively harsh working conditions and low positioning accuracy.
At present, domestic airports gradually evolve and are intelligent, and a plurality of robots which have to be manually operated before are used. However, the conventional manual transportation of the luggage in the terminal building is time-consuming and labor-consuming, high in labor cost and low in transportation efficiency.
Disclosure of Invention
The invention aims to provide a mechanical arm-based rapid positioning and conveying system for airport departure baggage, which can be particularly used in the working environment of airport departure baggage conveying to solve the problem of rapid positioning and conveying of airport departure baggage.
The invention aims to solve the problems and is realized by the following technical scheme:
a robot-based airport departure luggage rapid positioning and handling system comprises a rapid moving and positioning seventh shaft main body, wherein a robot arm mounting unit is arranged at the top of the rapid moving and positioning seventh shaft main body, a robot arm is arranged at the top of the robot arm mounting unit, and a locking device and a guiding and anti-tipping device are respectively arranged at the lower part of the rapid moving and positioning seventh shaft main body and are respectively matched with a guide rail assembly;
the fast moving and positioning seventh shaft main body comprises a supporting main body, a traveling mechanism and four rollers with the same structure, the traveling mechanism is arranged on the supporting main body, the four rollers are respectively arranged on the traveling mechanism, and the guide rail assembly comprises two guide rails.
Preferably, the support body includes a seventh shaft upper plate and a seventh shaft lower plate connected by both ends of four support rods.
Preferably, the advancing mechanism comprises a first chain wheel shaft and a second chain wheel shaft which are respectively rotatably mounted on the seventh shaft lower plate and a first motor fixed on the seventh shaft lower plate, four rollers are respectively fixed at two ends of the first chain wheel shaft and the second chain wheel shaft, a first chain wheel is fixed on a main shaft of the first motor, the first chain wheel shaft is respectively sleeved with a second chain wheel and a third chain wheel and a fourth chain wheel which are arranged at two sides of the second chain wheel, the second chain wheel shaft is respectively sleeved with a fifth chain wheel and a sixth chain wheel which correspond to the third chain wheel and the fourth chain wheel, and the first chain wheel, the second chain wheel, the third chain wheel and the fifth chain wheel are respectively in chain transmission connection with the fourth chain wheel and the sixth chain wheel through a first transmission chain, a second transmission chain and a third transmission chain.
Preferably, both ends are equipped with buffer stop respectively around the seventh axle main part of quick travel location, buffer stop is including fixing the crashproof cushion of seventh axle main part tip of quick travel location and the sensor of seventh axle main part upper end of quick travel location.
Preferably, the guiding and anti-tipping device comprises four guiding and anti-tipping assemblies, the four guiding and anti-tipping assemblies are respectively and uniformly and symmetrically fixed at the bottom of the seventh shaft lower plate, each guiding and anti-tipping assembly comprises a first fixing plate and a second fixing plate, one end of each guiding and anti-tipping assembly is fixed at the bottom of the seventh shaft lower plate, the other end of each first fixing plate is fixedly provided with two guiding rods with the same structure, one end of each guiding rod is rotatably provided with a guiding pulley to be attached to a guide rail web plate, one end of each second fixing plate is fixedly provided with a connecting rod, and one end of each connecting rod is rotatably provided with an anti-tipping pulley to be attached to the inner side of the guide rail upper plate.
Preferably, the locking device comprises a hydraulic cylinder fixed at the bottom of the lower plate of the seventh shaft and a fixed hook, one end of the fixed hook is fixed at the output end of the hydraulic cylinder, the fixed hook is in an L shape, and the upper part of the transverse edge of the fixed hook can be contacted with the guide rail.
Preferably, the guide rod is provided with a sliding groove on the inner side, a spring is arranged in the sliding groove, and the shafts on two sides of the guide pulley are rotatably arranged in the sliding groove and can move along the sliding groove to compress the spring.
Preferably, the robot arm mounting unit includes: the guide shaft is supported and fixed on the seventh shaft upper plate through the guide shaft fixing frame, the second motor is fixed on the seventh shaft upper plate, one end of the lead screw is rotatably arranged on the seventh shaft upper plate, a main shaft of the second motor is connected with one end of the lead screw through the transmission assembly, and the mechanical arm mounting seat is respectively sleeved on the guide shaft and the lead screw through a sliding plate and a nut which are arranged on the vertical plate.
