CN114890339B - 三面起吊搬运机器人的控制方法 - Google Patents
三面起吊搬运机器人的控制方法 Download PDFInfo
- Publication number
- CN114890339B CN114890339B CN202210512869.9A CN202210512869A CN114890339B CN 114890339 B CN114890339 B CN 114890339B CN 202210512869 A CN202210512869 A CN 202210512869A CN 114890339 B CN114890339 B CN 114890339B
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- CN
- China
- Prior art keywords
- black line
- transfer robot
- bottom plate
- point
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000012546 transfer Methods 0.000 title claims abstract description 150
- 238000000034 method Methods 0.000 title claims abstract description 70
- 239000012636 effector Substances 0.000 claims abstract description 18
- 238000012937 correction Methods 0.000 claims description 32
- 230000007935 neutral effect Effects 0.000 claims description 9
- 238000004804 winding Methods 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- 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
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/30—Rope, cable, or chain drums or barrels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210512869.9A CN114890339B (zh) | 2022-05-12 | 2022-05-12 | 三面起吊搬运机器人的控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210512869.9A CN114890339B (zh) | 2022-05-12 | 2022-05-12 | 三面起吊搬运机器人的控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114890339A CN114890339A (zh) | 2022-08-12 |
CN114890339B true CN114890339B (zh) | 2024-02-20 |
Family
ID=82722614
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210512869.9A Active CN114890339B (zh) | 2022-05-12 | 2022-05-12 | 三面起吊搬运机器人的控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114890339B (zh) |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20090085176A (ko) * | 2008-02-04 | 2009-08-07 | 한국과학기술원 | 다수의 하이브리드 형태의 다리를 갖는 이동로봇 및 그제어 방법 |
CN104848876A (zh) * | 2015-05-18 | 2015-08-19 | 哈尔滨工程大学 | 全方位移动机器人定位码盘的安装误差测量方法 |
CN205253596U (zh) * | 2015-12-31 | 2016-05-25 | 河南科技大学 | 一种智能循迹颜色分拣搬运机器人的控制系统 |
CN106863261A (zh) * | 2017-04-18 | 2017-06-20 | 四川理工学院 | 一种全向轮驱动绳索式升降抓取机器人 |
CN207895313U (zh) * | 2018-01-12 | 2018-09-21 | 西北民族大学 | 一种自主移动式搬运机器人 |
CN109974746A (zh) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | 全向轮里程校准方法及机器人 |
CN114378832A (zh) * | 2022-03-01 | 2022-04-22 | 南京工程学院 | 基于视觉的三工位轮式搬运机器人全自动控制系统及方法 |
CN114425775A (zh) * | 2022-03-01 | 2022-05-03 | 南京工程学院 | 基于视觉的搬运避障码垛全自动三工位轮式机器人装置 |
-
2022
- 2022-05-12 CN CN202210512869.9A patent/CN114890339B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20090085176A (ko) * | 2008-02-04 | 2009-08-07 | 한국과학기술원 | 다수의 하이브리드 형태의 다리를 갖는 이동로봇 및 그제어 방법 |
CN104848876A (zh) * | 2015-05-18 | 2015-08-19 | 哈尔滨工程大学 | 全方位移动机器人定位码盘的安装误差测量方法 |
CN205253596U (zh) * | 2015-12-31 | 2016-05-25 | 河南科技大学 | 一种智能循迹颜色分拣搬运机器人的控制系统 |
CN106863261A (zh) * | 2017-04-18 | 2017-06-20 | 四川理工学院 | 一种全向轮驱动绳索式升降抓取机器人 |
CN109974746A (zh) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | 全向轮里程校准方法及机器人 |
CN207895313U (zh) * | 2018-01-12 | 2018-09-21 | 西北民族大学 | 一种自主移动式搬运机器人 |
CN114378832A (zh) * | 2022-03-01 | 2022-04-22 | 南京工程学院 | 基于视觉的三工位轮式搬运机器人全自动控制系统及方法 |
CN114425775A (zh) * | 2022-03-01 | 2022-05-03 | 南京工程学院 | 基于视觉的搬运避障码垛全自动三工位轮式机器人装置 |
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CN114890339A (zh) | 2022-08-12 |
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Inventor after: Xu Langui Inventor after: Lan Shuaihang Inventor after: Liu Diyi Inventor after: Zhang Yujian Inventor after: Zhang Lin Inventor after: Wu Jianhui Inventor before: Lan Shuaihang Inventor before: Liu Diyi Inventor before: Zhang Yujian Inventor before: Zhang Lin Inventor before: Wu Jianhui Inventor before: Xu Langui |
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