CN113390364A - Assembly structure of large-arm laser scanner of single storage yard - Google Patents
Assembly structure of large-arm laser scanner of single storage yard Download PDFInfo
- Publication number
- CN113390364A CN113390364A CN202110699047.1A CN202110699047A CN113390364A CN 113390364 A CN113390364 A CN 113390364A CN 202110699047 A CN202110699047 A CN 202110699047A CN 113390364 A CN113390364 A CN 113390364A
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- Prior art keywords
- driving motor
- laser scanner
- mounting
- box
- rack
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- 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
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
Abstract
The invention discloses a large-arm laser scanner assembly structure of a single storage yard, which comprises the following components: the base moves on the large arm of the stock yard stocker through the traveling mechanism; the first driving motor drives the driving gear to be meshed with the driven gear to be meshed with the rack so as to enable the rack to extend out of or retract into the notch along the transverse direction; the vertical displacement assembly is used for fixing a rack on one side of the traction box and is provided with a vertical opening on the other side, the second driving motor is fixedly arranged on the traction box, and the second driving motor drives the screw rod to rotate so as to drive the screw rod nut to lift; the fixing assembly is characterized in that the mounting box is fixedly connected to the screw rod nut through a mounting block, and a mounting hole of the laser scanner is formed in the mounting platform. The invention can accurately adjust the position of the laser scanner, can continuously and accurately scan the shape of the coal pile in real time under severe conditions, has simple use and operation, convenient debugging, no need of maintenance, strong reliability and real-time guidance of production operation.
Description
Technical Field
The invention relates to a laser scanning unmanned operation technology for bulk cargo port storage yards. More particularly, the invention relates to a large-arm laser scanner assembly structure of a single storage yard.
Background
Bulk cargo port yards are used for storing, the transit material, and with new technical application constantly promoting, traditional personnel's operation promotes to become whole unmanned operation, and production safety, efficiency also promote constantly. In the prior art, an unmanned aerial vehicle carrying a laser radar system is adopted to scan materials in a stock dump in real time and establish a stock dump three-dimensional model, so that the defect of low efficiency exists, certain requirements are provided for implementing personnel, and certain difficulty exists in operability. Therefore, the laser scanners are installed at two ends of the single machine large arm of the stacker crane in due course, laser scanning is triggered under the condition of a specific angle of the single machine large arm, scanning data is collected and combined with information of the single machine in the storage yard to form stacking type three-dimensional data, the stacking type information in the storage yard is displayed in real time, a three-dimensional space coordinate is established, and production operation is guided in real time. How to assemble the laser scanner and realize fine adjustment is a technical problem to be solved urgently.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
Still another object of the present invention is to provide an assembly structure of a laser scanner with a large arm for a single machine in a storage yard, which can precisely adjust the position of the laser scanner, can continuously and accurately scan the shape of a coal pile in real time under severe conditions, is easy to use and operate, is convenient to debug, does not require maintenance, has high reliability, and can guide production operations in real time.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a laser scanner assembly structure for a single large arm of a yard, comprising:
the base moves on the large arm of the stock yard stocker through the traveling mechanism, and a notch is formed in one side wall of the base;
the transverse displacement assembly comprises a first driving motor, a driving gear, a driven gear, a transverse sliding groove and a rack which is arranged in the transverse sliding groove in a sliding mode, wherein the first driving motor is fixedly arranged in the base, the driving gear is driven by the first driving motor to be meshed with the driven gear to be meshed with the rack so that the rack extends out of or retracts into the notch along the transverse direction;
the vertical displacement assembly comprises a traction box, a second driving motor, a screw rod and a screw nut, wherein one side of the traction box is fixedly provided with the rack, the other side of the traction box is provided with a vertical opening, the second driving motor is fixedly arranged in the traction box, and the second driving motor drives the screw rod to rotate to drive the screw nut to lift;
the fixing assembly comprises an installation platform and an installation box, the installation box is fixedly connected with the lead screw nut through an installation block, the installation platform is installed above the installation box, and the installation platform is provided with an installation hole of the laser scanner.
