CN207726112U - A kind of rotatable load bed shuttle carrying manipulator - Google Patents
A kind of rotatable load bed shuttle carrying manipulator Download PDFInfo
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- CN207726112U CN207726112U CN201820080977.2U CN201820080977U CN207726112U CN 207726112 U CN207726112 U CN 207726112U CN 201820080977 U CN201820080977 U CN 201820080977U CN 207726112 U CN207726112 U CN 207726112U
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- braced frame
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Abstract
The utility model discloses a kind of rotatable load bed shuttles carrying manipulator, including vehicle body and four wheels, vehicle body includes a bottom plate, there are one load bed rotating mechanisms for setting on bottom plate, load bed rotating mechanism includes rotating platform, braced frame, manipulator clamp system, rotating platform is rotatably arranged on above bottom plate, braced frame is fixed on rotating platform, manipulator clamp system suspention setting is on the support frame, manipulator clamp system includes connecting plate, column, guide rail, two sliding blocks, front rod, middle connecting rod, back link, two clamping plates, connecting plate can horizontally slip along braced frame；It drives one of sliding block to be moved forward and backward along guide rail by third driving mechanism, to drive two sliding blocks mutually to draw close or be located remotely from each other, and then drives two clamping plate actions, realize the clamp or release to container.The advantages of the utility model：Operated by the assistance of manipulator clamp system, realize it is accurate, efficiently capture various sizes of container.
Description
Technical field
The utility model is related to the AGV trolleies used in electric business warehouse or intelligent shuttle technical fields, more particularly to
Be it is a kind of carry manipulator rotatable load bed shuttle.
Background technology
With the development of economy with progress, all start largely using the high automatic transportation of automatic degree in all trades and professions
Line is grown rapidly instantly particularly with present logistics service industry, high efficiency, high accuracy shuttle become inevitable
Trend, present some companies such as Jingdone district, Amazon etc. have had the logistics system of oneself, exist such as container crawl, transport
Container position offset in the process can not accurately place container, the drawback of space availability ratio reduction etc..Most of shuttle utilizes
" stretching fork " principle realizes the crawl of container, and structure is relative complex, and manufacturing cost is high, has the dimensions requirement to container.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of rotatable goods carrying manipulator
Platform shuttle, to be applicable under automatic stereowarehouse or other rail occasions, ensure shuttle working efficiency and
Use scope.
The utility model is achieved through the following technical solutions：
A kind of rotatable load bed shuttle carrying manipulator, including vehicle body and four wheels for being set to body bottom,
The vehicle body includes a bottom plate, is arranged on the bottom plate there are one load bed rotating mechanism, the load bed rotating mechanism includes rotation
Turn platform, braced frame, manipulator clamp system, the rotating platform be rotatably arranged on above bottom plate and with bottom plate there are
Gap, the rotating platform drive it to rotate in the horizontal plane by the first driving mechanism, and the braced frame is fixed at rotation
Turn on platform, manipulator clamp system suspention setting on the support frame, the manipulator clamp system include connecting plate,
Column, guide rail, two sliding blocks, front rod, middle connecting rod, back link, two clamping plates, the connecting plate is across setting in support frame
Extend on frame and along the longitudinal direction, the rear and front end of the connecting plate slidably supports on the support frame respectively, and the connection
Plate can horizontally slip under the driving of the second driving mechanism along braced frame；The upper end of the column is fixed in the middle part of connecting plate,
The guide rail is fixed on column and extends along the longitudinal direction, and two sliding blocks are front-slider and rear slider, and front-slider is with after
Sliding block is slidably arranged on guide rail and is located at the front and rear sides of column respectively, and column one is hinged in the middle part of the middle connecting rod
Side, the one end of the both ends of the middle connecting rod respectively with front rod, back link are hinged, before the other end of the front rod is fixed on
On sliding block, the other end of the back link is fixed on rear slider, two clamping plates be respectively fixedly disposed on two sliding blocks and
It is oppositely arranged in front and back, drives one of sliding block to be moved forward and backward along guide rail by third driving mechanism, to drive two
Sliding block is mutually drawn close or is located remotely from each other, and then drives two clamping plate actions, realizes the clamp or release to container.
The rotating platform bottom is provided with multiple rotating wheels, and the rotating platform is rotatably supported in by multiple rotating wheels
On bottom plate.
