CN209081331U - A kind of L-AGV - Google Patents
A kind of L-AGV Download PDFInfo
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- CN209081331U CN209081331U CN201821793282.5U CN201821793282U CN209081331U CN 209081331 U CN209081331 U CN 209081331U CN 201821793282 U CN201821793282 U CN 201821793282U CN 209081331 U CN209081331 U CN 209081331U
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- 230000007246 mechanism Effects 0.000 claims abstract description 17
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- 238000013461 design Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model discloses a kind of L-AGV, the drive mechanism of L-AGV includes reel, wirerope, fixed pulley group, running block, support rod, controller controls motor rotation, motor drive spool turns, running block lifting is driven by reel haulage cable, support rod lifting is driven by running block, the lifting of lifting platform is driven by the lifting of support rod, to realize the reliable and stable lifting of lifting platform, and, above-mentioned drive mechanism is small in size, it is light-weight, it is at low cost, solves poor reliability when realizing platform lifting by hydraulic cylinder in the prior art, volume is big, weight is big, problem at high cost.
Description
Technical field
The utility model belongs to L-AGV technical field.
Background technique
AGV(Automated Guided Vehicle) a kind of automatic dock horizontal transport tool, i.e. " homing guidance fortune
Defeated vehicle ", it can be travelled along defined guide path, and the transport vehicle with safeguard protection and various transfer functions belongs to wheel
The scope of formula mobile robot is widely used in automation container harbour.And L-AGV(Lift-AGV), be by
Lifting platform is added on common AGV, container is jacked up by lifting platform and is placed on interactive bracket, can be greatly improved
The operating efficiency of AGV.
Existing L-AGV uses hydraulic cylinder jacking scheme, and jacking and drop can be achieved in platform under the driving of hydraulic cylinder
It falling, and then lifts or put down container, need to cooperate using hydraulic station, car is distributed a large amount of valve blocks and fluid pressure line, and in space
On limited L-AGV, hydraulic station brings excessive volume and excessively high weight, is unfavorable for L-AGV miniaturization, lightweight.
Hydraulic system pressure maintaining is relied on after hydraulic jacking system jacking and realizes that platform keeps jacking state, and reliability is low, by oil
Matter, ambient temperature effect are big, once interior leakage occurs for system, then platform decline or tilt problem can occur, and then cause to fall case
Accident occurs.
Summary of the invention
The utility model provides a kind of L-AGV, solves in the prior art that L-AGV poor reliability, volume are big, weight is big
The problem of.
In order to solve the above-mentioned technical problem, the utility model is achieved using following technical scheme:
A kind of L-AGV, including car body, lifting platform, controller, motor, drive mechanism；The lifting platform is located at vehicle
Above body；The drive mechanism includes reel, wirerope, fixed pulley group, running block, support rod；One end of the wirerope
It is fixed on reel, the other end passes through fixed pulley group and running block is fixed on the car body；The bottom end of the support rod is fixed on
On running block, the top of the support rod is fixed on lifting platform bottom；The controller controls motor rotation, the electricity
Motivation drives spool turns, and the reel haulage cable drives running block lifting, and the running block drives support rod liter
Drop, the support rod drive lifting platform lifting.
Further, the lifting platform is square body, and there are four the support rod settings, and it is flat to be laid in jacking respectively
The bottom at four angles of platform；Compatible, the wirerope is provided with four, and there are four the fixed pulley group settings, described
Running block setting there are four；Four wirerope, four fixed pulley groups, four running blocks, four support rods correspond；
One end of each wirerope is fixed on reel, and it is solid that the other end of each wirerope passes through corresponding fixed pulley group, running block
Determine on the car body, the bottom end of each support rod is fixed on corresponding running block.
Further, the fixed pulley group includes the first fixed pulley and the second fixed pulley；The running block includes the
One movable pulley, the second movable pulley, sliding bearing；Two fixed pulleys are separately fixed in the rack of car body, and two fixed pulleys are located at
The top of two movable pulleys；One end of the wirerope is fixed on reel, and the other end of the wirerope sequentially passes through first
Fixed pulley, the first movable pulley, the second fixed pulley, the second movable pulley are fixed in the rack of car body；Two movable pulleys pass through sliding
Bearing connection, the bottom end of the support rod is fixed on the axle sleeve of sliding bearing.