Preferably, the mount table still is equipped with a pair of foraminiferous otic placode, a pair of erection column bottom rigid coupling install bin, the top passes a pair of foraminiferous otic placode, the erection column top is equipped with the stopper, fixed subassembly still includes:
the power supply, the power amplifier, the electromagnet coil and the iron core are positioned in the installation box;
and the permanent magnet is fixedly connected to the bottom of the mounting table, and the electromagnet coil is electrified to enable the iron core and the permanent magnet to generate repulsion.
Preferably, the top surface of the outer portion of the installation box is provided with a containing groove capable of containing the permanent magnet, and a rubber cushion layer is arranged inside the containing groove.
Preferably, the traveling mechanism includes: the worm-gear-driven worm wheel comprises a third driving motor, a worm shaft, a pair of walking wheel shafts and two pairs of permanent magnet walking wheels, wherein an output shaft of the third driving motor is in belt transmission with the worm shaft, worm teeth are arranged at two ends of the worm shaft, worm gears meshed with the worm teeth are arranged in the middle of the walking wheel shafts, and the two pairs of permanent magnet walking wheels are respectively arranged at two ends of the pair of walking wheel shafts.
Preferably, the first driving motor, the second driving motor and the third driving motor are stepping motors or servo motors.
Preferably, a camera is arranged above the base.
Preferably, a handle is arranged above the base.
The invention at least comprises the following beneficial effects:
firstly, the traveling mechanism moves on the single machine large arm, the transverse expansion is realized through the transverse displacement assembly, the vertical lifting is realized through the vertical displacement assembly, the position of the laser scanner can be accurately adjusted, the laser scanner is suitable for a severe environment, and the production operation is guided in real time;
secondly, the base can be a cover body with a certain cavity, or a plate body assembled by a plurality of vertical plates, parts including a walking mechanism are all arranged in the base, and simultaneously a bearing part is formed, a first driving motor in the transverse displacement assembly can be arranged above the inside of the base, an output shaft of the transverse displacement assembly can be sleeved with a driving gear through a coupler mounting connecting rod, the gear ratio of the driving gear to the driven gear is more than 1, so that the speed reduction is facilitated, a transverse chute can be a pair of guide rails fixedly connected to the inner wall of the base, the top surface of a rack is provided with teeth, two sides of the rack are provided with rollers, the transverse displacement assembly stably runs on the pair of guide rails, a supporting structure can be arranged on the outer wall of the base, such as a fork frame, one end of the supporting structure is hinged to the outer wall of the base, the other end of the supporting structure is hinged to the bottom of the rack, a traction box in the vertical displacement assembly is of a box structure, so as to protect internal parts, the traction box forms a linkage structure through fixedly connected with the rack, and a second driving motor is arranged at the top of the traction box, the top of the screw rod is fixedly connected with an output shaft of a second driving motor, the lower end of the screw rod is fixedly connected with a traction box through a bearing, the second driving motor drives the screw rod to rotate, a screw nut performs lifting motion, in order to enable the screw nut to stably lift, limiting grooves can be formed in the front side and the rear side of the interior of the traction box, limiting rods are arranged on the front side and the rear side of the screw nut, the limiting rods lift in the limiting grooves, the mounting table is provided with a mounting surface of a laser scanner, in order to enable the mounting table to be horizontally provided with the mounting box, the mounting table and the mounting box can be fixedly connected through supporting rods and the like, and the mounting box is fixedly connected with the screw nut to achieve synchronous lifting;