The connecting plate rear and front end is respectively arranged with vertical side plate, and each vertical side plate interior sides are provided with upper and lower two
Support wheel is arranged, two crossbeams in tandem are respectively arranged in the braced frame, the length of each crossbeam is in left-right direction
Extend, two vertical side plates are buckled in the outside of two crossbeams respectively, and each crossbeam is located at two rows of branch of corresponding vertical side plate
It between support wheel, is slidably matched by two rows of support wheels and the crossbeam of vertical side plate, realizes that the sliding of connecting plate and braced frame connects
It connects.
First driving mechanism includes first motor, the first active synchronization belt wheel, the first passive and synchronous belt wheel, first same
Band is walked, first active synchronization belt wheel is fixedly mounted on the output shaft of first motor, and the first passive and synchronous belt wheel is solid
Dingan County is mounted in the bottom of the rotating platform, and the axial direction of the first passive and synchronous belt wheel is vertically, the first active synchronization band
It is sequentially connected by the first synchronous belt between wheel and the first passive and synchronous belt wheel, by starting first motor, to drive
First passive and synchronous belt wheel rotation, and then rotating platform is driven to rotate in the horizontal plane.
Second driving mechanism includes the second motor, the second active synchronization belt wheel, the second passive and synchronous belt wheel, second same
Band is walked, second active synchronization belt wheel is fixedly mounted on the output shaft of the second motor, the second passive and synchronous band rotation
It is dynamic to be mounted in the braced frame, it synchronizes and brings by second between the second active synchronization belt wheel and the second passive and synchronous belt wheel
Row is sequentially connected, and the lower layer of second synchronous belt is fixed with connecting plate, and the second passive and synchronous belt wheel is driven by the second motor
It operates back and forth, and then connecting plate is driven to move in left-right direction.
The third driving mechanism is push-rod electric machine or cylinder.
Force sensor is respectively set on the inside of two clamping plates.
The utility model has the following advantages compared with prior art：
1, a kind of rotatable load bed shuttle carrying manipulator provided by the utility model, due to being provided with manipulator folder
Force sensor is respectively set on the inside of two clamping plates being arranged thereon in tight mechanism, can be realized by force snesor to clamping
The detection of the clamping force size of plate, feedback realize the control to push-rod electric machine stroke, and then realize the folder to different materials container
Clamp force controls, and overcomes when shuttle captures container in logistics and the problems such as container sideslip occurs, while also avoiding present object
To the dependence of fixed dimension container in stream.Realize effect that is accurate, efficiently capturing different size containers.
2, a kind of rotatable load bed shuttle carrying manipulator provided by the utility model, due to manipulator clamp system
In, column, guide rail, two sliding blocks, front rod, middle connecting rod, the back link of setting hingedly form slider-crank mechanism, can improve
Two sliding blocks draw close, separate speed and stability, overcome the problem of such as feed screw nut common mechanism efficiency is low equal.
3, a kind of rotatable load bed shuttle carrying manipulator provided by the utility model, since rotating platform bottom is set
Multiple rotating wheels are equipped with, overcome unstable, uneven etc. problem of the load bed rotating mechanism in rotary course so that mechanism
Reliability in operation process improves, more flexible.
4, a kind of rotatable load bed shuttle carrying manipulator provided by the utility model, due to connecting plate rear and front end
It is respectively arranged with vertical side plate, each vertical side plate interior sides are provided with two rows support wheel, and machine is supported by support wheel
Tool hand clamp system, overcomes how manipulator clamp system weight itself supports problem so that manipulator clamp system or so
More stablize when direction moves, quickly.
5, a kind of rotatable load bed shuttle carrying manipulator provided by the utility model, due to being provided with the first driving
Mechanism coordinates the first synchronous belt, overcomes the inaccurate problem of other driving mechanisms, energy by controlling the movement of first motor
The accurate operating orientations for realizing load bed rotating mechanism.
6, a kind of rotatable load bed shuttle carrying manipulator provided by the utility model, due to being provided with the second driving
Mechanism coordinates the second synchronous belt, overcomes the inaccurate problem of other driving mechanisms, energy by controlling the movement of the second motor
The accurate position for reaching manipulator clamp system and being set in advance.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the assembly structure schematic diagram of the utility model removal shuttle shell.
