CN206584180U - The control system of the transfer robot implement porter of infrared remote control - Google Patents
The control system of the transfer robot implement porter of infrared remote control Download PDFInfo
- Publication number
- CN206584180U CN206584180U CN201720251153.2U CN201720251153U CN206584180U CN 206584180 U CN206584180 U CN 206584180U CN 201720251153 U CN201720251153 U CN 201720251153U CN 206584180 U CN206584180 U CN 206584180U
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- hydraulic cylinder
- transfer robot
- valve
- infrared remote
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to industrial automation mechanical-electrical-hydraulic integration, the control system of the transfer robot implement porter of more particularly to a kind of infrared remote control, it includes transfer robot implement porter, deflecting roller (1), turns to RV decelerators (3), driving wheel (12) and driving RV decelerators (11), ECU and hydraulic lifting system (9)；ECU includes IR remote controller (8), infrared remote control module (7), the next PLC (6), stepper motor driver (5), stepper motor (4) and motor (10)；Hydraulic lifting system (9) includes four hydraulic cylinders, fuel tank (91), filter (92), gear pump (93), solenoid directional control valve (94), hydraulic lock (95) and six synchronous valves, using one-to-two, two point four of oil path structure, so that holding is synchronous when four hydraulic cylinders are stretched out with withdrawing, it is ensured that the stability on chassis during hydraulic lifting system ascending, descending hydraulic cylinder.
Description
Technical field
The utility model belongs to industrial automation mechanical-electrical-hydraulic integration, more particularly to a kind of carrying implement of infrared remote control
The control system of device people's implement porter.
Background technology
At present, the packed goods and materials of China warehouse carry and handling mode be mainly shoulder shoulder with dolly draw, stevedore is not
Only labor intensity is big, inefficiency, and worked in the environment of dust, and easily harm is physically and mentally healthy.Use extensively both at home and abroad
The transfer robot equipment loaded and unloaded in packed goods and materials is both secured on streamline, or is arranged on moving guide rail, it is impossible to enter fire
Car compartment or the flexible mobile packed goods and materials progress with to intensive stacking in railway carriage are fast captured and loaded and unloaded.
In summary, transfer robot of the prior art is all poorly suitable for the bagged articles of intensive stacking in railway carriage
The handling of money, it is impossible to flexibly enter railway carriage and lossless quick crawl is carried out to the packed goods and materials of stacked.Electric drive chassis because
Its zero-emission, high energy source utilization rate and advantages of simple structure and simple are favored by industry-by-industry, carrying implement of the present invention
Device people implement porter uses electric drive mode.Because the railway carriage narrow space residing for transfer robot, environment are more multiple
Miscellaneous, operating personnel can control it to walk by remote control mode, and remote control is realized by infrared serial interface, and serial communication can will be red
Outer mold piece is linked together with the next PLC, and Serial Port Line can be passed through between infrared remote control module and the next PLC
Realize communication exchanges, infrared remote control module receives the control instruction that operating personnel send, the next PLC performs steering, preceding
Enter, retreat, hydraulic cylinder lifting is ordered.It must be fixed when carrying out carrying work in railway carriage due to transfer robot, therefore should
Control system also includes a set of hydraulic lifting system, in machine man-hour, can be by robot branch from the ground.
The content of the invention
The purpose of this utility model is, for the artificial handling labor intensity of the packed goods and materials of stacked in railway carriage it is big,
Inefficiency, and worked in the environment of dust, the problems such as easily harm workman is physically and mentally healthy, the present invention devises one kind
The transfer robot implement porter control system of infrared remote control, the control system includes electric-control system and hydraulic lifting system,
The stability problem of transfer robot flexible movement and machine man-hour in railway carriage is solved well, improves dress
The efficiency unloaded, realizes the mechanization and automation of means of agricultural production handling.