thirdly, the mounting table and the mounting box can also be movably connected, a perforated lug plate is arranged in a region of the mounting table except for a mounting hole for arranging the laser scanner, the bottom of the mounting column is fixedly connected, the top of the mounting column is penetrated by the perforated lug plate, a limiting block is arranged above the mounting column to block the mounting column from being separated, an electromagnet coil is wound on an iron core, a power supply is electrified to supply power to a power amplifier to electrify the coil, a magnetic field is generated, the permanent magnet is upwards suspended due to repulsion of opposite polarities, the mounting table upwards suspends under the action of repulsion force, compared with fixed mounting, the mounting table can block displacement caused by environmental influence, the supporting performance is more stable, and jitter is reduced; the arrangement of the accommodating groove is convenient for accommodating the permanent magnet when power is lost, the inner wall of the accommodating groove can be provided with the elastic ring, when the permanent magnet falls and is accommodated, the elastic ring is extruded to deform, the elastic ring is reversely extruded by external force to the permanent magnet, so that certain stress is formed, the permanent magnet is stably accommodated in the accommodating groove, and the vertical vibration of the laser scanner is further avoided;
fourthly, the permanent magnet travelling wheels can be firmly adsorbed on the single machine big arm through the travelling mechanism arranged in the device, the third driving motor can be arranged at the rear part inside the base and is arranged parallel to the worm shaft, the output shaft of the third driving motor is in belt transmission with the worm shaft to drive the worm shaft to rotate, worm teeth are arranged on the worm shaft, a pair of travelling wheel shafts are vertically and symmetrically arranged, the worm wheels are arranged on the travelling wheel shafts, and the worm wheels are meshed with the travelling wheel shafts to drive the travelling wheel shafts to rotate, so that the permanent magnet travelling wheels are driven to rotate, travelling along the single machine big arm is realized, and the device has better stability and adsorbability compared with a conventional travelling mechanism; the stepping motor and the servo motor are easy to take materials and assemble, and the practicability is high; the camera does not need to synchronously move along with the laser scanner, and the camera is arranged above the base, so that the camera can have a better visual field for shooting and further guides production operation; the arrangement of the handle is convenient for moving the invention during loading and unloading.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
FIG. 2 is a schematic structural view of the lateral displacement assembly and the vertical displacement assembly of the present invention;
fig. 3 is a schematic structural diagram of the traveling mechanism of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can, for example, be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and 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 invention.
As shown in fig. 1-2, the present invention provides a laser scanner mounting structure for a single large arm of a storage yard, comprising:
the base 1 moves on a large arm of a stock dump through a traveling mechanism, and a notch is formed in one side wall of the base 1;
the transverse displacement assembly comprises a first driving motor fixedly arranged inside the base 1, a driving gear 2, a driven gear 3, a transverse sliding chute and a rack 4 slidably arranged in the transverse sliding chute, wherein the first driving motor drives the driving gear 2 to be meshed with the driven gear 3 to be meshed with the rack 4 so as to enable the rack 4 to extend out of or retract into the notch along the transverse direction;
the vertical displacement assembly comprises a traction box 5, a second driving motor 6, a screw rod 7 and a screw rod nut 8, wherein one side of the traction box 5 is fixed with the rack 4, the other side of the traction box is provided with a vertical opening, the second driving motor 6 is fixedly arranged on the traction box 5, and the second driving motor 6 drives the screw rod 7 to rotate to drive the screw rod nut 8 to lift;
fixed subassembly, it includes mount table 9, install bin 10 through the installation piece rigid coupling in screw-nut 8, mount table 9 install in install bin 10 top, be equipped with laser scanner's mounting hole on the mount table 9.
In the technical scheme, the traveling mechanism moves on the single-machine large arm, the transverse expansion is realized through the transverse displacement assembly, the vertical lifting is realized through the vertical displacement assembly, the position of the laser scanner can be accurately adjusted, the laser scanner is suitable for severe environments, and the production operation is guided in real time.