Preferably, the screw comprises two screws which are symmetrically arranged on two sides of the second motor and are connected together through a screw connecting plate, and the transmission assembly comprises a driving gear fixed on the second motor and transmission gears respectively fixed on one end of the screw.
Preferably, the guide rail assembly is arranged in a groove on the ground, the guide rail assembly further comprises an anti-collision guard plate, a magnetic grid ruler and a magnetic grid ruler reading head which are arranged at the inner end part of the groove, the magnetic grid ruler is arranged between the two guide rails, and the magnetic grid ruler reading head is fixed to the bottom of the lower plate of the seventh shaft.
The invention has the beneficial effects that:
compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts a stepping motor to drive, the guide rail is provided with a magnetic grid ruler, and the main body is provided with a reading head which is matched with the magnetic grid ruler, so that the precise positioning is realized; the mechanical arm mounting unit can be lifted up and down, the motor drives the screw rod to rotate, and the four guide columns are used for guiding, so that a mechanical arm grabbing range dead zone of the mechanical arm is avoided;
(2) the invention adopts a friction type locking mode driven by a hydraulic cylinder through the locking device, and is accurate and reliable; the traveling mechanism is symmetrically designed, the chain transmission is self-operated, the whole body can be dragged in a balanced manner, the guide rail is arranged in a sinking manner, the upper surface of the upper plate of the seventh shaft is level with the ground, the occupied space height on the ground is reduced, the seventh shaft can be taken out when being stopped, then the cover plate is covered, and the ground is used as a flat ground without influencing other activities;
(3) according to the invention, the front end and the rear end of the seventh shaft main body are respectively provided with the sensor soft anti-collision and the anti-collision rubber cushion hard anti-collision to serve as double protection, meanwhile, the two ends of the seventh shaft stroke are provided with the anti-collision protection plates to ensure safety, the two sides of the main body are provided with the guide devices, and the guide pulleys are pushed by the springs to cling to the web surface of the I-shaped steel guide rail to ensure the advancing direction;
(4) the four guide and anti-tipping devices are respectively symmetrical in front and back and in left and right, the anti-tipping pulleys are tightly attached to the upper plate surface of the I-shaped steel guide rail, so that anti-tipping and front and back balance guiding are realized, a long guide rail and two to three seventh shaft systems of mechanical arms which are arranged in a dispersed mode can be adopted for dealing with a large number of luggage conveying chute rails, and the requirement on conveying efficiency is fully met.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is an isometric view of a seventh shaft body of the present invention positioned for rapid movement;
FIG. 3 is an isometric view of the travel mechanism of the present invention;
FIG. 4 is an isometric view of a bump guard of the present invention;
FIG. 5 is an isometric view of the locking device of the present invention;
FIG. 6 is a left side view of the locking device of the present invention;
FIG. 7 is an isometric view of the steering and anti-rollover device of the present invention;
FIG. 8 is a partial isometric view of the guidance and anti-rollover device of the present invention;
FIG. 9 is an isometric view of a robot arm mounting unit of the present invention;
FIG. 10 is a partial isometric view of a robot arm mounting unit of the present invention;
figure 11 is an isometric view of the track assembly (6) of the present invention.
Wherein: 1-fast moving positioning of the seventh shaft body, 101-seventh shaft lower plate, 102-seventh shaft upper plate, 103-first roller, 104-second roller, 105-third roller, 106-fourth roller, 107-hydraulic station, 108-first motor, 109-first sprocket, 110-second sprocket, 111-third sprocket, 112-fourth sprocket, 113-fifth sprocket, 114-sixth sprocket, 115-first transmission chain, 116-second transmission chain 117-third transmission chain, 118-first sprocket shaft, 119-second sprocket shaft, 120-bearing seat, 121-support bar, 2-bump guard, 201-bump pad, 202-sensor, 3-locking device, 301-hydraulic cylinder, 302-fixing hook, 4-guiding and anti-tipping device, 401-first fixing plate, 402-guiding rod, 403-guiding pulley, 404-spring, 405-second fixing plate, 406-connecting rod, 407-anti-tipping pulley, 5-mechanical arm mounting unit, 501-second motor, 502-driving gear, 503-transmission gear, 504-lead screw, 505-lead screw connecting plate, 506-mechanical arm mounting seat, 507-vertical plate, 508-guiding shaft, 509-guiding shaft seat, 510-guiding shaft fixing frame, 6-guide rail assembly, 601-magnetic grid ruler, 602-guide rail, 603-anti-collision protection plate, 604-magnetic grid ruler reading head.