Fig. 3 is the overlooking structure diagram of the utility model removal shuttle shell.
Fig. 4 is the load bed rotating mechanism schematic diagram of the utility model.
Fig. 5 is first driving mechanism and related fittings assembly mechanism schematic diagram of the utility model.
Fig. 6 is second driving mechanism and related fittings assembly mechanism schematic diagram of the utility model.
Fig. 7 is the manipulator clamp system schematic diagram of the utility model.
Figure label：1 vehicle body；2 wheels；21 driving wheels；22 followers；3 bottom plates；4 rotating platforms；41 rotating wheels；5
Support frame frame；51 crossbeams；6 manipulator clamp systems；7 connecting plates；71 vertical side plates；72 support wheels；8 columns；9 guide rails；10 sliding blocks；
101 front-sliders；102 rear sliders；11 front rods；Connecting rod in 12；13 back links；14 clamping plates；141 push-rod electric machines；140 power pass
Sensor；150 first motors；151 first active synchronization belt wheels；152 first passive and synchronous belt wheels；153 first synchronous belts；154
One angular transducer；160 second motors；161 second active synchronization belt wheels；162 second passive and synchronous belt wheels；163 second synchronize
Band；17 walking mechanisms；171 active connecting shafts；172 passive connecting shafts；173 the 4th motors；174 the 4th driving pulleys；175 the 4th
Passive belt wheel；176 the 4th synchronous belts；177 second angle sensors；18 shells；19 position-limited wheels.
Specific implementation mode
It elaborates below to the embodiments of the present invention, the present embodiment before being with technical solutions of the utility model
It puts and is implemented, give detailed embodiment and specific operating process, but the scope of protection of the utility model is unlimited
In following embodiments.
Referring to Fig. 1 to Fig. 7, this example is implemented to disclose a kind of rotatable load bed shuttle carrying manipulator, for solid
Change the various sizes of container of flexible access different location storage in the multilayer load bed in automated warehouse, it is also possible in AGV trolleies
It conveys on container, composition includes vehicle body 1 and is set to four wheels 2 of 1 bottom of vehicle body, and vehicle body 1 includes a bottom plate 3, bottom
There are one load bed rotating mechanisms for setting on plate 3, and load bed rotating mechanism includes rotating platform 4, braced frame 5, manipulator clamping machine
Structure 6, rotating platform 4 is rotatably arranged on 3 top of bottom plate and there are gaps with bottom plate 3, and purpose is in order in the setting of 4 bottom of rotating platform
Multiple rotating wheels 41, rotating platform 4 are rotatably supported in by multiple rotating wheels 41 on bottom plate 3, and load bed rotating mechanism is made to move
In it is more solid and reliable, more steadily.
Referring to Fig. 5, the driving of the first driving mechanism include first motor 150, the first active synchronization belt wheel 151, first passively
Synchronous pulley 152, the first synchronous belt 153, the first active synchronization belt wheel 151 are fixedly mounted on the output shaft of first motor 150,
First passive and synchronous belt wheel 152 is fixedly mounted on the bottom of rotating platform 4, and the first passive and synchronous belt wheel 152 axially along perpendicular
Histogram between the first active synchronization belt wheel 151 and the first passive and synchronous belt wheel 152 by the first synchronous belt 153 to being driven
Connection to drive the rotation of the first passive and synchronous belt wheel 152, and then drives rotating platform 4 to exist by starting first motor 150
Rotation in horizontal plane, 152 upper end of passive and synchronous belt wheel of the bottom of rotating platform 4 is equipped with first angle sensor 154 and is used for
The angle that rotating platform 4 turns over is measured, and then realizes that rotating platform 4 reaches accurate orientation.
Referring to Fig. 6 and Fig. 7, manipulator clamp system 6 includes connecting plate 7, column 8, guide rail 9, two sliding blocks 10, front rods
11,13, two middle connecting rod 12, back link clamping plates 14.
8 upper end of column is fixed on 7 middle part of connecting plate, and guide rail 9 is fixed on column 8 and extends along the longitudinal direction, two
A sliding block 10 is front-slider 101 and rear slider 102, and front-slider 101 and rear slider 102 are slidably arranged on guide rail 9 and divide respectively
Not Wei Yu column 8 front and rear sides, the middle part of middle connecting rod 12 is hinged on 8 side of column, the both ends of middle connecting rod 12 respectively with front rod
11, one end of back link 13 is hinged, and the other end of front rod 11 is fixed on front-slider 101, and the other end of back link 13 is solid
It is scheduled on rear slider 102, two clamping plates 14 are respectively fixedly disposed on two sliding blocks 10 and are oppositely arranged in front and back, by pushing away
Bar motor 141 or cylinder drive one of sliding block 10 to be moved forward and backward along guide rail 9, to drive two sliding blocks 10 mutually to lean on
Hold together or be located remotely from each other, and then two clamping plates 14 is driven to act, realizes the clamp or release to container, it is easy to control reliable.
Column 8,9, two sliding blocks 10 of guide rail, front rod 11, middle connecting rod 12, back link 13 form slider-crank mechanism, sliding
10 speed of block, displacement are controllable, and then the speed of two clamping plates 14, displacement are controllable.
Entire manipulator clamp system 6, which suspends in midair, to be arranged in braced frame 5, and the inside of two clamping plates 14 is respectively arranged with
Force snesor 18, for detecting, feeding back the size of 6 clamping force of manipulator clamp system.
Referring to Fig. 6, the second driving mechanism is passive and synchronous including the second motor 160, the second active synchronization belt wheel 161, second
Belt wheel 162, the second synchronous belt 163, the second active synchronization belt wheel 161 are fixedly mounted on the output shaft of the second motor 160, the
Two passive and synchronous belt wheels 162 are rotatably installed in braced frame 5, the second active synchronization belt wheel 161 and the second passive and synchronous belt wheel
It is sequentially connected by the second synchronous belt 163 between 162, lower layer and the connecting plate 7 of the second synchronous belt 163 are fixed.
Across being arranged in braced frame 5 and extending along the longitudinal direction, 7 rear and front end of connecting plate is respectively set connecting plate 7
There is vertical side plate 71, two crossbeams 51 in tandem is respectively arranged in braced frame 5, the length of each crossbeam 51 is along left and right
Direction extends, and two vertical side plates 71 are buckled in the outside of two crossbeams 51 respectively, and each 71 inside of vertical side plate is provided with up and down
Two rows of support wheels 72, and each crossbeam 51 is located between two rows of support wheels 72 of corresponding vertical side plate 71, passes through vertical side plate
71 two rows of support wheels 72 are slidably matched with crossbeam 51, and realization connecting plate 7 is slidably connected with braced frame 5, pass through the second electricity
Machine 160 drives the second passive and synchronous belt wheel 162 to operate back and forth, and then connecting plate 7 is driven to move in left-right direction.This mechanism can be with
For realizing support manipulator clamping machine, 6, can also reduce friction keeps movement flexible, and reasonable distribution power prolongs the service life.
Referring to Fig. 2 and Fig. 3, walking mechanism 17 includes four wheels 2, and the first two wheel 2 is driving wheel 21, latter two wheel
2 be follower 22, and active connecting shaft 171, passive connecting shaft 172, the 4th motor 173, the 4th driving pulley the 174, the 4th are passive
Belt wheel 175, the 4th synchronous belt 176, the 4th passive belt wheel 175 are rotatably installed in active connecting shaft 171, and the 4th motor 173 drives
Dynamic 4th synchronous belt 176 operates back and forth, and four wheels 2 is driven to rotate, and then shuttle car body is driven to advance, passive connecting shaft
The second angle sensor 177 installed on 172 is used for measuring the range ability of shuttle indirectly, this control mode is accurately convenient can
It leans on, easy to process, dismounting.
1 two bottom sides of vehicle body are separately installed with a pair of of position-limited wheel 19, double swerve when for preventing shuttle from running.Vehicle body
1 outside is equipped with shell 18, makes closing shuttle every heavy, anti-interference.
The course of work of shuttle provided in this embodiment is as follows：
Shuttle drives it to travel forward by the 4th motor 173, and the detection of second angle sensor 177, feedback make shuttle
Vehicle operation reaches appointed place and stops；Container is stored in shuttle both sides, and the information according to container storage judges load bed whirler
Whether structure rotates, and so that manipulator clamp system 6 is directed at container side and passes through the first motor of the first driving mechanism if needing to adjust
150 movements, the detection of first angle sensor 154, feedback when control first motor 150 rotates 180 degree and stop, if being not required to adjust
This whole step is omitted；It is moved by second the second motor of driving mechanism 160 and realizes that manipulator clamp system 6 acts, control machinery hand
Reach container position；So that third driving mechanism push-rod electric machine or 141 action control a pair of clamping plate 14 of cylinder is stepped up, is passed by power
Sensor 140 controls push-rod electric machine stroke, has captured container；The action of the second motor of secondary control 160 is realized again checks rotation by container
Turn on platform 4, completes picking whole process.
The stop motion when the shuttle for being loaded with container reaches delivery position；It discriminates whether to need to make goods again depending on information
Platform rotating mechanism rotate, if desired, ibid, if need not if this step omit；It is dynamic by the second motor 160 of the second driving mechanism
Make, driving manipulator clamp system 6 (manipulator clamp system 6 clamps container at this time) movement, reaching designated position makes push rod
Motor or cylinder 141 act, and a pair of of clamping plate 14 unclamps container；The action of the second motor 160 is controlled, manipulator clamp system 6 is made
Back to initial position, driving the 4th motor 173 driving shuttle carries out next picking, completes entire delivery process.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (7)
1. a kind of rotatable load bed shuttle carrying manipulator, including vehicle body (1) and four vehicles for being set to vehicle body (1) bottom
It takes turns (2), it is characterised in that：The vehicle body (1) includes a bottom plate (3), and there are one load bed whirlers for setting on the bottom plate (3)
Structure, the load bed rotating mechanism include rotating platform (4), braced frame (5), manipulator clamp system (6), the rotating platform
(4) it is rotatably arranged on above bottom plate (3) and with bottom plate (3) there are gap, the rotating platform (4) is driven by the first driving mechanism
It moves it to rotate in the horizontal plane, the braced frame (5) is fixed on rotating platform (4), the manipulator clamp system
(6) suspention is arranged in braced frame (5), and the manipulator clamp system (6) includes connecting plate (7), column (8), guide rail
(9), two sliding blocks (10), front rod (11), middle connecting rod (12), back link (13), two clamping plates (14), the connecting plate
(7) across being arranged in braced frame (5) and extending along the longitudinal direction, branch is slided in the rear and front end of the connecting plate (7) respectively
Support is in braced frame (5), and the connecting plate (7) can be under the driving of the second driving mechanism along braced frame (5) left and right
Sliding；Column (8) upper end is fixed in the middle part of connecting plate (7), and the guide rail (9) is fixed on column (8) and along preceding
Rear direction extends, and two sliding blocks (10) are front-slider (101) and rear slider (102), and front-slider (101) and rear slider (102) divide
The front and rear sides of column (8) are not slidably arranged on guide rail (9) and be located at, and column is hinged in the middle part of the middle connecting rod (12)
(8) side, the one end of the both ends of the middle connecting rod (12) respectively with front rod (11), back link (13) are hinged, connect before described
The other end of bar (11) is fixed on front-slider (101), and the other end of the back link (13) is fixed on rear slider (102),
Two clamping plates (14) are respectively fixedly disposed on two sliding blocks (10) and are oppositely arranged in front and back, are driven by third driving mechanism
It moves one of sliding block to be moved forward and backward along guide rail (9), to drive two sliding blocks (10) mutually to draw close or be located remotely from each other, in turn
Two clamping plate (14) actions are driven, realize the clamp or release to container.
2. a kind of rotatable load bed shuttle carrying manipulator as described in claim 1, it is characterised in that：The rotary flat
Platform (4) bottom is provided with multiple rotating wheels (41), and the rotating platform (4) is rotatably supported in bottom plate by multiple rotating wheels (41)
(3) on.
3. a kind of rotatable load bed shuttle carrying manipulator as described in claim 1, it is characterised in that：The connecting plate
(7) rear and front end is respectively arranged with vertical side plate (71), and two rows support is provided on the inside of each vertical side plate (71)
It takes turns (72), two crossbeams (51) in tandem, the length edge of each crossbeam (51) is respectively arranged on the braced frame (5)
Left and right directions extends, and two vertical side plates (71) are buckled in the outside of two crossbeams (51) respectively, and each crossbeam (51) positioned at pair
Between the two rows of support wheels (72) for the vertical side plate (71) answered, pass through the two rows of support wheels (72) and crossbeam of vertical side plate (71)
(51) it is slidably matched, realization connecting plate (7) is slidably connected with braced frame (5).