The purpose of this utility model is achieved through the following technical solutions：
The transfer robot implement porter control system of infrared remote control, including transfer robot implement porter, steering
Wheel 1, steering RV decelerators 3, driving wheel 12 and driving RV decelerators 11, in addition to ECU and hydraulic lifting system 9；
The ECU includes IR remote controller 8, infrared remote control module 7, the next PLC 6, driving stepper motor
Device 5, stepper motor 4 and motor 10；
IR remote controller 8 is connected with infrared remote control module 7 by infrared serial interface, and infrared remote control module 7 and bottom PLC is controlled
Device 6 is connected by Serial Port Line, and the next PLC 6 is respectively connected with stepper motor driver 5 and motor 10, stepping electricity
Machine 4 is connected with stepper motor driver 5, turns to RV decelerators 3 and is connected with stepper motor 4, driving RV decelerators 11 and driving electricity
Machine 10 is connected；
Hydraulic lifting system 9 includes first hydraulic cylinder 131, second hydraulic cylinder 132, the 3rd hydraulic cylinder 133, the 4th hydraulic cylinder
134th, fuel tank 91, filter 92, gear pump 93, solenoid directional control valve 94, hydraulic lock 95 and synchronous valve；
The solenoid directional control valve 94 has four hydraulic fluid ports, respectively the first hydraulic fluid port A, the second hydraulic fluid port B, oil inlet P and oil extraction
Mouth T, oil circuit is connected successively for fuel tank 91, filter 92 and gear pump 93, and gear pump 93 is connected with oil inlet P, oil discharge outlet T and fuel tank
91 are connected, and the first hydraulic fluid port A of solenoid directional control valve 94 is connected with the oil circuit of the first synchronous valve 961, and the first synchronous valve 961 is respectively with second
Synchronous valve 962 and the connection of the oil circuit of the 3rd synchronous valve 963, the second synchronous valve 962 and first hydraulic cylinder 131 and second hydraulic cylinder 132
The connection of lower chambers oil circuit, the 3rd synchronous valve 963 is connected with the lower chambers oil circuit of the 3rd hydraulic cylinder 133 and the 4th hydraulic cylinder 134；
The upper chamber of first hydraulic cylinder 131 and second hydraulic cylinder 132 is connected with the oil circuit of the 5th synchronous valve 965 respectively, and the 3rd
The upper chamber of the hydraulic cylinder 134 of hydraulic cylinder 133 and the 4th is connected with the oil circuit of the 6th synchronous valve 966 respectively；
5th synchronous valve 965 and the 6th synchronous valve 966 are connected with the oil circuit of the 4th synchronous valve 964 respectively, the 4th synchronous valve 964
It is connected with the second hydraulic fluid port B oil circuits of solenoid directional control valve 94；
Hydraulic lock 95 is respectively arranged with the first hydraulic fluid port A, the second hydraulic fluid port B oil circuit in solenoid directional control valve 94.
The ECU also includes turning to reseting sensor 2, turns to reseting sensor 2 and is arranged on deflecting roller 1, and its
Signal wire is connected with the next PLC 6.
First hydraulic cylinder 131, second hydraulic cylinder 132, the 3rd hydraulic cylinder 133 and the 4th hydraulic cylinder 134 are separately mounted to remove
Transport the corner of robot implement porter.
The infrared remote control module 7, the next PLC 6, stepper motor driver 5, stepper motor 4 and motor
10 are arranged on transfer robot implement porter.
The solenoid directional control valve 94 is two four flow-through solenoid directional control valves.
The beneficial effects of the utility model are：
The control system of this transfer robot uses technical grade IR remote controller, has used wireless remote control technology, can pass through
Barrier, operating distance meets transfer robot implement porter movement control in railway carriage and used up to 100 meters.
Steering reversal sensor is housed on deflecting roller, after the walking of transfer robot implement porter stops, being turned to
Samsara just, prevents from producing steering cumulative errors when next time from running.
The hydraulic lifting system of transfer robot implement porter is equipped with six synchronous valves, using one-to-two, two point four
Oil path structure so that holding is synchronous when four hydraulic cylinders are stretched out with withdrawing,
Ensure the stability on chassis during hydraulic lifting system ascending, descending hydraulic cylinder.
Brief description of the drawings
Fig. 1 is the control system schematic diagram of the transfer robot implement porter of infrared remote control of the present utility model；
Fig. 2 is the hydraulic control system schematic diagram of the transfer robot implement porter of infrared remote control of the present utility model.