The base 1 can be a cover body with a certain cavity, or a plate body assembled by a plurality of vertical plates, parts including a walking mechanism are all arranged inside the base 1, and simultaneously form a bearing part, a first driving motor in the transverse displacement assembly can be arranged above the inside of the base 1, an output shaft of the transverse displacement assembly can be sleeved with a driving gear 2 through a coupler mounting connecting rod, the gear ratio of the driving gear 2 and a driven gear 3 is more than 1 so as to facilitate speed reduction, a transverse chute can be a pair of guide rails fixedly connected to the inner wall of the base 1, the top surface of a rack 4 is provided with teeth, two sides of the rack are provided with rollers and stably move on the pair of guide rails, a supporting structure can be arranged on the outer wall of the base 1, for example, a scissor bracket, one end of the supporting structure is hinged to the outer wall of the base 1, the other end of the supporting structure is hinged to the bottom of the rack 4, a traction box 5 in the vertical displacement assembly is of a box type structure to protect internal parts, the traction box 5 forms a linkage structure through fixedly connected with the rack 4, second driving motor 6 sets up in pulling case 5 top, 7 tops of lead screw and second driving motor 6's output shaft rigid couplings, the lower extreme passes through bearing and pulls case 5 rigid couplings, second driving motor 6 drive lead screw 7 rotates, screw-nut 8 makes elevating movement, in order to make screw-nut 8 steadily go up and down, can set up the restriction groove at the inside front and back side of pulling case 5, set up the restriction pole in the front and back side of screw-nut 8, make the restriction pole go up and down in the restriction groove, mount table 9 has laser scanner's installation face, in order to make mount table 9 level set up install bin 10, the two can pass through forms rigid couplings such as bracing piece, can set up bearing structure at the outer wall of pulling case 5, for example, the fork frame, one end articulates in pulling case 5 outer wall, the other end articulates in install bin 10 bottoms, install bin 10 rigid couplings screw-nut 8, realize synchronous lift.
When the invention is used, the stock yard stock data information and the stock yard geographic information can be combined to establish the basic data space of unmanned operation, and the main functions comprise:
1) acquiring basic data: and the acquisition and the input of basic information such as a single machine state, a belt conveyor state, ground elevation information and the like are realized.
2) Laser imaging data processing: through a specific algorithm, the laser imaging data are processed, so that the influence of dust and water mist on imaging information is avoided, and the surface data of the stack position information is accurately provided.
3) Establishing a three-dimensional space coordinate system: and matching the stack type information surface data scanned by the laser with the corresponding single scanning machine running data to form a three-dimensional space coordinate system.
4) Providing an algorithm model: before material stacking and material taking, data are processed after receiving operation instructions, and the entry point of corresponding operation is calculated through the data of the model three-dimensional space coordinate system.
5) Automatic real-time updating: and updating data in real time in the operation process to provide reference basis for the operation.
6) Combining multiple data sources: the system can perform data interaction with a video monitoring system, a scheduling broadcast system, a single-machine PLC control system, a yard space anti-collision system and the like, so as to achieve the purpose of full-field information deep fusion.
In another technical scheme, mount table 9 still is equipped with a pair of foraminiferous otic placode, a pair of erection column bottom rigid coupling install bin 10, the top passes a pair of foraminiferous otic placodes, the erection column top is equipped with the stopper, fixed subassembly still includes:
the power supply, the power amplifier, the electromagnet coil and the iron core are positioned in the installation box 10;
and the permanent magnet is fixedly connected to the bottom of the mounting table 9 and positioned above the outer part of the mounting box 10, and the electromagnet coil is electrified to enable the iron core and the permanent magnet to generate repulsive force.
Mount table 9 also can be swing joint with install bin 10, the region outside the mounting hole that sets up laser scanner on mount table 9 sets up foraminiferous otic placode, erection column bottom rigid coupling, foraminiferous otic placode is worn to establish at the top, because the top sets up the stopper and blocks the erection column separation, electromagnet coil winding iron core, power circular telegram makes the coil circular telegram to the power amplifier power supply, produce magnetic field, opposite polarities repel each other and makes the permanent magnet upwards suspend, mount table 9 upwards suspends under the repulsion effect, compare in fixed installation, can make mount table 9 block the displacement that the environmental impact brought, support performance is more firm, reduce the shake. (ii) a
In another technical scheme, a receiving groove capable of receiving the permanent magnet is formed in the top surface of the outer portion of the installation box 10, and a rubber cushion layer is arranged inside the receiving groove. The permanent magnet is accomodate when losing the electricity in the setting of accomodating the groove of being convenient for, can set up the elastic ring at the inner wall of accomodating the groove, extrudees the elastic ring and warp when the permanent magnet whereabouts is accomodate, and the elastic ring receives external force backward extrusion permanent magnet, makes it form certain stress, and the groove is accomodate in the accomodating to stabilize, and then avoids laser scanner vibration from top to bottom.
In another embodiment, as shown in fig. 3, the traveling mechanism includes: the worm gear-driven walking mechanism comprises a third driving motor 11, a worm shaft 12, a pair of walking wheel shafts 13 and two pairs of permanent magnet walking wheels 14, wherein an output shaft of the third driving motor 11 is in belt transmission with the worm shaft 12, worm teeth are arranged at two ends of the worm shaft 12, a worm wheel meshed with the worm teeth is arranged in the middle of each walking wheel shaft 13, and the two pairs of permanent magnet walking wheels 14 are respectively arranged at two ends of the pair of walking wheel shafts 13. The running gear who sets up through this application can make permanent magnetism walking wheel 14 firmly adsorb on the big arm of unit, third driving motor 11 can set up in the inside rear of base 1, be on a parallel with worm axle 12 and set up, third driving motor 11's output shaft and the 12 belt drive of worm axle, it rotates to drive worm axle 12, set up the worm tooth on the worm axle 12, the perpendicular symmetry of a pair of walking wheel axle 13 sets up, set up the worm wheel on the walking wheel axle 13, the meshing of the two drives walking wheel axle 13 and rotates, thereby drive permanent magnetism walking wheel 14's rotation, realize the walking along the big arm of unit, have better stability and adsorptivity for conventional running gear.
In another technical solution, the first driving motor, the second driving motor 6, and the third driving motor 11 are stepping motors or servo motors. The stepping motor and the servo motor are easy to take materials and assemble, and the practicability is high.
In another technical scheme, a camera is arranged above the base 1. The camera need not along with laser scanner synchronous displacement, installs it in base 1 top and can have better field of vision and shoot, further instructs production operation.
In another technical scheme, a handle is arranged above the base 1. The arrangement of the handle is convenient for moving the invention during loading and unloading.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (7)
1. Big arm laser scanner assembly structure of stock yard unit, its characterized in that includes:
the base moves on the large arm of the stock yard stocker through the traveling mechanism, and a notch is formed in one side wall of the base;
the transverse displacement assembly comprises a first driving motor, a driving gear, a driven gear, a transverse sliding groove and a rack which is arranged in the transverse sliding groove in a sliding mode, wherein the first driving motor is fixedly arranged in the base, the driving gear is driven by the first driving motor to be meshed with the driven gear to be meshed with the rack so that the rack extends out of or retracts into the notch along the transverse direction;
the vertical displacement assembly comprises a traction box, a second driving motor, a screw rod and a screw nut, wherein one side of the traction box is fixedly provided with the rack, the other side of the traction box is provided with a vertical opening, the second driving motor is fixedly arranged in the traction box, and the second driving motor drives the screw rod to rotate to drive the screw nut to lift;
the fixing assembly comprises an installation platform and an installation box, the installation box is fixedly connected with the lead screw nut through an installation block, the installation platform is installed above the installation box, and the installation platform is provided with an installation hole of the laser scanner.
2. The assembly structure of a large arm laser scanner of a single storage yard as claimed in claim 1, wherein the mounting platform further has a pair of ear plates with holes, a pair of mounting posts are fixedly connected to the bottom of the mounting box, the top of the mounting post passes through the pair of ear plates with holes, the top of the mounting post is provided with a limiting block, and the fixing component further comprises:
the power supply, the power amplifier, the electromagnet coil and the iron core are positioned in the installation box;
and the permanent magnet is fixedly connected to the bottom of the mounting table, and the electromagnet coil is electrified to enable the iron core and the permanent magnet to generate repulsion.
3. The assembly structure of a single stacker crane with a large arm according to claim 2, wherein the top surface of the exterior of the installation box is provided with a receiving groove for receiving the permanent magnet, and a rubber cushion is provided inside the receiving groove.
4. The stacker crane boom laser scanner mounting structure according to claim 1, wherein said traveling mechanism comprises: the worm-gear-driven worm wheel comprises a third driving motor, a worm shaft, a pair of walking wheel shafts and two pairs of permanent magnet walking wheels, wherein an output shaft of the third driving motor is in belt transmission with the worm shaft, worm teeth are arranged at two ends of the worm shaft, worm gears meshed with the worm teeth are arranged in the middle of the walking wheel shafts, and the two pairs of permanent magnet walking wheels are respectively arranged at two ends of the pair of walking wheel shafts.
5. The assembly structure of the stacker crane of claim 1, wherein said first driving motor, said second driving motor, and said third driving motor are stepping motors or servo motors.
6. The stacker crane boom laser scanner mounting structure of claim 1, wherein a camera is provided above said base.
7. The large arm laser scanner mounting structure for a single stacker crane according to claim 1, wherein a handle is provided above said base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110699047.1A CN113390364A (en) | 2021-06-23 | 2021-06-23 | Assembly structure of large-arm laser scanner of single storage yard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110699047.1A CN113390364A (en) | 2021-06-23 | 2021-06-23 | Assembly structure of large-arm laser scanner of single storage yard |
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| Publication Number | Publication Date |
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| CN113390364A true CN113390364A (en) | 2021-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110699047.1A Pending CN113390364A (en) | 2021-06-23 | 2021-06-23 | Assembly structure of large-arm laser scanner of single storage yard |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104401397A (en) * | 2014-11-22 | 2015-03-11 | 湖北荆硕自动化设备有限公司 | Omnidirectional traveling driving device |
| CN205111861U (en) * | 2015-11-04 | 2016-03-30 | 广东伊雪松机器人设备有限公司 | Punching press machine people |
| CN208567793U (en) * | 2018-09-06 | 2019-03-01 | 成都福莫斯智能系统集成服务有限公司 | A kind of intelligent detection equipment detecting workpiece three-dimensional information |
| KR20200042863A (en) * | 2018-10-16 | 2020-04-24 | 박경제 | System of generating 3D image data |
| CN212458288U (en) * | 2020-05-26 | 2021-02-02 | 天津天成华海技术有限公司 | Three-dimensional laser scanner is with support frame convenient to installation |
| CN112758207A (en) * | 2021-03-03 | 2021-05-07 | 广东省科学院智能制造研究所 | All-position moving wall-climbing robot |
-
2021
- 2021-06-23 CN CN202110699047.1A patent/CN113390364A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104401397A (en) * | 2014-11-22 | 2015-03-11 | 湖北荆硕自动化设备有限公司 | Omnidirectional traveling driving device |
| CN205111861U (en) * | 2015-11-04 | 2016-03-30 | 广东伊雪松机器人设备有限公司 | Punching press machine people |
| CN208567793U (en) * | 2018-09-06 | 2019-03-01 | 成都福莫斯智能系统集成服务有限公司 | A kind of intelligent detection equipment detecting workpiece three-dimensional information |
| KR20200042863A (en) * | 2018-10-16 | 2020-04-24 | 박경제 | System of generating 3D image data |
| CN212458288U (en) * | 2020-05-26 | 2021-02-02 | 天津天成华海技术有限公司 | Three-dimensional laser scanner is with support frame convenient to installation |
| CN112758207A (en) * | 2021-03-03 | 2021-05-07 | 广东省科学院智能制造研究所 | All-position moving wall-climbing robot |
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Application publication date: 20210914 |