4. a kind of rotatable load bed shuttle carrying manipulator as described in claim 1, it is characterised in that：Described first drives
Motivation structure includes first motor (150), the first active synchronization belt wheel (151), the first passive and synchronous belt wheel (152), the first synchronization
Band (153), first active synchronization belt wheel (151) are fixedly mounted on the output shaft of first motor (150), first quilt
Dynamic synchronous pulley (152) is fixedly mounted on the bottom of the rotating platform (4), and the axial direction of the first passive and synchronous belt wheel (152)
Vertically, pass through the first synchronous belt between the first active synchronization belt wheel (151) and the first passive and synchronous belt wheel (152)
(153) it is sequentially connected, by starting first motor (150), to drive the first passive and synchronous belt wheel (152) rotation, into
And rotating platform (4) is driven to rotate in the horizontal plane.
5. a kind of rotatable load bed shuttle carrying manipulator as described in claim 1, it is characterised in that：Described second drives
Motivation structure includes the second motor (160), the second active synchronization belt wheel (161), the second passive and synchronous belt wheel (162), the second synchronization
Band (163), second active synchronization belt wheel (161) are fixedly mounted on the output shaft of the second motor (160), second quilt
Dynamic synchronous pulley (162) is rotatably installed in the braced frame (5), the second active synchronization belt wheel (161) and second it is passive together
It is sequentially connected by the second synchronous belt (163) between step belt wheel (162), the lower layer and company of second synchronous belt (163)
Fishplate bar (7) is fixed, drives the second passive and synchronous belt wheel (162) to operate back and forth by the second motor (160), and then drive connecting plate
(7) it moves in left-right direction.
6. a kind of rotatable load bed shuttle carrying manipulator as described in claim 1, it is characterised in that：The third is driven
Motivation structure is push-rod electric machine (141) or cylinder.
7. a kind of rotatable load bed shuttle carrying manipulator as described in claim 1, it is characterised in that：Two folders
Force sensor (140) is respectively set on the inside of tight plate (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820080977.2U CN207726112U (en) | 2018-01-18 | 2018-01-18 | A kind of rotatable load bed shuttle carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820080977.2U CN207726112U (en) | 2018-01-18 | 2018-01-18 | A kind of rotatable load bed shuttle carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207726112U true CN207726112U (en) | 2018-08-14 |
Family
ID=63082873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820080977.2U Withdrawn - After Issue CN207726112U (en) | 2018-01-18 | 2018-01-18 | A kind of rotatable load bed shuttle carrying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207726112U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108045825A (en) * | 2018-01-18 | 2018-05-18 | 合肥工业大学 | A kind of rotatable load bed shuttle for carrying manipulator |
| CN112441404A (en) * | 2019-09-03 | 2021-03-05 | 苏州汉扬精密电子有限公司 | Rotary supporting device |
| CN114918892A (en) * | 2022-04-20 | 2022-08-19 | 中铁大桥局集团有限公司 | Track type bridge inspection robot |
-
2018
- 2018-01-18 CN CN201820080977.2U patent/CN207726112U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108045825A (en) * | 2018-01-18 | 2018-05-18 | 合肥工业大学 | A kind of rotatable load bed shuttle for carrying manipulator |
| CN108045825B (en) * | 2018-01-18 | 2024-02-13 | 合肥工业大学 | Rotatable cargo bed shuttle of carrying manipulator |
| CN112441404A (en) * | 2019-09-03 | 2021-03-05 | 苏州汉扬精密电子有限公司 | Rotary supporting device |
| CN114918892A (en) * | 2022-04-20 | 2022-08-19 | 中铁大桥局集团有限公司 | Track type bridge inspection robot |
| CN114918892B (en) * | 2022-04-20 | 2023-05-30 | 中铁大桥局集团有限公司 | Rail mounted bridge inspection robot |
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Granted publication date: 20180814 Effective date of abandoning: 20240213 |