Reference：
1st, deflecting roller 2, steering reseting sensor 3, steering RV decelerators
4th, stepper motor 5, stepper motor driver 6, the next PLC
7th, infrared remote control module 8, IR remote controller 9, hydraulic lifting system
10th, motor 11, driving RV decelerators 12, driving wheel
131st, first hydraulic cylinder 132, second hydraulic cylinder 133, the 3rd hydraulic cylinder
134th, the 4th hydraulic cylinder 91, fuel tank 92, filter
93rd, gear pump 94, solenoid directional control valve 95, hydraulic lock
961st, the first synchronous valve 962, the second synchronous valve 963, the 3rd synchronous valve
964th, the 4th synchronous valve 965, the 5th synchronous valve 966, the 6th synchronous valve
A, the first hydraulic fluid port B, the second hydraulic fluid port P, oil inlet
T, oil discharge outlet
Embodiment
With reference to the accompanying drawings and examples, embodiment of the present utility model is described in further detail.
As shown in figure 1, the transfer robot implement porter control system of infrared remote control, including：Transfer robot is walked certainly
Formula chassis, deflecting roller 1, steering RV decelerators 3, driving wheel 12, driving RV decelerators 11, ECU and hydraulic lifting system 9.
Front axle is arranged on the output end for turning to RV decelerators 3, and deflecting roller 1 is arranged on front axle；Rear axle is arranged on driving RV
The output end of decelerator 11, driving wheel 12 is arranged on rear axle.Turn to RV decelerators 3, driving RV decelerators 11, ECU and
Hydraulic lifting system 9 is arranged on transfer robot implement porter.
ECU include IR remote controller 8, infrared remote control module 7, the next PLC 6, turn to reseting sensor 2,
Stepper motor driver 5, stepper motor 4 and motor 10.
Wherein, infrared remote control module 7, the next PLC 6, stepper motor driver 5, stepper motor 4 and motor
10 are arranged on transfer robot implement porter.
IR remote controller 8 is connected with infrared remote control module 7 by infrared serial interface, and infrared remote control module 7 and bottom PLC is controlled
Device 6 is connected by Serial Port Line, and the next PLC 6 is respectively connected with stepper motor driver 5 and motor 10, stepping electricity
Machine 4 is connected with stepper motor driver 5, turns to RV decelerators 3 and is connected with stepper motor 4, driving RV decelerators 11 and driving electricity
Machine 10 is connected；Reseting sensor 2 is turned to be arranged on deflecting roller 1, and its signal wire is connected with the next PLC 6.
As shown in Fig. 2 being the schematic diagram of hydraulic system, hydraulic lifting system 9 includes first hydraulic cylinder 131, the second hydraulic pressure
Cylinder 132, the 3rd hydraulic cylinder 133, the 4th hydraulic cylinder 134, fuel tank 91, filter 92, gear pump 93, solenoid directional control valve 94, hydraulic pressure
Lock 95 and synchronous valve.
The first hydraulic cylinder 131, second hydraulic cylinder 132, the 3rd hydraulic cylinder 133 and the 4th hydraulic cylinder 134 are respectively mounted
In the corner of transfer robot implement porter.
The synchronous valve is divided into two groups, wherein first group of synchronous valve includes the first synchronous valve 961, the and of the second synchronous valve 962
3rd synchronous valve 963, second group of synchronous valve includes the 4th synchronous valve 964, the 5th synchronous valve 965 and the 6th synchronous valve 966.
The solenoid directional control valve 94 has four hydraulic fluid ports, respectively the first hydraulic fluid port A, the second hydraulic fluid port B, oil inlet P and oil extraction
Mouth T.Oil circuit is connected successively for fuel tank 91, filter 92 and gear pump 93, and gear pump 93 is connected with oil inlet P, oil discharge outlet T and fuel tank
91 are connected.
First hydraulic fluid port A of solenoid directional control valve 94 is connected with the oil circuit of the first synchronous valve 961, and the first synchronous valve 961 is respectively with
Two synchronous valves 962 and the connection of the oil circuit of the 3rd synchronous valve 963, the second synchronous valve 962 and first hydraulic cylinder 131 and second hydraulic cylinder
The lower chambers oil circuit of 132 lower chambers oil circuit connection, the 3rd synchronous valve 963 and the 3rd hydraulic cylinder 133 and the 4th hydraulic cylinder 134 connects
Connect.