Detailed Description
The invention is further illustrated below with reference to the accompanying figures 1-11:
the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, the first embodiment of the present patent provides a robot-based rapid positioning and handling system for airport departure baggage based on the prior art, which includes a fast moving and positioning seventh shaft body 1, a robot mounting unit 5 is installed on the top of the fast moving and positioning seventh shaft body 1, a robot 7 is installed on the top of the robot mounting unit 5, a locking device 3 and a guiding and anti-tipping device 4 are respectively installed on the lower portion of the fast moving and positioning seventh shaft body 1 and are respectively matched with a guide rail assembly 6, and the specific structures and connection manners of the above-mentioned components will be described one by one.
First, the fast moving positioning seventh shaft body 1 is described, and as shown in fig. 2 to 3, it includes a supporting body, a traveling mechanism and four first, second, third and fourth rollers 103, 104, 105 and 106 with the same structure, the traveling mechanism is installed on the supporting body, and the first, second, third and fourth rollers 103, 104, 105 and 106 are respectively installed on the traveling mechanism.
The supporting body comprises a seventh shaft upper plate 102 and a seventh shaft lower plate 101 which are connected through two ends of four supporting rods 121, the travelling mechanism comprises a first chain wheel shaft 118 and a second chain wheel shaft 119 which are rotatably installed on the seventh shaft lower plate 101 through four bearing seats 120 respectively, and a first motor 108 which is fixed on the seventh shaft lower plate 101 through bolts, a first roller 103, a second roller 104, a third roller 105 and a fourth roller 106 are fixed at two ends of the first chain wheel shaft 118 and the second chain wheel shaft 119 respectively, a first chain wheel 109 is fixed on a main shaft of the first motor 108, a second chain wheel 110 and a third chain wheel 111 and a fourth chain wheel 112 which are installed at two sides of the second chain wheel 110 are sleeved on the first chain wheel shaft 118 respectively, a fifth chain wheel 113 and a sixth chain wheel 114 which correspond to the third chain wheel 111 and the fourth chain wheel 112 are sleeved on the second chain wheel shaft 119 respectively, the first chain wheel 109 and the second chain wheel 110, the third chain wheel 111 and the fifth chain wheel 113 and the fourth chain wheel 112 and the sixth chain wheel 114 are connected through a first transmission chain 115, The second transmission chain 116 is in transmission connection with the third transmission chain 117. The first motor 108 operates to provide a power source for the seventh shaft of the mechanical arm, the chain wheel and the transmission chain drive the seventh shaft of the mechanical arm to run on the guide rail, and meanwhile, the whole mechanism adopts standard parts as far as possible, so that the cost is saved to the maximum extent.
Referring to the following, the anti-collision devices 2 are respectively arranged at the front end and the rear end of the seventh shaft main body 1, and as shown in fig. 4, the anti-collision devices 2 comprise anti-collision rubber pads 201 fixed at the end of the seventh shaft main body 1 by bonding and sensors 202 fixed at the upper end of the seventh shaft main body 1 by fast moving. When the sensor 202 detects that an obstacle appears on the seventh shaft running route, the sensor 202 feeds back a signal to the control system, the control system performs emergency braking, and the running safety of the seventh shaft of the mechanical arm is guaranteed to the maximum extent.
