CN209974214U - Flexible lifting system - Google Patents
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- CN209974214U CN209974214U CN201920792308.2U CN201920792308U CN209974214U CN 209974214 U CN209974214 U CN 209974214U CN 201920792308 U CN201920792308 U CN 201920792308U CN 209974214 U CN209974214 U CN 209974214U
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Abstract
The utility model discloses a flexible operating system, aim at solve current Z to flexible robotic arm require higher to the installation place, have the problem of certain limitation. The automatic stacking machine comprises at least two conveying units, a supporting base, driving units and a control system, wherein the upper ends of the driving units are connected with the supporting base, and the lower ends of the driving units are connected with a stacking machine head. Based on the improvement of structure, this application requires lowly to the installation in place, has better adaptability. Meanwhile, the driving units are arranged in a crossed mode, and the conveying units with the parallelogram structures are combined, so that stable operation of the stacking machine head can be effectively guaranteed; and based on weighing sensor's feedback, and the cooperation of drive unit, can realize reaching synchronous lift's purpose to the real-time detection and the compensation of elevating speed and position, guarantee the steady operation of pile up neatly aircraft nose. The equipment has the advantages of simple structure, ingenious design, reasonable design and maintenance-free operation in the later period.
Description
Technical Field
The utility model belongs to the technical field of machinery and specifically relates to an automatic loading field of material specifically is a flexible operating system. This application is applicable to the automatic loading in-process of material, needs to carry out the occasion that goes up and down to material pile up neatly aircraft nose, has higher using value.
Background
Chinese patent application CN201721208012.9 discloses a stably-driven Z-direction telescopic mechanical arm for a robot, which comprises a telescopic rod support, a Z-direction sliding guide pipe component penetrating through the telescopic rod support, a rotary connecting seat arranged at the tail end of the guide pipe component, a pneumatic component and an electric component which are respectively arranged on the telescopic rod support; the pneumatic assembly and the electric assembly jointly transmit to the guide pipe assembly so as to drive the rotary connecting seat to move relative to the telescopic rod support in a Z direction in a telescopic mode. In the scheme, the pneumatic driving device in the pneumatic assembly and the electric driving device in the electric assembly are jointly transmitted to the guide pipe, the guide pipe drives the actuating mechanism arranged at the tail end of the mechanical arm to stretch and retract through the rotary connecting seat, meanwhile, the characteristics that the pneumatic driving device is large and stable in load and the electric driving device is accurate in control are utilized, the pneumatic driving device and the electric driving device work together to reduce the electric power of the electric driving device, and the accurate regulation and control of the stretching action of the rotary connecting seat are achieved through the electric driving device.
However, the robot arm has the following disadvantages:
(1) the Z-direction telescopic mechanical arm is large in equipment volume and heavy in weight, so that the requirement on an installation site is high, and certain use limitation exists;
(2) the Z-direction telescopic mechanical arm is complex in structure and difficult to replace and maintain in the later period;
(3) the equipment cost and maintenance cost are high.
To this end, the inventors provide a flexible lift system with great flexibility to solve the aforementioned problems.
SUMMERY OF THE UTILITY MODEL
The invention of the utility model aims to: the flexible lifting system is provided for solving the problems that the existing Z-direction telescopic mechanical arm has higher requirement on an installation site and has certain limitation. Based on the improvement of structure, this application requires lowly to the installation in place, has better adaptability. Meanwhile, the driving units are arranged in a crossed mode, and the conveying units with the parallelogram structures are combined, so that stable operation of the stacking machine head can be effectively guaranteed; and based on weighing sensor's feedback, and the cooperation of drive unit, can realize reaching synchronous lift's purpose to the real-time detection and the compensation of elevating speed and position, guarantee the steady operation of pile up neatly aircraft nose. The lifting system equipment has the advantages of simple structure, ingenious design, reasonable design, maintenance-free operation in the later period, convenience in replacement and higher application value.