The upper chamber of first hydraulic cylinder 131 and second hydraulic cylinder 132 is connected with the oil circuit of the 5th synchronous valve 965 respectively, and the 3rd
The upper chamber of the hydraulic cylinder 134 of hydraulic cylinder 133 and the 4th is connected with the oil circuit of the 6th synchronous valve 966 respectively.
5th synchronous valve 965 and the 6th synchronous valve 966 are connected with the oil circuit of the 4th synchronous valve 964 respectively, the 4th synchronous valve 964
It is connected with the second hydraulic fluid port B oil circuits of solenoid directional control valve 94.
Hydraulic lock 95 is respectively arranged with the first hydraulic fluid port A, the second hydraulic fluid port B oil circuit in solenoid directional control valve 94, for locking
Determine hydraulic cylinder, hydraulic cylinder is given rise to behind some position can keep motionless in this place.
So configured synchronous valve, to ensure that the hydraulic fluid flow rate in any case into four hydraulic cylinders is equal so that
It is synchronous that the moving member of four hydraulic cylinders stretches out holding during with withdrawing, it is ensured that conveying robot during 9 ascending, descending hydraulic cylinder of hydraulic lifting system
The stability of people's implement porter.
Preferably, the solenoid directional control valve 94 is two four flow-through solenoid directional control valves.
The operation principle of hydraulic lifting system 9：
When solenoid directional control valve 94 must be electric, the hydraulic oil in fuel tank 91 sequentially passes through gear pump after being filtered through filter 92
93rd, solenoid directional control valve 94, hydraulic lock 95, the 4th synchronous valve 964, the 5th synchronous valve 965 and the 6th synchronous valve 966 enter four liquid
The upper chamber of cylinder pressure, now the piston rod of four hydraulic cylinders stretch out, by deflecting roller 1 and driving wheel 12 from the ground；When electromagnetism is changed
During to 94 dead electricity of valve, the hydraulic oil in fuel tank 91 sequentially passes through gear pump 93, solenoid directional control valve 94, liquid after being filtered through filter 92
The 95, first synchronous valve 961 of pressure lock, the second synchronous valve 962 and the 3rd synchronous valve 963 enter the lower chambers of four hydraulic cylinders, now
The piston rod of four hydraulic cylinders is withdrawn, and deflecting roller 1 and driving wheel 12 land.
The course of work of the present utility model：
Signal is sent by IR remote controller 8, infrared remote control module 7 receives signal and signal is passed into the next PLC and controls
Device 6 processed, advance, retrogressing, left/right to realize transfer robot implement porter are turned, hydraulic cylinder is lifted, steering reversal work(
Energy.
After carrying task of the transfer robot at certain fixed point terminates, the hydraulic cylinder lifting on IR remote controller 8 is pressed
Key, the next PLC 6 controls the dead electricity of solenoid directional control valve 94, and the piston rod of four hydraulic cylinders of control is withdrawn, so that deflecting roller 1
Landed with driving wheel 12, open transfer robot implement porter walking function.
Walked by the advance on IR remote controller 8, retrogressing, left/right turning key control transfer robot implement porter
To the next position.
When pressing the forward/backward key on IR remote controller 8, the next PLC 6 sends forward/backward signal to drive
Power is transmitted driving wheel 12, realization is removed by dynamic motor 10, the forward/reverse of motor 10 after driving RV decelerators 11 to slow down
Transport the forward/backward of robot implement porter.
When pressing the left/right turning key on IR remote controller 8, the next PLC 6 sends left/right rotaring signal to steering
Stepper motor driver 5, the forward/reverse of Driving Stepping Motor 4, diverted RV decelerators 3 transfer power to steering after slowing down
Wheel 1, realizes that the left/right of transfer robot implement porter turns.
After transfer robot implement porter stops walking, the hydraulic cylinder lifting key on IR remote controller 8 is pressed, it is the next
The control solenoid directional control valve 94 of PLC 6 obtains electric, and the piston rod of four hydraulic cylinders of control stretches out, so that deflecting roller 1 and driving wheel
12 leave ground.