As shown in fig. 5 to 6, the locking device (3) includes a hydraulic cylinder 301 fixed to the bottom of the seventh shaft lower plate 101 and a fixing hook 302, one end of the fixing hook 302 is fixed to the output end of the hydraulic cylinder 301 by a bolt, the fixing hook 302 is L-shaped, and the upper portion of the lateral side of the fixing hook 302 can contact with the guide rail 602. When the seventh shaft of the mechanical arm runs to a designated position, the push rod of the hydraulic cylinder 301 moves upwards to drive the fixed hook 302 to move upwards, and the friction block at the tail end of the bending part of the fixed hook 302 moves upwards to abut against the lower edge of the wing plate of the guide rail 602 to complete locking.
Referring to fig. 7-8, the guiding and anti-tipping device 4 comprises four guiding and anti-tipping assemblies, wherein the four guiding and anti-tipping assemblies are respectively and uniformly fixed at the bottom of the seventh shaft lower plate 101 through bolts, the guiding and anti-tipping assembly comprises a first fixing plate 401 and a second fixing plate 405, one ends of the first fixing plate 401 are fixed at the bottom of the seventh shaft lower plate 101 through bolts, two guiding rods 402 with the same structure are fixed at the other ends of the first fixing plate 401 through bolts, a sliding groove is arranged on the inner side of each guiding rod 402, a spring 404 is arranged in each sliding groove, and two side shafts of each guiding pulley 403 are rotatably arranged in each sliding groove and can move along the sliding groove to compress the spring 404. The guide pulley 403 is attached to a web of the guide rail 602, one end of the second fixing plate 405 is fixed with a connecting rod 406 through a bolt, and one end of the connecting rod 406 is rotatably provided with an anti-tipping pulley 407 attached to the inner side of the upper plate of the guide rail 602. The guiding and anti-tipping device adopted by the invention has simple structure and good guiding performance, and can effectively prevent the path of the seventh shaft of the mechanical arm from deviating or tipping.
The robot arm mounting unit 5 is described below, and includes, as shown in fig. 9 to 10: the mechanical arm comprises a second motor 501, a transmission assembly, a lead screw 504, a mechanical arm mounting seat 506, four guide shafts 508 and four guide shaft fixing frames 510, wherein the four guide shafts 508 are supported by the guide shaft fixing frames 510 and are fixed on a seventh shaft upper plate 102 through guide shaft seats 509 by bolts, the second motor 501 is fixed on the seventh shaft upper plate 102, one end of the lead screw 504 is rotatably installed on the seventh shaft upper plate 102, a main shaft of the second motor 501 is connected with one end of the lead screw 504 through the transmission assembly, the lead screw 504 comprises two driving gears 502 which are symmetrically arranged on two sides of the second motor 501 and connected together through a lead screw connecting plate 505, the transmission assembly comprises a driving gear 502 fixed on the second motor 501 and a transmission gear 503 which is respectively fixed on one end of the lead screw 504, and the mechanical arm mounting seat 506 is respectively sleeved on the guide shafts 508 and the lead screw 504 through sliding plates and nuts which are arranged on the vertical plates 507.
Finally, referring to the track assembly 6, as shown in fig. 11, the track assembly (6) is disposed in a groove on the ground, and includes: the anti-collision device comprises two guide rails 602, an anti-collision guard plate 603 installed at the inner end part of the groove, a magnetic grid ruler 601 and a magnetic grid ruler reading head 604, wherein the magnetic grid ruler 601 is installed between the two guide rails 602, the magnetic grid ruler reading head 604 is fixed at the bottom of the seventh shaft lower plate 101 through bolts and is matched with the magnetic grid ruler for precise positioning, and the anti-collision guard plate 603 is arranged at two ends of the stroke of the seventh shaft and is matched with the anti-collision rubber mat 201 to ensure safety.
The specific working mode is as follows:
after the passenger handles the consignment, the luggage is conveyed to the designated chute through the conveyor belt, starts to slide down from the chute, waits for grabbing, the first motor 108 drives the first chain wheel 109 to start rotating, the first chain wheel 109 drives the first chain wheel 110 to rotate through the first transmission chain 115, the second chain wheel 110 drives the third chain wheel 111 and the fourth chain wheel 112 to rotate through the first chain wheel shaft 118, the third chain wheel 111 and the fourth chain wheel 112 drive the fifth chain wheel 113 and the sixth chain wheel 114 to rotate through the second transmission chain 116 and the third transmission chain 117 respectively, the fifth chain wheel 113 and the sixth chain wheel 114 drive the second chain wheel shaft 119 to rotate, the two first chain wheel shafts 118 and the second chain wheel shaft 119 drive the four rollers to rotate, and the travel of the fast moving and positioning seventh shaft main body 1 is completed.
The magnetic grid ruler reading head 604 carries out precise positioning by identifying the magnetic grid ruler reading on the inner side of the guide rail, when the target position is reached, the push rod of the hydraulic cylinder 301 moves upwards to drive the fixed hook 302 to move upwards, and the friction block positioned at the tail end of the bending part of the fixed hook 302 moves upwards to abut against the lower edge of the wing plate of the guide rail 602 to complete locking.
After locking, the second motor 501 is started to drive the driving gear 502 to rotate, the driving gear 502 drives the transmission gear 503 meshed with the driving gear to rotate, and then the two lead screws 504 and the mechanical arm mounting seat 506 are driven to move up and down along the guide shaft, the height of the mechanical arm is adjusted, the dead zone of the mechanical arm is avoided, and finally baggage handling is completed.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110466732.XA CN113184213A (en) | 2021-04-28 | 2021-04-28 | Airport luggage quick positioning and carrying system that leaves port based on arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110466732.XA CN113184213A (en) | 2021-04-28 | 2021-04-28 | Airport luggage quick positioning and carrying system that leaves port based on arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113184213A true CN113184213A (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110466732.XA Pending CN113184213A (en) | 2021-04-28 | 2021-04-28 | Airport luggage quick positioning and carrying system that leaves port based on arm |
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| CN (1) | CN113184213A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116729995A (en) * | 2023-07-12 | 2023-09-12 | 徐州安联木业有限公司 | Timber transport manipulator with safeguard function |
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|---|---|---|---|---|
| US20160167706A1 (en) * | 2013-07-05 | 2016-06-16 | Vanderlande Industries B.V. | Vehicle, method for moving such a vehicle, and transport system for objects such as items of luggage |
| CN107499921A (en) * | 2017-08-16 | 2017-12-22 | 中国矿业大学 | A kind of rail type mobile workbench |
| CN209190760U (en) * | 2018-10-02 | 2019-08-02 | 河南师范大学 | A kind of airport cargo carrying humanoid robot |
| CN110217524A (en) * | 2019-06-19 | 2019-09-10 | 哈尔滨工程大学 | A kind of robot for the mobile carrying of logistic storage |
| CN111498762A (en) * | 2020-04-22 | 2020-08-07 | 李德元 | Contact net anti-tipping operation ladder vehicle for rail vehicle |
| CN216709670U (en) * | 2021-04-28 | 2022-06-10 | 吉林省民航机场集团有限公司 | Airport luggage of leaving port fixes a position handling system fast based on arm |
-
2021
- 2021-04-28 CN CN202110466732.XA patent/CN113184213A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160167706A1 (en) * | 2013-07-05 | 2016-06-16 | Vanderlande Industries B.V. | Vehicle, method for moving such a vehicle, and transport system for objects such as items of luggage |
| CN107499921A (en) * | 2017-08-16 | 2017-12-22 | 中国矿业大学 | A kind of rail type mobile workbench |
| CN209190760U (en) * | 2018-10-02 | 2019-08-02 | 河南师范大学 | A kind of airport cargo carrying humanoid robot |
| CN110217524A (en) * | 2019-06-19 | 2019-09-10 | 哈尔滨工程大学 | A kind of robot for the mobile carrying of logistic storage |
| CN111498762A (en) * | 2020-04-22 | 2020-08-07 | 李德元 | Contact net anti-tipping operation ladder vehicle for rail vehicle |
| CN216709670U (en) * | 2021-04-28 | 2022-06-10 | 吉林省民航机场集团有限公司 | Airport luggage of leaving port fixes a position handling system fast based on arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116729995A (en) * | 2023-07-12 | 2023-09-12 | 徐州安联木业有限公司 | Timber transport manipulator with safeguard function |
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