Further, rack gear is formed on the support rod；The L-AGV further includes push rod and hook, the extension
The rack of hook and car body is hinged；One end of the push rod and the rack of car body connect, and the other end and hook of the push rod connect；
The controller control push rod elongation is shunk, and is driven hook to compress rack gear or is detached from rack gear.
Further, the hook is inverted L-shaped, including horizontal part and vertical portion；The bottom end of the vertical portion and car body
Rack it is hinged, the top of the vertical portion and one end of horizontal part are fixed, one of the other end than horizontal part of the horizontal part
It holds close to rack gear；The top of the vertical portion and the other end of push rod connect.
Further, the motor, drive mechanism are located at vehicle body, and the top of the support rod passes through car body and top
Mesa base is risen to fix；It is laid with guide sleeve vertically in the position that the car body upper support bar passes through, the guide sleeve is set in
On support rod.
Compared with prior art, the advantages and positive effects of the utility model are as follows: the L-AGV of the utility model, design
Drive mechanism includes reel, wirerope, fixed pulley group, running block, support rod, and controller controls motor rotation, motor
Spool turns are driven, running block lifting is driven by reel haulage cable, support rod lifting is driven by running block, is led to
The lifting for crossing support rod drives the lifting of lifting platform, so that the reliable and stable lifting of lifting platform is realized, moreover, above-mentioned transmission
Structural volume is small, light weight and cost is low, and therefore, the L-AGV of the utility model is highly reliable, due to without designing hydraulic oil
Cylinder, entire L-AGV is small in size, light weight and cost is low, solves L- when realizing platform lifting by hydraulic cylinder in the prior art
The problem that poor reliability, the volume of AGV is big, weight is big, at high cost.
After the detailed description of the utility model embodiment is read in conjunction with the figure, other features and advantages of the utility model
It will become clearer.
Detailed description of the invention
Fig. 1 is the structural representation of one embodiment when the lifting platform for the L-AGV that the utility model is proposed does not jack
Figure；
Fig. 2 is the structural schematic diagram of one embodiment after the lifting platform jacking for the L-AGV that the utility model is proposed；
Fig. 3 is the rearview in Fig. 1；
Fig. 4 is the structural schematic diagram of the fixed pulley group and running block in Fig. 1；
Fig. 5 is the connection schematic diagram of the running block and support rod in Fig. 1；
Fig. 6 is the structural schematic diagram of the support rod in Fig. 1；
Fig. 7 is the enlarged drawing of the hook in Fig. 6.
Appended drawing reference:
1, car body；1-1, rack；2, lifting platform；3, motor；4, reel；5, wirerope；
6, fixed pulley group；6-1, the first fixed pulley；6-2, the second fixed pulley；
7, running block；7-1, the first movable pulley；7-2, the second movable pulley；7-3, sliding bearing；7-3-1, axle sleeve；
8；Support rod；8-1, rack gear；9, push rod；10, it links up with；10-1, horizontal part；10-2, vertical portion；11, guide sleeve；
12, nut.
Specific embodiment
Specific embodiment of the present utility model is described in more detail with reference to the accompanying drawing.
The L-AGV of the present embodiment mainly includes car body 1, lifting platform 2, controller, motor 3, drive mechanism etc., ginseng
As shown in Fig. 1 to Fig. 3；Lifting platform 2 is located at 1 top of car body, and container is placed on lifting platform；Drive mechanism mainly includes volume
Cylinder 4, wirerope 5, fixed pulley group 6, running block 7, support rod 8 etc.；One end of wirerope 5 is fixed on reel 4, wirerope 5
The other end pass through fixed pulley group 6 and running block 7 and be fixed on car body 1；The bottom end of support rod 8 is fixed on running block 7,
The top of support rod 8 is fixed on 2 bottom of lifting platform；Controller controls motor 3 and rotates, and the rotation of motor 3 is to drive volume
Cylinder 4 rotates, and the rotation of reel 4 drives running block 7 to go up and down to haulage cable 5, and the lifting of running block 7 then drives support rod
8 liftings, support rod 8 go up and down and then lifting platform 2 are driven to go up and down.
For example, under the driving of motor 3, when reel 4 drives wirerope 5 to rotate clockwise, reel 4 is by wirerope 5
It rolls, wirerope 5 transmits the force to support rod 8 by fixed pulley group 6 and running block 7, and running block 7 is upward by support rod 8
It holds up, and then realizes lifting platform jacking.Under the driving of motor 3, when reel 4 drives wirerope 5 to rotate counterclockwise, volume
Cylinder 4 decontrols wirerope 5, and wirerope 5 transmits the force to support rod 8 by fixed pulley group 6 and running block 7, passes through movable pulley
Group 7 declines support rod 8, and then realizes lifting platform decline.
The L-AGV of the present embodiment, the drive mechanism of design include reel 4, wirerope 5, fixed pulley group 6, running block 7,
Support rod 8, controller control motor 3 and rotate, and motor 3 drives reel 4 to rotate, and are driven by 4 haulage cable 5 of reel dynamic
Pulley blocks 7 are gone up and down, and drive support rod 8 to go up and down by running block 7, the liter of lifting platform 2 is driven by the lifting of support rod 8
Drop, thus realize the reliable and stable lifting of lifting platform 2, moreover, above-mentioned drive mechanism is small in size, light weight and cost is low, because
This, the L-AGV of the present embodiment is highly reliable, and due to without designing hydraulic cylinder, entire L-AGV is small in size, light weight and cost
It is low, solve in the prior art by hydraulic cylinder realize platform lifting when L-AGV poor reliability, volume it is big, weight is big, at
This high problem.
The present embodiment realizes lifting platform lifting by wirerope etc., without designing hydraulic system, reduces electrical component
Addition, realize lifting platform high reliability operation.The present embodiment uses wirerope, and wirerope is low to working condition requirement, avoids
The control of hydraulic cylinder ratio relies on environment, the high of oil.The present embodiment, which only adjusts motor speed, can be realized platform
Speed control and high speed are gone up and down, though and hydraulic system in the prior art can control oil cylinder by adjusting hydraulic station output flow
It is flexible, but high-speed working condition bring high-power large volume hydraulic station and synchronously control it is unstable.The present embodiment passes through electricity
Motivation drives the machine driving of wirerope, and the hydraulic drive of middle motor drive hydraulic station, possesses higher compared to the prior art
Drive system efficiency, in the case where realizing identical function, more saving energy, on the L-AGV stringent to energy hole, show
It obtains particularly important.Dock operation operating condition is severe, and wirerope is low to operating environment requirement, and later maintenance only needs to lubricate and replace on a small quantity
Wirerope；And ratio system and syncmotor scheme that hydraulic cylinder control in the prior art uses, to environment and hydraulic oil
Matter requires height, need to inspect periodically and replace hydraulic oil, and maintenance cost is high.The scheme of the present embodiment makes because wirerope stress is smaller
With thinner wirerope, with the use of small-sized motor, pulley, reel etc., entire drive mechanism is small in size, light-weight,
Miniaturization, lightweight conducive to L-AGV possess the incomparable advantage of hydraulic control scheme, it is huge to get rid of hydraulic solution
The intracorporal all kinds of Hydraulic Elements of hydraulic station, vehicle and pipeline.
In order to enable lifting platform 2 stablizes lifting, lifting platform 2 is square body, and there are four the settings of support rod 8,
It is laid in the bottom at 2 four angles of lifting platform respectively；Compatible, the wirerope 5 is provided with four, the fixed pulley
There are four 6 settings of group, and there are four the settings of running block 7；Four wirerope, four fixed pulley groups, four running blocks,
Four support rods correspond；One end of each wirerope 5 is fixed on reel 4, and the other end of each wirerope 5, which passes through, to be corresponded to
Fixed pulley group 6, running block 7 be fixed on car body 1, the bottom end of each support rod 8 is fixed on corresponding running block 7,
The top of four support rods 8 is separately fixed at the bottom at 2 four angles of lifting platform, so that 2 uniform force of lifting platform, steady
Fixed lifting.By four support rods of setting and four wirerope, four fixed pulley groups, four running blocks 7 of adaptation, thus
Realize lifting platform 2 stablize lifting, moreover, structure it is simple, it is at low cost, be easy to implement.
When motor 3 drives reel 4 to rotate clockwise, while four wirerope 5 being driven to rotate clockwise, four supports
Bar 8, which synchronizes, to be moved upwards, and then is realized that lifting platform is stablized and risen.When motor 3 drives reel 4 to rotate counterclockwise, simultaneously
Four wirerope 5 are driven to rotate counterclockwise, four support rods 8 are synchronized and moved downward, and then realize that lifting platform stablizes decline.Cause
This is rolled or is released simultaneously by four wirerope on the same reel, and four wirerope strokes are identical, and then make to push up
Peaceful four support rods rise or fall same distance, to control the steady lifting of lifting platform；And in the prior art
Hydraulic synchronization lifting scheme, proportion of utilization control system or syncmotor scheme need higher technology and economic cost
It is able to achieve, and its control precision is unstable.
Fixed pulley group 6 includes the first fixed pulley 6-1 and the second fixed pulley 6-2；Running block 7 include the first movable pulley 7-1,
Second movable pulley 7-2, sliding bearing 7-3；Two fixed pulleys are separately fixed in the rack of car body 1, and two fixed pulleys are located at two
The top of a movable pulley；One end of wirerope 5 is fixed on reel 4, and the other end of wirerope 5 sequentially passes through the first fixed pulley 6-
1, the first movable pulley 7-1, the second fixed pulley 6-2, the second movable pulley 7-2 are fixed in the rack of car body 1；Two movable pulleys pass through
Sliding bearing 7-3 connection, i.e. two movable pulleys rotate coaxially, and the bottom end of support rod 8 is fixed on the axle sleeve 7-3- of sliding bearing 7-3
On 1, referring to fig. 4, shown in Fig. 5.Specifically, the first movable pulley 7-1 is fixed by nut and sliding bearing 7-3, the second dynamic cunning
Wheel 7-2 is fixed by nut 12 and sliding bearing 7-3.By the way that two fixed pulleys, two movable pulleys and sliding bearing is arranged,
By the power stable delivery of wirerope to support rod, and it is time saving and energy saving.Wirerope passes through the combination of movable pulley and fixed pulley, reduces
The stress of single-strand rope, extends the service life of wirerope.
Rack gear 8-1 is formed on support rod 8, referring to shown in Fig. 6, Fig. 7；L-AGV further includes push rod 9 and hook 10, is hung
Hook 10 and the rack 1-1 of car body 1 are hinged；One end of push rod 9 is connect with the rack 1-1 of car body 1, the other end and hook of push rod 9
10 connections；Controller controls the elongation of push rod 9 or shrinks, and drives hook 10 to compress rack gear 8-1 or is detached from rack gear 8-1.
After the completion of the jacking of lifting platform 2, controller controls push rod 9 and extends, and push rod 9 pushes hook 10 to the rack gear side 8-1
To movement, rack gear 8-1 is compressed, the mechanical locking of lifting platform is realized, avoids as caused by wire cable rupture or other failures
The unexpected decline of support rod 8, so that lifting platform 2 be avoided to decline because of failure.When lifting platform 2 needs to decline, controller control
Push rod 9 is shunk, and push rod 9 drives hook 10 then to control lifting platform so that hook 10 and rack gear 8-1 unclamps far from rack gear 8-1
Decline.By design rack gear 8-1, push rod 9 and hook 10, prevents lifting platform from dropping suddenly, ensure that the safety of lifting platform
Reliably.
In the present embodiment, hook 10 is inverted L-shaped, shown in Figure 7, including horizontal part 10-1 and vertical portion 10-2, water
Flat portion 10-1 is located above the 10-2 of vertical portion；The bottom end of vertical portion 10-2 and the rack 1-1 of car body 1 are hinged, vertical portion 10-2's
Top and one end of horizontal part 10-1 are fixed, and the one end of the other end of horizontal part 10-1 than horizontal part 10-1 is close to rack gear 8-1；Water
One end of flat portion 10-1 is far from rack gear 8-1, and the other end of horizontal part 10-1 is close to rack gear 8-1；The other end of horizontal part 10-1 with
The shape adaptation of rack gear 8-1；The top of vertical portion 10-2 is connect with the other end of push rod 9.When needing locking support rod 8, control
Device control push rod 9 processed extends, and push rod 9 pushes hook 10 to move to the direction rack gear 8-1, and horizontal part 10-1 moves closer to rack gear 8-1,
Then rack gear 8-1 is compressed, thus locking support rod 8.When needing support rod 8 to go up and down, controller controls push rod 9 and shrinks, push rod 9
Drive hook 10 far from rack gear 8-1, so that horizontal part 10-1 and rack gear 8-1 unclamps.By designing above-mentioned hook, convenient for pushing away
Bar drive hook with rack gear compress or unclamp, and structure it is simple, it is at low cost, be easy to implement.
In the present embodiment, motor 3, drive mechanism are located inside car body 1, and the top of support rod 8 passes through car body 1 and top
Peaceful 2 bottoms are fixed；It is laid with guide sleeve 11 vertically in the position that 1 upper support bar 8 of car body passes through, guide sleeve 11 is set in branch
It is shown in Figure 6 on strut 8.When support rod 8 is gone up and down, by the guiding role of guide sleeve 11, so that support rod 8 rises vertically
Drop guarantees 2 vertical lifting of lifting platform, to guarantee the stability that lifting platform 2 is gone up and down.
In the present embodiment, for the ease of the revolving speed of control motor, controller passes through inverter control motor and runs.
For the ease of controlling the revolving speed of reel, motor drives spool turns by reduction gearbox.Revolving speed is additionally provided on motor to turn
Code device, rotating speed coder are used to acquire the turnning circle of motor.For the ease of powering to each electricity consumption device of L-AGV, in vehicle
It is additionally provided with battery and inverter in vivo, battery exports direct current to inverter, and inverter invertes direct current to alternating current, so
The device that alternating current is needed to motor etc. is exported afterwards；Battery needs the device of direct current to power directly to controller etc..
During lifting platform decline, the potential energy of platform can be electric energy by motor, frequency converter feedback, realize electric energy
Recycle, save electric energy；And hydraulic cylinder jacking scheme in the prior art, the potential energy of platform is all converted to when decline
The thermal energy of hydraulic system, not can be recycled.
Since L-AGV may include two lifting platforms, even more lifting platforms, for each lifting platform,
It is provided with corresponding motor and drive mechanism.
In the present embodiment, there are two lifting platform settings, the structures such as the motor, drive mechanism are also set
There are two setting.When the container sizes placed on lifting platform are smaller, one of lifting platform is selected to go up and down；Work as lifting platform
When the container sizes of upper placement are larger, while controlling two lifting platforms and going up and down simultaneously.The corresponding revolving speed of each lifting platform is compiled
The turnning circle of code device acquisition motor, is sent to controller, and for controller according to the turnning circle received, control two is electronic
The revolving speed of machine, so that two lifting platform synchronization liftings.
Four wirerope of control identical platform are fixed on the same reel, synchronous using the wirerope on same reel
It is flexible, realize that single platform is steadily gone up and down.When two platforms jack simultaneously, it is corresponding that turnning circle-time is generated by controller
Table, to realize the synchronization lifting of Double tabletop using the rotation of rotating speed coder, inverter control motor on motor.
Above embodiments are only to illustrate the technical solution of the utility model, rather than are limited；Although referring to before
Embodiment is stated the utility model is described in detail, it for those of ordinary skill in the art, still can be right
Technical solution documented by previous embodiment is modified or equivalent replacement of some of the technical features；And these
Modifications or substitutions, the utility model technical solution claimed that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (6)
1. a kind of L-AGV, it is characterised in that: including car body, lifting platform, controller, motor, drive mechanism；The jacking
Platform is located above car body；
The drive mechanism includes reel, wirerope, fixed pulley group, running block, support rod；
One end of the wirerope is fixed on reel, and the other end passes through fixed pulley group and running block is fixed on the car body；Institute
The bottom end for stating support rod is fixed on running block, and the top of the support rod is fixed on lifting platform bottom；
The controller controls motor rotation, the motor drive spool turns, and the reel haulage cable drives dynamic
Pulley blocks lifting, the running block drive support rod lifting, and the support rod drives lifting platform lifting.
2. L-AGV according to claim 1, it is characterised in that: the lifting platform is square body, and the support rod is set
There are four setting, it is laid in the bottom at four angles of lifting platform respectively；
Compatible, the wirerope is provided with four, and there are four the fixed pulley group settings, and the running block is set
There are four setting；
Four wirerope, four fixed pulley groups, four running blocks, four support rods correspond；
One end of each wirerope is fixed on reel, and the other end of each wirerope passes through corresponding fixed pulley group, movable pulley
Group is fixed on the car body, and the bottom end of each support rod is fixed on corresponding running block.
3. L-AGV according to claim 1, it is characterised in that: the fixed pulley group includes that the first fixed pulley and second are fixed
Pulley；The running block includes the first movable pulley, the second movable pulley, sliding bearing；
Two fixed pulleys are separately fixed in the rack of car body, and two fixed pulleys are located at the top of two movable pulleys；
One end of the wirerope is fixed on reel, and the other end of the wirerope sequentially passes through the first fixed pulley, first dynamic
Pulley, the second fixed pulley, the second movable pulley are fixed in the rack of car body；
Two movable pulleys are connected by sliding bearing, and the bottom end of the support rod is fixed on the axle sleeve of sliding bearing.
4. L-AGV according to claim 1, it is characterised in that: be formed with rack gear on the support rod；
The L-AGV further includes push rod and hook, and the hook is hinged with the rack of car body；One end of the push rod and car body
Rack connection, the other end and hook of the push rod connect；
The controller control push rod elongation is shunk, and is driven hook to compress rack gear or is detached from rack gear.
5. L-AGV according to claim 4, it is characterised in that: the hook is inverted L-shaped, including horizontal part and vertical portion；
The bottom end of the vertical portion and the rack of car body are hinged, and the top of the vertical portion and one end of horizontal part are fixed, described
The other end of horizontal part than horizontal part one end close to rack gear；
The top of the vertical portion and the other end of push rod connect.
6. L-AGV according to claim 1, it is characterised in that: the motor, drive mechanism are located at vehicle body, institute
The top for stating support rod passes through car body and fixes with lifting platform bottom；
It is laid with guide sleeve vertically in the position that the car body upper support bar passes through, the guide sleeve is set on support rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821793282.5U CN209081331U (en) | 2018-11-01 | 2018-11-01 | A kind of L-AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821793282.5U CN209081331U (en) | 2018-11-01 | 2018-11-01 | A kind of L-AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209081331U true CN209081331U (en) | 2019-07-09 |
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ID=67122055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821793282.5U Active CN209081331U (en) | 2018-11-01 | 2018-11-01 | A kind of L-AGV |
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| Country | Link |
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| CN (1) | CN209081331U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109095387A (en) * | 2018-11-01 | 2018-12-28 | 青岛港国际股份有限公司 | A kind of L-AGV and L-AGV lifting platform control method |
| CN114084843A (en) * | 2021-11-18 | 2022-02-25 | 深圳市高士达精密机械有限公司 | Hydraulic platform truck |
| CN114737630A (en) * | 2022-05-07 | 2022-07-12 | 中国水电基础局有限公司 | Concrete cut-off wall hydraulic grab supporting device |
-
2018
- 2018-11-01 CN CN201821793282.5U patent/CN209081331U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109095387A (en) * | 2018-11-01 | 2018-12-28 | 青岛港国际股份有限公司 | A kind of L-AGV and L-AGV lifting platform control method |
| CN114084843A (en) * | 2021-11-18 | 2022-02-25 | 深圳市高士达精密机械有限公司 | Hydraulic platform truck |
| CN114737630A (en) * | 2022-05-07 | 2022-07-12 | 中国水电基础局有限公司 | Concrete cut-off wall hydraulic grab supporting device |
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