Equipped with reseting sensor 2 is turned on deflecting roller 1, after transfer robot implement porter is propped up from the ground, then pass through
IR remote controller 8 sends steering reversal signal, and the next PLC 6 controls deflecting roller 1 time just, and now robot starts next
Working cycles.So repeatedly, to complete the packed material handling in whole railway carriage.
ECU control transfer robot implement porter advances, retreated, turning to, steering resets, hydraulic cylinder lifting, can
Remote control transfer robot implement porter is realized, operating personnel can keep a spacing with transfer robot in whole work process
From.
Claims (5)
1. the transfer robot implement porter control system of infrared remote control, including transfer robot implement porter, deflecting roller
(1) RV decelerators (3), driving wheel (12) and driving RV decelerators (11), are turned to, it is characterised in that：
Also include ECU and hydraulic lifting system (9)；
The ECU includes IR remote controller (8), infrared remote control module (7), the next PLC (6), stepper motor drive
Dynamic device (5), stepper motor (4) and motor (10)；
IR remote controller (8) is connected with infrared remote control module (7) by infrared serial interface, and infrared remote control module (7) is controlled with bottom PLC
Device (6) processed is connected by Serial Port Line, the next PLC (6) and stepper motor driver (5) and motor (10) difference phase
Even, stepper motor (4) is connected with stepper motor driver (5), turns to RV decelerators (3) and is connected with stepper motor (4), drives RV
Decelerator (11) is connected with motor (10)；
Hydraulic lifting system (9) includes first hydraulic cylinder (131), second hydraulic cylinder (132), the 3rd hydraulic cylinder (133), the 4th liquid
Cylinder pressure (134), fuel tank (91), filter (92), gear pump (93), solenoid directional control valve (94), hydraulic lock (95) and synchronous valve；
The solenoid directional control valve (94) has four hydraulic fluid ports, respectively the first hydraulic fluid port (A), the second hydraulic fluid port (B), oil inlet (P) and
Oil discharge outlet (T), oil circuit is connected successively for fuel tank (91), filter (92) and gear pump (93), gear pump (93) and oil inlet (P) phase
Even, oil discharge outlet (T) is connected with fuel tank (91), and the first hydraulic fluid port (A) and the first synchronous valve (961) oil circuit of solenoid directional control valve (94) connect
Connect, the first synchronous valve (961) is connected with the second synchronous valve (962) and the 3rd synchronous valve (963) oil circuit respectively, the second synchronous valve
(962) the lower chambers oil circuit with first hydraulic cylinder (131) and second hydraulic cylinder (132) is connected, the 3rd synchronous valve (963) and the 3rd
The lower chambers oil circuit connection of hydraulic cylinder (133) and the 4th hydraulic cylinder (134)；
The upper chamber of first hydraulic cylinder (131) and second hydraulic cylinder (132) is connected with the 5th synchronous valve (965) oil circuit respectively, the
The upper chamber of three hydraulic cylinders (133) and the 4th hydraulic cylinder (134) is connected with the 6th synchronous valve (966) oil circuit respectively；
5th synchronous valve (965) and the 6th synchronous valve (966) are connected with the 4th synchronous valve (964) oil circuit respectively, the 4th synchronous valve
(964) it is connected with the second hydraulic fluid port (B) oil circuit of solenoid directional control valve (94)；
Hydraulic lock (95) is respectively arranged with the first hydraulic fluid port (A), the oil circuit of the second hydraulic fluid port (B) in solenoid directional control valve (94).
2. the transfer robot implement porter control system of infrared remote control according to claim 1, it is characterised in that：
The ECU also includes turning to reseting sensor (2), turns to reseting sensor (2) and is arranged on deflecting roller (1), and
Its signal wire is connected with the next PLC (6).
3. the transfer robot implement porter control system of infrared remote control according to claim 1 or 2, its feature exists
In：
First hydraulic cylinder (131), second hydraulic cylinder (132), the 3rd hydraulic cylinder (133) and the 4th hydraulic cylinder (134) are respectively mounted
In the corner of transfer robot implement porter.
4. the transfer robot implement porter control system of infrared remote control according to claim 1 or 2, its feature exists
In：
The infrared remote control module (7), the next PLC (6), stepper motor driver (5), stepper motor (4) and driving
Motor (10) is arranged on transfer robot implement porter.