The utility model adopts the technical scheme as follows:
a flexible lifting system comprises a conveying unit, a supporting base, at least two driving units and a control system, wherein the upper ends of the driving units are connected with the supporting base, the supporting base can provide support for the driving units, the lower ends of the driving units are connected with a stacking machine head, the driving units can drive the stacking machine head to move in the vertical direction, and the driving units are arranged in a crossed mode;
the conveying unit comprises a conveying line for conveying materials to the stacking machine head, a material input end, a material output end connected with the stacking machine head, an upper end input rod and a lower end input rod, wherein the material input end and the material output end are respectively arranged at two ends of the conveying line, and materials entering from the material input end can enter the stacking machine head through the conveying line and the material output end in sequence to perform stacking operation;
the two ends of the lower end input rod are respectively hinged with the material input end and the material output end, the two ends of the upper end input rod are respectively hinged with the material input end and the material output end, the lower end input rod is positioned below the upper end input rod, and the two upper end input rods are arranged in a crossed mode;
the driving unit comprises an upper end connecting assembly, a driving base, a power assembly, a flexible transmission part, a movable pulley and a lower end connecting assembly, wherein the upper end connecting assembly is used for being connected with the supporting base;
the driving base is connected with the upper end connecting assembly, the power assembly is connected with the driving base, and the driving base can provide support for the power assembly; one end of the flexible transmission part is connected with the driving base, the other end of the flexible transmission part is connected with the power assembly, and the power assembly can drive the flexible transmission part to move;
the movable pulley is arranged on the flexible transmission part, the movable pulley is connected with the stacking machine head through the lower end connecting component, and the flexible transmission part can drive the movable pulley to move relative to the flexible transmission part so as to realize the lifting of the stacking machine head;
the power assembly is connected with the control system.
The flexible transmission parts are arranged in a cross mode.
The flexible transmission part is one or more of a cable and a chain.
The flexible transmission part is a metal cable.
The two upper end input rods are arranged in an X shape in a crossing way.
The power assembly comprises a driving motor, a speed reducer and a transmission shaft used for driving the flexible transmission part to move, the driving motor is connected with the transmission shaft through the speed reducer, and the driving motor is connected with the control system.
The driving motor is a servo motor, and an absolute position encoder is arranged on the servo motor.
At one side of transfer chain, mark the junction of material input end, material output end and upper end input rod as first tie point, second tie point respectively, mark the junction of material output end, material input end and lower extreme input rod as third tie point, fourth tie point respectively, first tie point, second tie point, third tie point, fourth tie point are the parallelogram setting.
The drive unit also comprises a weighing sensor which is connected with the control system and can weigh the drive unit and transmit the measuring result to the control system.
The upper end coupling assembling includes the couple that links to each other with the drive base with the shackle that supports the base, the shackle links to each other with upper end coupling assembling's couple.
The shackle is a D-shaped shackle or a bow-shaped shackle.
The lower end connecting assembly is a hook.
The weighing sensor is an axle pin type sensor, and the hook of the upper end connecting assembly is connected with the driving base through the axle pin type sensor.
In view of the foregoing, the present application provides a flexible lifting system, which includes a conveying unit, a support base, a driving unit, and a control system. In the application, the driving unit is mainly used for providing power for lifting of the stacking machine head, and the conveying unit is of a parallelogram structure; the upper end of the driving unit is connected with the supporting base, the supporting base can provide support for the driving unit, the lower end of the driving unit is connected with the stacking machine head, the driving unit can drive the stacking machine head to move in the vertical direction, and the driving units are arranged in a crossed mode. Meanwhile, the number of the driving units is at least two according to different palletizing heads.
In this application, drive unit is including being used for the upper end coupling assembling that links to each other with the support pedestal, drive base, the power component who links to each other with control system, flexible transmission spare, movable pulley, lower extreme coupling assembling. In this structure, drive base links to each other with upper end coupling assembling, and power component links to each other with drive base, and drive base is used for providing the support for power component. Simultaneously, the one end and the drive base of flexible driving medium link to each other, and the other end and the power component of flexible driving medium link to each other, drive the motion of flexible driving medium through power component to change the position of flexible driving medium relative power component. The flexible transmission part is connected with the movable pulley, and the movable pulley is connected with the stacking machine head through the lower end connecting assembly. Based on this structure, when flexible driving medium drives movable pulley along vertical direction motion, it can drive the pile up neatly aircraft nose and go up and down.
The application also carries out brand new structural design on the transmission unit. In this application, the transfer unit is including being used for carrying the material to the transfer chain of pile up neatly aircraft nose (the input line of this application can be for the belt transfer chain), material input, the material output end that links to each other with the pile up neatly aircraft nose, upper end input rod, lower extreme input rod. The material input end and the material output end are respectively arranged at two ends of the conveying line, and materials entering through the material input end sequentially pass through the conveying line and the material output end to enter the stacking machine head to be stacked. The two ends of the lower end input rod and the upper end input rod are respectively hinged with the material input end and the material output end, and the lower end input rod is positioned below the upper end input rod; based on this structure, the both ends of lower extreme input rod, upper end input rod can rotate for material input end, material output respectively.
In the application, the number of the lower end input rods is at least two, and the lower end input rods are arranged in parallel; the number of the upper end input rods is two, and the two upper end input rods are arranged in a crossed mode. At one side of transfer chain, mark first tie point, second tie point respectively with the tie point of material input end, material output end and upper end input rod, mark third tie point, fourth tie point respectively with the tie point of material output end, material input end and lower end input rod, first tie point, second tie point, third tie point, fourth tie point are the parallelogram setting, and lower extreme input rod, upper end input rod and transfer chain form the parallelogram structure promptly. Due to the design based on the parallelogram structure, the stable lifting of the stacking machine head in the vertical direction can be effectively guaranteed, and the stacking direction of the stacking machine head is guaranteed to be consistent.
In addition, the driving unit further comprises a weighing sensor, and the weighing sensor is connected with the control system; the weighing sensor is used for weighing the driving unit and transmitting the measuring result to the control system. In the present application, at least two drive units are employed; in the lifting process, if the stacking machine head inclines, the stress imbalance of the driving units on the two sides of the stacking machine head is inevitably caused, the control system compares the difference values of the measured quality, and when the difference values of the measured quality and the measured quality exceed a set value, the control system controls the corresponding driving units to perform real-time feedback and compensation, so that the purpose of synchronous lifting is achieved; in addition, in the lifting process, the weighing sensor detects and feeds back the stress condition of the stacking machine head in real time, and the stress condition can be fed back at the first time when the stacking machine head is accidentally collided, so that the safety protection effect on equipment is realized.
In this application, flexible transmission spare is crossing arrangement each other, and two upper end input rod crossing arrangement are the X type, and flexible transmission spare is one or more (preferably metal cable) in cable, the chain. Further, this application provides a concrete power component structure, and it includes driving motor, reduction gear, transmission shaft, and driving motor passes through the reduction gear and links to each other with the transmission shaft, and driving motor links to each other with control system, and wherein transmission shaft is used for driving the motion of flexible drive spare. Preferably, the driving motor is a servo motor, and an absolute position encoder is arranged on the servo motor.
Further, the present application provides a specific upper end connection assembly, lower end connection assembly structure; the upper end connecting assembly comprises a shackle (the shackle can adopt a D-shaped shackle or a bow-shaped shackle) connected with the supporting base and a hook connected with the driving base, and the shackle is connected with the hook of the upper end connecting assembly; the lower end connecting component is a hook. Preferably, the weighing sensor can adopt a shaft pin type sensor, and the hook of the upper end connecting assembly is connected with the driving base through the shaft pin type sensor.
In the application, rolling bearings are fixedly adopted at two ends of the conveying line, and joint bearings are fixedly adopted at two ends of the lower end input rod and the upper end input rod and can freely rotate around the joint bearings; the supporting base is fixed on the mounting surface in a bolt connection or welding mode; the hook of the upper end connecting assembly is hung on the D-shaped shackle of the supporting base and can swing in any direction within a certain range; the flexible transmission element is wound on a transmission shaft of the power assembly, and the tail end of the flexible transmission element is provided with a movable pulley hook. When the driving motor rotates, power is transmitted to the transmission shaft after being reduced by the speed reducer, the transmission shaft rotates along with the transmission shaft and drives the flexible transmission element to move, and under the matching of a parallelogram mechanism formed by the pull rod and the conveying line, the stable and horizontal lifting of the stacker head is realized.
To sum up, the flexible transmission element and the upper end input rod of this application all adopt the crossing to arrange, through increasing inside tensile stress, reduce outside disturbance power to the influence of rocking of pile up neatly aircraft nose, guarantee the stability of pile up neatly aircraft nose at the lift in-process. Power is transmitted through the flexible transmission element, and the driving unit is matched with the parallelogram mechanism to enable the stacking machine head to stably and horizontally lift. In the application, at least two sets of driving units can be used as required; in order to ensure that the palletizing head can stably lift under multiple sets of power, the driving motor preferably adopts an absolute position servo motor. The precise positioning of the servo motor provides basic guarantee for horizontal stable lifting; meanwhile, the position of the servo motor is read to a control system in real time in a communication mode for comparison and inspection, and accumulated errors in the operation process are eliminated; in addition, a servo motor encoder feeds back at a high speed, is connected to a high-speed acquisition port of the system and is used for position closed-loop control of the lifting mechanism. The application has the advantages of ingenious design, reasonable design and higher application value.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
1) the lifting system has no change to the infrastructure during installation, and potential safety hazards existing after the infrastructure is changed do not exist;
2) the lifting system is small in size, can be installed in a narrow space, has low requirements on implementation sites, and has general adaptability;
3) the lifting system is light in weight, convenient to install and construct and free of special auxiliary installation and hoisting equipment;
4) the flexible transmission is adopted, so that the device can operate under the adverse condition and has better adaptability;
5) according to the automatic lifting device, the lifting speed and the lifting position can be detected and compensated in real time by matching the plurality of driving units and combining the feedback of the weighing sensor, so that the purpose of synchronous lifting is achieved, and the stable operation of the stacking machine head is ensured;
6) the weighing sensor is adopted to detect whether the stress of the tail end is suddenly changed in real time, and the weighing sensor is used as a safety protection mechanism, so that the safety of equipment is ensured;
7) the driving unit adopts flexible transmission elements which are arranged in a crossed manner, the flexible transmission elements are hooked on the stacking machine head in a crossed manner, the input rods at the upper ends are fixed on the stacking machine head in a crossed manner, and the shaking influence of external disturbance force on the stacking machine head is reduced by increasing internal tensile stress;
8) in the application, the flexible transmission element and the upper end input rod are arranged in a crossed manner, so that the limited physical space is reasonably and effectively utilized, and the lifting stability of a terminal heavy object is increased;
9) the lifting system is simple in structure, free of maintenance in the later stage and convenient to replace.
Drawings
Fig. 1 is a schematic elevation view of a flexible elevator system in embodiment 1.
Fig. 2 is a front view of the drive unit and the support base in embodiment 1.
Fig. 3 is a schematic structural view of a power module in embodiment 1.
FIG. 4 is a schematic view of the cross arrangement of the flexible transmission in example 1.
Fig. 5 is a schematic view showing the cross arrangement of the upper input levers in embodiment 1.
The labels in the figure are: 1. the stacking machine head comprises a stacking machine head, 2, a conveying unit, 3, a supporting base, 4, a driving unit, 5, a D-shaped shackle, 6, a power assembly, 7, a flexible transmission part, 8, a movable pulley, 9, a lower end connecting assembly, 10, an axle pin type sensor, 11, a driving motor, 12, a speed reducer, 13, a transmission shaft, 14 and a flexible transmission part storage bag.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The flexible lifting system of the embodiment comprises a conveying unit, a supporting base, a driving unit and a control system. In the embodiment, the upper end of the driving unit is connected with the supporting base, and the lower end of the driving unit is connected with the palletizing machine head; as shown in the figure, two driving units are adopted, and the driving units are arranged in a crossed manner.
Wherein, the conveying unit includes transfer chain, material input end, material output end, upper end input rod, lower extreme input rod, and material input end, material output end set up respectively at the both ends of transfer chain. In this structure, bag form material passes through the material input, and bag form material that gets into from the material input loops through transfer chain, material output and gets into the pile up neatly aircraft nose and carry out the sign indicating number material operation. In this embodiment, the both ends of lower extreme input rod are passed through joint bearing and are articulated with material input end, material output, and the both ends of upper end input rod are passed through joint bearing and are articulated with material input end, material output, and lower extreme input rod is located the below of upper end input rod. In this embodiment, lower extreme input rod, upper end input rod are two respectively, and mutual parallel arrangement and the plane that forms between the lower extreme input rod are parallel with the plane of transportation of transfer chain between the lower extreme input rod, are X type cross arrangement between two upper end input rods.
At the unilateral of transfer chain, mark first tie point, second tie point respectively with the junction of material input end, material output end and upper end input rod, mark third tie point, fourth tie point respectively with the junction of material output end, material input end and lower extreme input rod, first tie point, second tie point, third tie point, fourth tie point are the parallelogram setting, and upper end input rod, lower extreme input rod constitute parallelogram mechanism with the transfer chain promptly.
The drive unit comprises an upper end connecting assembly, a drive base, a power assembly, a flexible transmission part, a movable pulley and a lower end connecting assembly. In this embodiment, upper end coupling assembling includes the D type that links to each other with the support base and breaks out, the couple that links to each other with the drive base, and D type breaks out, the drive base links to each other with upper end coupling assembling's couple respectively, and power component links to each other with the drive base, and lower extreme coupling assembling adopts the couple. The power assembly comprises a driving motor, a speed reducer and a transmission shaft used for driving the flexible transmission part to move, the driving motor is connected with the transmission shaft through the speed reducer, and the driving motor is connected with the control system. In this embodiment, the driving motor is a servo motor, and an absolute position encoder is disposed on the servo motor. Further, this embodiment still includes axle pin formula sensor, and upper end coupling assembling's couple passes through axle pin formula sensor and links to each other with the drive base, and axle pin formula sensor links to each other with control system and axle pin formula sensor can weigh drive unit to transmit the testing result for control system.
One end of the flexible transmission part is connected with the driving base, and the other end of the flexible transmission part is connected with a transmission shaft of the power assembly. In this embodiment, the flexible transmission members are disposed to intersect each other. The movable pulley sets up on flexible transmission spare, and the movable pulley passes through lower extreme coupling assembling and pile up neatly aircraft nose. In this embodiment, the flexible transmission member is a steel cable. Further, this embodiment still includes the flexible drive spare storage bag with flexible drive spare matched with.
The working process of the device of the embodiment is as follows: the shaft pin type sensor in the driving unit can weigh the driving unit and transmit the weight to the control system in real time; because the driving units are arranged in a crossed manner, when the weight difference of the two driving units exceeds a set value, the palletizing head is in an unstable state, and the control system can compensate and adjust the palletizing head by adjusting the driving motor; meanwhile, based on the design of the parallelogram mechanism, the stable operation of the stacking machine head can be ensured. Meanwhile, in the lifting process, the weighing sensor detects and feeds back the stress condition of the stacking machine head in real time, and when the stacking machine head is accidentally collided, the stress condition can be fed back at the first time, so that the safety protection effect on equipment is realized. In this application, can adopt a plurality of drive unit, for the steady lift of guaranteeing pile up neatly aircraft nose under the many sets of drive unit, driving motor has adopted absolute position servo motor. In the embodiment, the precise positioning of the servo motor provides basic guarantee for horizontal stable lifting; meanwhile, the position of the servo motor is read to a control system in real time in a communication mode for comparison and inspection, and accumulated errors in the operation process are eliminated; in addition, a servo motor encoder feeds back at a high speed, is connected to a high-speed acquisition port of the system and is used for position closed-loop control of the lifting mechanism.
In this example, the support base is fixed to the mounting surface by bolting or welding. The hook of the upper end connecting assembly is hung on the D-shaped shackle of the supporting base and can swing in any direction within a certain range. The flexible transmission element is wound on a transmission shaft of the power assembly, and the tail end of the flexible transmission element is provided with a movable pulley hook. When the driving motor rotates, power is transmitted to the transmission shaft after being reduced by the speed reducer, the transmission shaft rotates along with the transmission shaft to drive the flexible transmission element to move, and the stacker crane head is stably and horizontally lifted under the cooperation of the parallelogram mechanism. As shown in fig. 4 and 5, the flexible transmission element and the upper end input rod are arranged in a crossed mode, the shaking influence of external disturbance force on the palletizing head is reduced by increasing internal tensile stress, and the stability of the palletizing head in the lifting process is guaranteed.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
In addition, it should be noted that the specific embodiments described in the present specification may be different in the components, the shapes of the components, the names of the components, and the like, and the above contents described in the present specification are merely illustrative of the structures of the present application. Equivalent or simple changes in the structure, features and principles as described in the present patent are intended to be included within the scope of protection of the present patent. Various modifications, additions and substitutions for the specific embodiments described herein may occur to those skilled in the art without departing from the scope and spirit of the invention as defined by the accompanying claims.
Claims (10)
1. A flexible lifting system is characterized by comprising at least two conveying units, a support base, driving units and a control system, wherein the upper ends of the driving units are connected with the support base, the support base can provide support for the driving units, the lower ends of the driving units are connected with a palletizing machine head, the driving units can drive the palletizing machine head to move in the vertical direction, and the driving units are arranged in a crossed mode;
the conveying unit comprises a conveying line for conveying materials to the stacking machine head, a material input end, a material output end connected with the stacking machine head, an upper end input rod and a lower end input rod, wherein the material input end and the material output end are respectively arranged at two ends of the conveying line, and materials entering from the material input end can enter the stacking machine head through the conveying line and the material output end in sequence to perform stacking operation;
the two ends of the lower end input rod are respectively hinged with the material input end and the material output end, the two ends of the upper end input rod are respectively hinged with the material input end and the material output end, the lower end input rod is positioned below the upper end input rod, and the two upper end input rods are arranged in a crossed mode;
the driving unit comprises an upper end connecting assembly, a driving base, a power assembly, a flexible transmission part, a movable pulley and a lower end connecting assembly, wherein the upper end connecting assembly is used for being connected with the supporting base;
the driving base is connected with the upper end connecting assembly, the power assembly is connected with the driving base, and the driving base can provide support for the power assembly; one end of the flexible transmission part is connected with the driving base, the other end of the flexible transmission part is connected with the power assembly, and the power assembly can drive the flexible transmission part to move;
the movable pulley is arranged on the flexible transmission part, the movable pulley is connected with the stacking machine head through the lower end connecting component, and the flexible transmission part can drive the movable pulley to move relative to the flexible transmission part so as to realize the lifting of the stacking machine head;
the power assembly is connected with the control system.
2. The flexible lift system of claim 1, wherein the flexible drive members are disposed across from one another.
3. The flexible lifting system of claim 1, wherein the flexible drive is one or more of a cable, a chain, or a combination thereof.
4. The flexible lifting system of claim 1, wherein the two upper input rods are arranged in an X-shape in a crossing manner.
5. The flexible lifting system according to claim 1, wherein the power assembly comprises a driving motor, a speed reducer and a transmission shaft for driving the flexible transmission member to move, the driving motor is connected with the transmission shaft through the speed reducer, and the driving motor is connected with the control system.
6. The flexible lifting system of claim 5, wherein the drive motor is a servo motor, and an absolute position encoder is disposed on the servo motor.
7. The flexible lifting system according to any one of claims 1 ~ 6, wherein the points of connection of the material input end, the material output end and the upper input rod are respectively designated as a first connection point and a second connection point, and the points of connection of the material output end, the material input end and the lower input rod are respectively designated as a third connection point and a fourth connection point, and the first connection point, the second connection point, the third connection point and the fourth connection point are arranged in a parallelogram shape.
8. The flexible lifting system of claim 1, wherein the drive unit further comprises a load cell coupled to the control system and capable of weighing the drive unit and communicating the measurements to the control system.
9. The flexible lift system of claim 8, wherein the upper end connection assembly includes a shackle connected to the support base and a hook connected to the drive base, the shackle being connected to the hook of the upper end connection assembly.
10. The flexible lifting system of claim 9, wherein the load cell is a pivot pin sensor, and the hook of the upper end coupling assembly is coupled to the drive base via the pivot pin sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920792308.2U CN209974214U (en) | 2019-05-29 | 2019-05-29 | Flexible lifting system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920792308.2U CN209974214U (en) | 2019-05-29 | 2019-05-29 | Flexible lifting system |
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| CN209974214U true CN209974214U (en) | 2020-01-21 |
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| CN201920792308.2U Withdrawn - After Issue CN209974214U (en) | 2019-05-29 | 2019-05-29 | Flexible lifting system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077987A (en) * | 2019-05-29 | 2019-08-02 | 四川福德机器人股份有限公司 | A kind of flexibility jacking system |
| CN114104776A (en) * | 2021-12-01 | 2022-03-01 | 福德机器人（成都）有限责任公司 | Anti-shake transport structure, food delivery robot |
-
2019
- 2019-05-29 CN CN201920792308.2U patent/CN209974214U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077987A (en) * | 2019-05-29 | 2019-08-02 | 四川福德机器人股份有限公司 | A kind of flexibility jacking system |
| CN110077987B (en) * | 2019-05-29 | 2024-04-26 | 四川福德机器人股份有限公司 | Flexible lifting system |
| CN114104776A (en) * | 2021-12-01 | 2022-03-01 | 福德机器人（成都）有限责任公司 | Anti-shake transport structure, food delivery robot |
| CN114104776B (en) * | 2021-12-01 | 2024-04-26 | 福德机器人（成都）有限责任公司 | Anti-shake transfer structure and food delivery robot |
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