CN209160003U - A kind of double four link types are from grabbing cargo transparting device - Google Patents
A kind of double four link types are from grabbing cargo transparting device Download PDFInfo
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- CN209160003U CN209160003U CN201821705474.6U CN201821705474U CN209160003U CN 209160003 U CN209160003 U CN 209160003U CN 201821705474 U CN201821705474 U CN 201821705474U CN 209160003 U CN209160003 U CN 209160003U
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Abstract
A kind of double four link types are from grabbing cargo transparting device, include: unmanned plane, handgrip slide unit, promote arm, clamp device and moving device, the lower part of unmanned plane connects the handgrip slide unit of a longitudinal axis in the horizontal direction, on handgrip slide unit fill there are two be oppositely arranged, can be along the promotion arm that the longitudinal axis of handgrip slide unit moves, it is promoted and clamp device is housed on arm, handgrip slide unit is also equipped with the moving device for ground moving.
Description
Technical field
The utility model belongs to technical field of cargo handling, and in particular to one kind can carry out carrying in the air and ground handling
Double four link types grab cargo transparting device certainly.
Background technique
The carrying of the small freight in current most of warehouses relies primarily on manually to complete, not only waste of manpower but also efficiency
Extremely low, the carrying in part warehouse has applied self-powered trolley to transport, but lacks from crawl and from easing gear, needs people
Cargo is removed on trolley and from trolley and is unloaded by work, and efficiency is relatively low；Carrying for short-distance and medium-distance cargo, one
As within five kilometers, such as the dispatching of express delivery the last leg is generally dispensed by small courier vehicle, but for being not easy to reach
In the case that mountain area and dispensed amounts are lacked, distribution cost is excessive, though some areas carry out dispatching express delivery using unmanned plane at present,
Unmanned plane for dispatching lacks from crawl and from easing gear, needs human assistance to complete, does not only take up manpower and drag down and match
Send efficiency.
Summary of the invention
In view of the above-mentioned problems, the utility model provides one kind from grasp handling device.The carry under multi-rotor unmanned aerial vehicle
One can automatically grab the device of cargo, can to cargo carry out air transport, wheel in addition be installed on the device, can to cargo into
Row ground transport.
To achieve the goals above, the utility model adopts the following technical solution:
One kind is from grasp handling device comprising: unmanned plane, handgrip slide unit promote arm, clamp device and dress of advancing
It sets, it is characterised in that: the unmanned plane is common multi-rotor unmanned aerial vehicle, the carrier as air transport.
The handgrip slide unit includes slide unit motor, end retainer, sliding polished rod, middle part retainer, mounting base, slide unit steel
Cord, the first driven roller, holding rod, the second driven roller, driven roller axle bed, third driven roller, cord-pressing block, actively around
Line wheel, slide unit motor cabinet.The end retainer and middle part retainer each two, end retainer are kept at both ends, middle part
Frame is in centre, their wire arrangement sexual intercourse arrangement；The holding rod totally two, sequentially pass through two end retainers and two middle parts
The through-hole of left and right two of the upside of retainer；Totally two, the sliding polished rod, sequentially passes through in two end retainers and two
The through-hole of left and right two of the downside of portion's retainer；The slide unit motor is installed on the end retainer in left side by slide unit motor cabinet
Left side；The active reel is installed on the shaft end of slide unit motor；First driven roller, the second driven roller, third from
Dynamic idler wheel passes through three pairs of driven roller axle beds respectively and is sequentially arranged at the left side of left side central portion retainer, right side central retainer
Right side, right-hand end retainer right side；The slide unit wirerope is successively worn first around to certain the number of turns on active reel
The upside of the first driven roller, the downside of the second driven roller are crossed, the downside of third driven roller and around the home several circles are then passed through
From its upside wraparound, then the downside of the upside of the second driven roller, the first driven roller is sequentially passed through, further around being back to active coiling
Wheel, the slide unit wirerope are closed loop, and joint can utilize wherein any one the compression connection of two cord-pressing block of front and back；The peace
Dress seat totally four, two of them are installed on the left of the middle part retainer in left side, and other two is installed on the middle part retainer on right side
Right side, four mounting bases are for connecting unmanned plane and handgrip slide unit.
The promotion arm identical two altogether, wherein individually promoting arm includes slide unit frame, linear bearing, gear company
Bar, middle connecting rod, lower link, lower gear connecting rod, promotes reel, promotes motor, boom hoist cable, clamping jaw connection frame upper connecting rod.
The linear bearing is respectively arranged in the left and right two through hole on slide unit frame top for two totally；The slide unit frame, gear connecting rod, in
Connecting rod, upper connecting rod are successively hinged, constitute parallelogram mechanism, the middle connecting rod, lower gear connecting rod, clamping jaw connection frame,
Lower link is successively hinged, constitutes parallelogram mechanism, the gear parts of the gear connecting rod and lower gear connecting rod that
This engagement, the upper connecting rod, lower link, middle connecting rod and cleft hand mounting base it is equal there are two, array distribution, another one make
For passive constraint；Described two clamping jaw connection frames are for connecting clamp device and lifting device；The promotion motor is installed on slide unit
On frame, the promotion reel is mounted on slide unit motor shaft end, described boom hoist cable one end around the home on promoting reel,
The other end ties up to the middle part of the cross tube of clamp device.The promotion arm is symmetrically pacified for two totally by respective two linear bearing
On the two sliding polished rods loaded on handgrip slide unit, the promotion arm of the left and right side respectively will by two cord-pressing blocks in left and right
Slide unit wirerope compression is fixed on itself.
Identical two sets altogether of the clamp device, wherein single set clamp device includes cross tube, middle cross bar, clamping jaw frame, hook
Son, sheer pole, worm gear, worm screw, endless screw electric motor, endless screw electric motor seat, the clamping jaw frame are successively arranged by linear relationship for four totally；Institute
State the upper through-hole that cross tube sequentially passes through four clamping jaw framves；The middle part that the middle part cross bar sequentially passes through four clamping jaw framves is logical
Hole；The worm screw is installed on endless screw electric motor shaft end, and the endless screw electric motor is installed on endless screw electric motor seat, the endless screw electric motor seat installation
In the middle part of middle cross bar, the worm gear is installed in the middle part of sheer pole, and the worm gear and worm screw are engaged with each other；The sheer pole is successively
The lower through-hole of four clamping jaw framves, sheer pole and clamping jaw frame are connected, and the hook is successively fixed on sheer pole for four totally.It is described
Totally two sets of clamp device, be symmetrically arranged on two promotion arm clamping jaw connection frame on.
Identical two sets altogether of the moving device, wherein single set moving device includes installation pipe clamp, traveling bracket, omnidirectional
Wheel, traveling motor cabinet, traveling motor cabinet, the installation pipe clamp totally four are installed on two bar upper ends on the upside of traveling rack two-by-two；
The traveling motor cabinet totally two both ends for being respectively symmetrically installed on traveling frame underside cross bar；Totally two, the traveling motor,
It is respectively arranged on two traveling motor cabinets；The omni-directional wheel is respectively arranged in two traveling motor shaft ends for totally two.Described
Totally two sets of moving device, the end retainer that pipe clamp is symmetrically arranged on the front side of handgrip slide unit is installed by respective four respectively
On the end retainer of rear side.
Compared with prior art, the utility model has the beneficial effects that
One kind has reliable from crawl and from unloading function, it can be achieved that air transport and ground from grasp handling device
Transport, handling efficiency is high, and opposite carrying volume is big, and vdiverse in function, operation difficulty is low, and cheap, maintenance is simple, can be very
The transport of the short-distance and medium-distance of good completion small freight.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the handgrip slide unit structural schematic diagram of the utility model；
Fig. 3 is the assembling schematic diagram of the promotion arm and clamp device of the utility model；
Fig. 4 is the clamp device structural schematic diagram of the utility model；
Fig. 5 is the structural schematic diagram of the moving device of the utility model；
Figure label explanation: 1. unmanned planes；2. handgrip slide unit；201. slide unit motors；202. end retainers；203. sliding
Polished rod；204. middle part retainers；205. mounting base；206. slide unit wirerope；207. third driven rollers；208. holding rod；
209. second driven rollers；210. driven roller axle beds；211. first driven rollers；212. cord-pressing block；213. active reels；
214. slide unit motor cabinets；3. promoting arm；301. slide unit framves；302. linear bearing；303. gear connecting rods；304. upper connecting rod；
Connecting rod in 305.；306. lower link；307. lower gear connecting rods；308. promote reel；309. promote motor；310. promote steel wire
Rope；311. clamping jaw connection frames；4. clamp device；401. cross tube；Cross bar in 402.；403. clamping jaw framves；404. hook；Under 405.
Cross bar；406. worm gear；407. worm screw；408. endless screw electric motor；409. endless screw electric motor seats；5. moving device；501. installation pipe clamps；
502. traveling brackets；503. omni-directional wheel；504. traveling motor cabinets；505. traveling motor cabinets.
Specific embodiment
The utility model is described further with reference to the accompanying drawing:
One kind is from grasp handling device, it is characterised in that: includes: unmanned plane 1, handgrip slide unit 2, promotes arm 3, clamping dress
4 and moving device 5 are set, the lower part of unmanned plane 1 connects the handgrip slide unit 2 of a longitudinal axis in the horizontal direction, fills on handgrip slide unit 2
There are two be oppositely arranged, can along the promotion arm 3 that the longitudinal axis of handgrip slide unit 2 moves, promoted arm 3 on equipped with clamping
Device 4, handgrip slide unit 2 are also equipped with the moving device 5 for ground moving.The handgrip slide unit 2 includes slide unit motor 201, end
Portion's retainer 202, sliding polished rod 203, middle part retainer 204, slide unit mounting base 205, slide unit wirerope 206, the driven rolling of third
Wheel 207, holding rod 208, the second driven roller 209, driven roller axle bed 210, the first driven roller 211, cord-pressing block 212, master
Dynamic reel 213, slide unit motor cabinet 214.Two end retainers 202 and two middle part retainers 204 are threaded through along described
On the holding rod 208 and sliding polished rod 203 of longitudinal axis setting, the frame of handgrip slide unit 2 is constituted；Two retaining rod
208 are arranged along the longitudinal axis, sequentially pass through the upside of two end retainers 205 and two middle part retainers 204
The through-hole of left and right two；Totally two, the sliding polished rod 203, sequentially passes through two end retainers 202 and two middle parts are kept
The through-hole of left and right two of the downside of frame 204；The slide unit motor 201 is protected by the end that slide unit motor cabinet 214 is installed on left side
Hold 201 left side of frame；The active reel 213 is installed on the shaft end of slide unit motor 201；First driven roller 211, second
Driven roller 209, third driven roller 207 are protected by the middle part that three pairs of driven roller axle beds 210 are sequentially arranged at left side respectively
Hold the right side of the end retainer 202 in the left side of frame 204, the right side of the middle part retainer 204 on right side, right side；The slide unit steel
Cord 206 first around to certain the number of turns on active reel 213, sequentially pass through the first driven roller 211 upside, second from
The downside of dynamic idler wheel 209, is then passed through the downside of third driven roller 207 and several circles then are successively worn from wraparound on the upside of it around the home
The upside of the second driven roller 209, the downside of the first driven roller 211 are crossed, further around being back to active reel 213.
Handgrip slide unit 2 connects unmanned plane 1 by slide unit mounting base 205.The slide unit mounting base 205 totally four, wherein two
A 204 left side of middle part retainer for being installed on left side, other two is installed on 204 right side of middle part retainer on right side, described
Four slide unit mounting bases 205 are for connecting unmanned plane 1 and handgrip slide unit 2.
It promotes arm 3 to be installed on the sliding polished rod 203 of handgrip slide unit 2 by linear bearing 302, promotes arm 3 and pass through
The compression of slide unit wirerope 206 is fixed on itself by cord-pressing block 212.
Promoted arm 3 include slide unit frame 301, linear bearing 302, gear connecting rod 303, upper connecting rod 304, middle connecting rod 305,
Lower link 306, lower gear connecting rod 307 promote reel 308, promote motor 309, boom hoist cable 310, clamping jaw connection frame
311.One linear bearing 302 is respectively housed in the left and right two through hole on 301 top of slide unit frame；The slide unit frame 301, gear connecting rod
303, middle connecting rod 305, upper connecting rod 304 4 are successively hinged, constitute the first parallelogram mechanism, the middle connecting rod 305, lower tooth
It is successively hinged to take turns connecting rod 307, clamping jaw connection frame 311, lower link 306 4, constitutes the second parallelogram mechanism, the upper tooth
The gear parts of wheel connecting rod 303 and lower gear connecting rod 307 are engaged with each other, the upper connecting rod 304, lower link 306, middle connecting rod
305 and clamping jaw connection frame 311 there are two array distribution, another one are as passive constraint；Described two clamping jaw connection frames
In addition upper and lower mounting hole is arranged in 311 left side, the cross tube 401 and middle cross bar 402 of clamp device 4 are separately connected, to connect
Clamp device 4 and lifting device 3；The promotion motor 309 is installed on slide unit frame 301, and the promotion reel 308 is mounted on
It promotes 309 shaft end of motor and cooperates on slide unit frame 301 in corresponding fraising, described 310 one end of boom hoist cable is being promoted around the home
On reel 308, the other end ties up to the middle part of the cross tube 401 of clamp device 4.Clamp device 4 include cross tube 401, in
Cross bar 402, clamping jaw frame 403, hook 404, sheer pole 405, worm gear 406, worm screw 407, endless screw electric motor 408, endless screw electric motor seat
409；The cross tube 401 sequentially passes through the upper through-hole of four clamping jaw framves 403；Wherein the middle cross bar 402 sequentially passes through four folders
The middle through-hole of crowfoot 403；The worm screw 407 is installed on 408 shaft end of turbo-dynamo, and the endless screw electric motor 408 installs worm screw electricity
On base 409, the endless screw electric motor seat 409 is installed on middle 402 middle part of cross bar, and the worm gear 406 is installed in sheer pole 405
Portion, the worm gear 406 and worm screw 407 are engaged with each other；The lower part that the sheer pole 405 sequentially passes through four clamping jaw framves 403 is logical
Hole, sheer pole 405 are hinged on clamping jaw frame 403, and hook 404 is housed on sheer pole 405.It is respectively arranged in two promotion arms 3
Clamping jaw connection frame 311 on two clamp devices 4 be oppositely disposed.
Two sets of moving devices 5 are symmetrically mounted on handgrip slide unit 2, and moving device 5 includes installation pipe clamp 501, branch of advancing
Frame 502, omni-directional wheel 503, traveling motor cabinet 504, traveling motor 505,502 upper end of traveling bracket are connected by installation pipe clamp 501
On the end retainer 202 of handgrip slide unit 2；The both ends of 502 downside cross bar of traveling bracket are respectively provided with a traveling motor cabinet
504, traveling motor 505 is housed on traveling motor cabinet 504；505 shaft end of traveling motor is equipped with omni-directional wheel 503.
Unmanned plane 1 used in the utility model is common multi-rotor unmanned aerial vehicle, the carrier as air transport.It used
Cheng Zhong, first endless screw electric motor 408 rotation drive the rotation of worm screw 407 to drive worm gear 406 to rotate, and worm gear 406 drives lower cross again
Bar 405 laterally rotates 180 degree, at this time the fold outward of the hook 404 of two clamp devices 4, then 201 up time of slide unit motor
Needle rotation drives two to promote arm 3 and synchronizes to two Slideslips, until the promotion arm 3 in left side is moved by slide unit wirerope 206
The promotion arm 3 of the end retainer 202, right side that move to left side is done exercises until the end retainer 202 on right side, should
State is the readiness of grasp handling.When grabbing cargo, whole device is moved to goods by moving device 5 under readiness
Near object location, or flight to cargo location, then it is moved to cargo location, then two promotes the synchronous working of motor 309, release
Boom hoist cable 310, clamp device 4 are moved downward by gravity, and until contacting ground, then slide unit motor 201 is rotated counterclockwise,
It drives two to promote the synchronous middle part to sliding polished rod 203 of arm 3 by slide unit wirerope 206 to slide, until two clamp devices 4 press from both sides
Then firmly cargo two promotes motors 309 and works, tightens boom hoist cable 310, two clamp devices 4 cargo of ining succession is pulled to transport upwards
Dynamic, until being detached from ground certain altitude, the endless screw electric motor 408 of latter two right clamp device 4 works, and makes the hook of two clamp devices
404 inside side to overturn 180 degrees simultaneously, hold cargo, guarantee that cargo is not fallen out during transportation.When unloading, first two folders
The hook 404 of device 4 while the 180 degree that flips to the outside are taken, two promote the synchronous reversion of motor 309, boom hoist cable 310 is discharged,
Clamp device 4 and cargo are by gravity fall, until contacting ground, then two promote arm 3 in opposite directions separately, discharge cargo.
Content described in this specification embodiment is only an enumeration of the implementation forms of the utility model concept, this is practical new
The protection scope of type should not be construed as being limited to the specific forms stated in the embodiments, the protection scope of the utility model also and
In those skilled in the art according to the utility model design it is conceivable that equivalent technologies mean.
Claims (1)
1. a kind of double four link types are from grabbing cargo transparting device, it is characterised in that: include: unmanned plane (1), handgrip slide unit (2),
Arm (3), clamp device (4) and moving device (5) are promoted, the lower part of unmanned plane (1) connects a longitudinal axis in the horizontal direction
Handgrip slide unit (2), on handgrip slide unit (2) dress there are two it is being oppositely arranged, can be mobile along the longitudinal axis of handgrip slide unit (2)
Promotion arm (3), promoted and clamp device (4) be housed on arm (3), handgrip slide unit (2) is also equipped with the row for ground moving
Into device (5)；
Handgrip slide unit (2) includes slide unit motor (201), end retainer (202), sliding polished rod (203), middle part retainer
(204), slide unit mounting base (205), slide unit wirerope (206), third driven roller (207), holding rod (208), second driven
Idler wheel (209), the first driven roller (211), cord-pressing block (212), active reel (213), is slided driven roller axle bed (210)
Platform motor cabinet (214)；Two end retainers (202) and two middle part retainers (204) are threaded through along the longitudinal axis
On the holding rod (208) and sliding polished rod (203) of direction setting, the frame of handgrip slide unit (2) is constituted；Two retaining rods (208)
Sequentially pass through the through-hole of left and right two of the upside of two end retainers (202) and two middle part retainers (204)；Two slidings
The left and right two that polished rod (203) sequentially passes through the downside of two end retainers (202) and two middle part retainers (204) is logical
Hole；Slide unit motor (201) is installed on the left of the end retainer (202) in left side by slide unit motor cabinet (214)；Active reel
(213) it is installed on the shaft end of slide unit motor (201)；First driven roller (211), the second driven roller (209), the driven rolling of third
Wheel (207) is sequentially arranged at left side, the right side of the middle part retainer (204) in left side by three pairs of driven roller axle beds (210) respectively
The right side of the middle part retainer (204) of side, the end retainer (202) on right side right side；Slide unit wirerope (206) first around to
Certain the number of turns is in the upside, the second driven roller (209) that on active reel (213), sequentially pass through the first driven roller (211)
Downside, be then passed through the downside of third driven roller (207) and around the home several circles from its upside wraparound, then sequentially pass through second from
The upside of dynamic idler wheel (209), the first driven roller (211) downside, further around being back to active reel (213)；
Handgrip slide unit (2) passes through slide unit mounting base (205) connection unmanned plane (1)；Slide unit mounting base (205) totally four, wherein two
On the left of a middle part retainer (204) for being installed on left side, other two is installed on the right side of the middle part retainer (204) on right side,
Four slide unit mounting bases (205) are for connecting unmanned plane (1) and handgrip slide unit (2)；
It promotes arm (3) to be installed on the sliding polished rod (203) of handgrip slide unit (2) by linear bearing (302), promotes arm
(3) slide unit wirerope (206) are compressed by cord-pressing block (212) and is fixed on itself；
Promoting arm (3) includes slide unit frame (301), linear bearing (302), gear connecting rod (303), upper connecting rod (304), middle company
Bar (305), lower gear connecting rod (307), promotes reel (308), promotes motor (309), boom hoist cable lower link (306)
(310), clamping jaw connection frame (311)；One linear bearing (302) is respectively housed in the left and right two through hole on slide unit frame (301) top；It is sliding
Rack (301), gear connecting rod (303), middle connecting rod (305), upper connecting rod (304) four are successively hinged, constitute first parallel four
Bian Xing mechanism, middle connecting rod (305), lower gear connecting rod (307), clamping jaw connection frame (311), lower link (306) four are successively hinged,
Constituting the second parallelogram mechanism, the gear parts of gear connecting rod (303) and lower gear connecting rod (307) are engaged with each other, on
There are two array distributions for connecting rod (304), lower link (306), middle connecting rod (305) and clamping jaw connection frame (311), wherein another
It is a to be used as passive constraint；Upper and lower mounting hole is in addition arranged in the left side of two clamping jaw connection frames (311), is separately connected clamp device (4)
Cross tube (401) and middle cross bar (402), thus connect clamp device (4) and promoted arm (3)；Promote motor (309) installation
Promotion motor (309) shaft end and cooperation are mounted in slide unit frame (301) on pair on slide unit frame (301), promoting reel (308)
In should reaming, around the home on promoting reel (308), the other end ties up to clamp device (4) for boom hoist cable (310) one end
The middle part of cross tube (401)；
Clamp device (4) include cross tube (401), middle cross bar (402), clamping jaw frame (403), hook (404), sheer pole (405),
Worm gear (406), worm screw (407), endless screw electric motor (408), endless screw electric motor seat (409)；Cross tube (401) sequentially passes through four clamping jaws
The upper through-hole of frame (403)；Middle cross bar (402) sequentially passes through the middle through-hole of four clamping jaw framves (403)；Worm screw (407) installation
In endless screw electric motor (408) shaft end, endless screw electric motor (408) is installed on endless screw electric motor seat (409), and endless screw electric motor seat (409) is installed on
In the middle part of middle cross bar (402), worm gear (406) is installed in the middle part of sheer pole (405), and worm gear (406) and worm screw (407) are engaged with each other；
Sheer pole (405) sequentially passes through the lower through-hole of four clamping jaw framves (403), and sheer pole (405) is hinged on clamping jaw frame (403),
Hook (404) are housed on sheer pole (405)；Two be respectively arranged on the clamping jaw connection frame (311) that two promote arm (3)
Clamp device (4) is oppositely disposed；
Two sets of moving devices (5) are symmetrically mounted on handgrip slide unit (2), and moving device (5) includes installation pipe clamp (501), row
Into bracket (502), omni-directional wheel (503), traveling motor cabinet (504), traveling motor (505), traveling bracket (502) upper end passes through peace
Tubulature folder (501) is connected on the end retainer (202) of handgrip slide unit (2)；The both ends point of cross bar on the downside of traveling bracket (502)
Not Zhuan You a traveling motor cabinet (504), traveling motor (505) are housed on traveling motor cabinet (504)；Traveling motor (505) axis
End is equipped with omni-directional wheel (503).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821705474.6U CN209160003U (en) | 2018-10-19 | 2018-10-19 | A kind of double four link types are from grabbing cargo transparting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821705474.6U CN209160003U (en) | 2018-10-19 | 2018-10-19 | A kind of double four link types are from grabbing cargo transparting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209160003U true CN209160003U (en) | 2019-07-26 |
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ID=67334377
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821705474.6U Active CN209160003U (en) | 2018-10-19 | 2018-10-19 | A kind of double four link types are from grabbing cargo transparting device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109110128A (en) * | 2018-10-19 | 2019-01-01 | 浙江工业大学 | A kind of double four link types are from grabbing cargo transparting device |
| CN111847011A (en) * | 2020-08-04 | 2020-10-30 | 辽宁省交通高等专科学校 | Port cargo fast loading and unloading system based on Internet of things technology |
| CN113460677A (en) * | 2021-07-02 | 2021-10-01 | 沈阳德安泰机械有限公司 | Six-elbow telescopic gripper mechanism for tire |
-
2018
- 2018-10-19 CN CN201821705474.6U patent/CN209160003U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109110128A (en) * | 2018-10-19 | 2019-01-01 | 浙江工业大学 | A kind of double four link types are from grabbing cargo transparting device |
| CN111847011A (en) * | 2020-08-04 | 2020-10-30 | 辽宁省交通高等专科学校 | Port cargo fast loading and unloading system based on Internet of things technology |
| CN113460677A (en) * | 2021-07-02 | 2021-10-01 | 沈阳德安泰机械有限公司 | Six-elbow telescopic gripper mechanism for tire |
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