5. the transfer robot implement porter control system of infrared remote control according to claim 1, it is characterised in that：
The solenoid directional control valve (94) is two four flow-through solenoid directional control valves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720251153.2U CN206584180U (en) | 2017-03-15 | 2017-03-15 | The control system of the transfer robot implement porter of infrared remote control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720251153.2U CN206584180U (en) | 2017-03-15 | 2017-03-15 | The control system of the transfer robot implement porter of infrared remote control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206584180U true CN206584180U (en) | 2017-10-24 |
Family
ID=60112824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720251153.2U Expired - Fee Related CN206584180U (en) | 2017-03-15 | 2017-03-15 | The control system of the transfer robot implement porter of infrared remote control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206584180U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108222788A (en) * | 2018-02-06 | 2018-06-29 | 张阳鑫 | A kind of linkage lock anti-reflective bullet closed guard gate using Fluid pressure |
| CN110848189A (en) * | 2019-11-18 | 2020-02-28 | 北京特种机械研究所 | Hydraulic synchronous control method for multiple two-stage cylinders |
| CN111829473A (en) * | 2020-07-29 | 2020-10-27 | 威步智能科技(苏州)有限公司 | Method and system for ranging moving chassis during traveling |
-
2017
- 2017-03-15 CN CN201720251153.2U patent/CN206584180U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108222788A (en) * | 2018-02-06 | 2018-06-29 | 张阳鑫 | A kind of linkage lock anti-reflective bullet closed guard gate using Fluid pressure |
| CN110848189A (en) * | 2019-11-18 | 2020-02-28 | 北京特种机械研究所 | Hydraulic synchronous control method for multiple two-stage cylinders |
| CN111829473A (en) * | 2020-07-29 | 2020-10-27 | 威步智能科技(苏州)有限公司 | Method and system for ranging moving chassis during traveling |
| CN111829473B (en) * | 2020-07-29 | 2022-04-26 | 威步智能科技(苏州)有限公司 | Method and system for ranging moving chassis during traveling |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206584180U (en) | The control system of the transfer robot implement porter of infrared remote control | |
| CN201882574U (en) | Movable trolley | |
| CN204354880U (en) | Dumping car driving and lifting combined control system | |
| CN201419931Y (en) | Stacking machine | |
| CN105347020B (en) | A kind of cycle operation device that revolution is moved for package bin | |
| CN205740175U (en) | Multifunctional intellectual transfer car(buggy) | |
| CN106945750A (en) | A kind of robot implement porter of swinging shaft four-wheel drive | |
| CN203880067U (en) | Hydraulic control system of manual-steering hydraulic power tractor | |
| CN106185737A (en) | A kind of adapt to for high-altitude operation vehicle get on or off the bus handle hydraulic control system | |
| CN203850692U (en) | PLC-based dolly switch type push-and-pull control dolly for 10 kV switch cabinet | |
| CN109693680A (en) | A kind of full-automatic docking movable electric flatbed tricycle | |
| CN206069299U (en) | A kind of hydraulic control system of the manipulation that adapts to get on or off the bus for high-altitude operation vehicle | |
| CN104500465B (en) | Multifunctional agricultural locomotive fluid pressure underpan drive system | |
| CN103994216B (en) | Manual steering hydraulic power tractor hydraulic control system | |
| CN110451292A (en) | Bagged cement automatic loading system and bagged cement automatic loading method | |
| CN104500135A (en) | Sewage suction truck for mines | |
| CN206407542U (en) | The conveying arrangement of optical harness pipe dish | |
| CN211770036U (en) | Wheeled remote control electric lifting platform vehicle | |
| CN206529054U (en) | A kind of offline automatic stacking pipeline equipment | |
| CN208978851U (en) | A kind of full-automatic docking movable electric flatbed tricycle | |
| CN202935984U (en) | Belt type conveyor hydraulic winding device hydraulic system | |
| CN106743250A (en) | A kind of single pile movement system | |
| CN206000794U (en) | A kind of fuel and electric hybrid unit hydraulic system for obstacles removing car | |
| CN214934255U (en) | Conveyor for wood product | |
| CN109132583A (en) | A kind of intelligence manufacture workshop automatic stacking is got on the bus robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171024 Termination date: 20190315 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |