CN210313219U - Heavy-load intelligent carrying travelling crane - Google Patents
Heavy-load intelligent carrying travelling crane Download PDFInfo
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- CN210313219U CN210313219U CN201920616472.8U CN201920616472U CN210313219U CN 210313219 U CN210313219 U CN 210313219U CN 201920616472 U CN201920616472 U CN 201920616472U CN 210313219 U CN210313219 U CN 210313219U
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Abstract
The utility model belongs to the technical field of vehicle handling, in particular to a heavy-load intelligent handling vehicle, which comprises an X-direction track beam, a Y-direction track beam and a Z-direction track beam which are mutually perpendicular, wherein the Y-direction track beam is driven by a first driving mechanism to move along the X-direction track beam, the Z-direction track beam is driven by a second driving mechanism to move along the Y-direction track beam, a lifting frame is arranged on the Z-direction track beam in a sliding manner, and the lifting frame is driven by a third driving mechanism to move along the Z-direction track beam; the third driving mechanism comprises a roller, a lifting chain and a third servo motor arranged on the Z-direction track beam, the roller is in transmission connection with the third servo motor, one end of the lifting chain is wound on the roller, and the other end of the lifting chain is fixedly connected with the lifting frame; the bottom of crane is provided with the descending limit switch and the descending trigger of mutually supporting, and the descending trigger is close to or keeps away from down limit switch motion, and descending limit switch is connected with the third servo motor electricity.
Description
Technical Field
The utility model belongs to the technical field of the driving transport, especially, relate to a heavy load intelligence transport driving.
Background
The travelling crane is a machine for carrying heavy objects in a factory, moves horizontally or vertically in a certain range, is mainly applied to carrying workpieces in a factory workshop, has an important characteristic that the travelling crane needs intermittent movement when in use, and is hoisted by using a flexible hoist chain, when the flexible hoist chain carries heavy workpieces (more than 3000Kg), the workpieces are very easy to shake in the hoisting process, the throwing position of the workpieces cannot be accurately positioned, particularly, along with the upgrading development of the intelligent factory industry, each process production and processing unit of the workpieces is automatically produced, the logistics operation among the workpieces of each automatic production unit needs to be automatically completed, and when the workpieces reach the automatic processing unit of the next process, the throwing positioning with high precision is required, because the travelling crane is a structural member for the heavy engineering machinery, the steel structural member of the heavy engineering machinery has several particularly obvious characteristics, namely, the volume of a workpiece is large; secondly, the weight of the workpiece is heavy. To these two characteristics of work piece, the transport of the intelligent AGV dolly of ripe high accuracy location transport in the existing market, intelligent fork truck all are not suitable for the work piece, in order to solve present heavy engineering machine tool structure automated production process, the transport of this kind of large-scale heavy structure high accuracy, this application develops this kind of heavy load intelligence high accuracy and moves the operation car on the basis of original manual heavy driving.
According to the driving unit, an original synchronous motor is replaced by an absolute value encoder servo motor, so that the whole precision can be 0.2mm, the precision also meets the precision requirement of an intelligent automatic processing unit, and meanwhile, the walking mode of the driving unit is replaced by the original wheel-rail type movement to be a gear-rack type movement, which ensures the positioning precision in the moving process; to rocking of original work piece transfer in-process, this application changes original flexible chain sling into the mode of rigidity guide, prevents to drive a vehicle like this and rocks of work piece when carrying the work piece.
SUMMERY OF THE UTILITY MODEL
The problem that positioning accuracy is not high is lifted by crane in order to solve the heavy driving flexibility that prior art exists, the utility model provides a heavy load intelligence transport driving.
In order to solve the technical problem, the utility model adopts the following technical scheme that a heavy-duty intelligent carrying traveling crane comprises an X-direction track beam, a Y-direction track beam and a Z-direction track beam which are perpendicular to each other, wherein the Y-direction track beam is driven by a first driving mechanism to move along the X-direction track beam, the Z-direction track beam is driven by a second driving mechanism to move along the Y-direction track beam, a lifting frame is arranged on the Z-direction track beam in a sliding manner, and the lifting frame is driven by a third driving mechanism to move along the Z-direction track beam; the third driving mechanism comprises a roller, a lifting chain and a third servo motor arranged on the Z-direction track beam, the roller is in transmission connection with the third servo motor, one end of the lifting chain is wound on the roller, and the other end of the lifting chain is fixedly connected with the lifting frame;
the bottom of crane is provided with the descending limit switch and the descending trigger of mutually supporting, the descending trigger is close to or keeps away from down limit switch motion, descending limit switch is connected with the third servo motor electricity, works as when the descending trigger contacts and treats the transport work piece, the descending trigger is close to down limit switch motion and triggers down limit switch for control third servo motor stops.
Preferably, the first driving mechanism comprises a first gear, a first rack and a first servo motor arranged on the Y-direction track beam, the first rack is fixedly arranged on the X-direction track beam, the first servo motor is in transmission connection with the first gear, and the first gear is meshed with the first rack; the second driving mechanism comprises a second gear, a second rack and a second servo motor arranged on the Z-direction track beam, the second rack is fixedly arranged on the Y-direction track beam, the second servo motor is in transmission connection with the second gear, and the second gear is meshed with the second rack. The original roller moving mode is changed into a gear and rack moving mode, the problem that when a heavy workpiece is hoisted, the workpiece slides when the workpiece stops due to large inertia is solved, and the moving stability and the positioning precision of the transporting travelling crane are further improved; the X-direction track beam is positioned on two sides of the Y-direction track beam, and the first servo motor adopts a double-output-shaft servo motor, so that the problem that the two driving motors on two sides cannot be synchronized due to different resistance is solved.
Preferably, the first servo motor, the second servo motor and the third servo motor are absolute value encoder servo motors. Original synchronous machine is changed into absolute value encoder servo motor, can accomplish 10 meters moving range error from whole precision like this and be 0.2mm, and this precision has satisfied the required precision of intelligent automated processing unit.
Preferably, a first guide rail is fixedly arranged on the X-direction track beam along the length direction of the X-direction track beam, and a first sliding block in sliding fit with the first guide rail is fixedly arranged on the Y-direction track beam; a second guide rail is fixedly arranged on the Y-direction track beam along the length direction of the Y-direction track beam, and a second sliding block in sliding fit with the second guide rail is fixedly arranged on the Z-direction track beam; and a third guide rail is fixedly arranged on the lifting frame along the Z direction, and a third sliding block in sliding fit with the third guide rail is fixedly arranged on the Z-direction track beam. The guide rail sliding block structure ensures the moving reliability and the guiding precision of the Y-direction track beam, the Z-direction track beam and the lifting frame, and improves the stability and the moving precision of the carrying travelling crane.
Preferably, the descending trigger comprises a support, an elastic element and a trigger rod, the support is fixedly arranged at the bottom end of the lifting frame, the trigger rod penetrates through the support in a sliding mode along the Z direction, a first flange is radially extended at one end, close to the descending limit switch, of the trigger rod, a second flange is radially extended at one end, far away from the descending limit switch, of the trigger rod, and the elastic element is located between the support and the second flange. When the second flange contacts with the workpiece to be carried, the workpiece pushes the trigger rod to move towards the downward limit switch to trigger the downward limit switch, the third servo motor is controlled to stop, and the carrying travelling crane further grabs the workpiece to be carried, so that automatic carrying is realized.
Preferably, the elastic element is a spring, and the spring is sleeved on the trigger rod.
Furthermore, two ends of the X-direction track beam are respectively provided with a first limit switch for limiting the Y-direction track beam; two ends of the Y-direction track beam are respectively provided with a second limit switch for limiting the Z-direction track beam; and a photoelectric switch is arranged on the Z-direction track beam, and a third limit switch matched with the photoelectric switch is arranged at the bottom end of the lifting frame and used for limiting the lifting position of the lifting frame.
Furthermore, X is supported by a plurality of stands to the track roof beam, and a plurality of stand arranges in proper order along X to the length direction of track roof beam, and is adjacent alternately be provided with the lacing wire between the stand. The arrangement of the lacing wires changes the quadrilateral structures of the plurality of stand columns into triangular structures, and the reliability and the stability of the stand column support are improved.
Further, the bottom of crane is provided with anchor clamps through the connection pad is fixed, anchor clamps include the anchor clamps body, the bottom mounting of anchor clamps body is provided with a plurality of bolster, fixedly connected with is used for absorbing the piece that snatchs of work piece on the bolster. The buffer piece effectively prevents the clamp from being in hard contact with the workpiece to be conveyed, and avoids damaging the workpiece, the clamp and the conveying travelling crane.
Further, the buffer piece is a rope, and the grabbing piece is an electromagnet. The rope can be a steel wire rope to ensure the connection strength of the rope.
Has the advantages that: the utility model discloses a heavy load intelligence transport driving.
(1) The utility model discloses a heavy load intelligence transport driving changes the mobile mode of rack and pinion into by original gyro wheel mobile mode, when having changed the hoist and mount heavy work piece, because the inertia of work piece is big, the gliding problem when Y to track roof beam and Z to track roof beam stop, simultaneously through changing into absolute value code servo motor to original synchronous driving motor, can accurately calculate the moving distance of Y to track roof beam, Z to track roof beam and crane, 10 meters moving range error is 0.2 mm;
(2) the utility model discloses a heavy load intelligence transport driving, first actuating mechanism drive Y to the track roof beam along X to the track roof beam removal, adopted an absolute value encoder servo motor both sides output drive, solved two driving motors of current both sides and lead to the problem that can not be synchronous because the resistance is different;
(3) the heavy-load intelligent carrying travelling crane of the utility model drives the lifting frame by using the sling, the lifting frame lifts along the Z-direction track beam, namely, a guide mechanism of rigid restraint is added on the basis of the original flexible lifting chain, the guide mechanism adopts a high-precision guide rail structure, and the problems of accurate positioning and lifting and shaking are increased;
(4) the utility model discloses a heavy load intelligence transport driving, when the lower touch ware contacts and treats the transport work piece, the lower touch ware is close to the lower limit switch motion and triggers lower limit switch for control third servo motor stops, and this transport driving snatchs again and treats the transport work piece, realizes automatic transport, and design benefit, and simple structure is reliable, and is with low costs.
Drawings
Fig. 1 is a schematic perspective view of the heavy intelligent transport vehicle of the present invention;
FIG. 2 is an enlarged partial schematic view of A of FIG. 1;
FIG. 3 is an enlarged partial schematic view of B of FIG. 1;
fig. 4 is a schematic perspective view of another angle of the heavy-duty intelligent carrying vehicle according to the present invention;
FIG. 5 is an enlarged partial schematic view of C in FIG. 4;
FIG. 6 is a schematic front view of the heavy intelligent transport vehicle of the present invention;
FIG. 7 is a schematic side view of the intelligent heavy-duty transport vehicle of the present invention;
fig. 8 is a schematic perspective view of the heavy-duty intelligent transporting vehicle of the present invention when transporting a workpiece;
fig. 9 is a schematic front view of the heavy-duty intelligent transport vehicle of the present invention when transporting a workpiece;
fig. 10 is an exploded view of the clamp and the workpiece of the heavy-duty intelligent handling vehicle of the present invention;
fig. 11 is a schematic perspective view of the Z-direction track beam of the heavy-duty intelligent carrying traveling crane of the present invention;
FIG. 12 is a schematic view of the internal structure of the downward actuator of the heavy-duty intelligent carrying traveling crane of the present invention;
in the figure: 11. an X-direction track beam, 12, a first guide rail, 13, a first limit switch, 141, a first gear, 142, a first rack, 143, a first servo motor, 144, a coupler, 21, a Y-direction track beam, 22, a first slider, 23, a second guide rail, 24, a second limit switch, 251, a second gear, 252, a second rack, 253, a second servo motor, 31, a Z-direction track beam, 32, a second slider, 33, a third slider, 34, a third guide rail, 37, a lifting rack, 381, a third servo motor, 382, a roller, 383, a hanging chain, 384, a motor base, 41, a descending limit switch, 42, a descending touch actuator, 421, a support, 422, a spring, 423, a trigger rod, 4231, a first flange, 4232, a second flange, 51, a stand column, 52, a lacing wire, 6, a connecting disc, 7, a clamp, 71, a clamp body, 72, a tank, 73, an electromagnet, 8, a chain, 9. and (5) a workpiece.
Detailed Description
Examples
As shown in fig. 1 to 12, the heavy-duty intelligent carrying trolley comprises an X-direction track beam 11, a Y-direction track beam 21 and a Z-direction track beam 31 which are perpendicular to each other, wherein the Z-direction is towards the vertical direction, the X-direction track beam 11 is supported by a plurality of upright posts 51, the upright posts 51 are fixedly connected with the X-direction track beam 11 through bolts, the plurality of upright posts 51 are sequentially arranged along the length direction of the X-direction track beam 11, tie bars 52 are crosswise arranged between adjacent upright posts 51, the tie bars 52 are fixedly connected with the upright posts 51 through bolts, the Y-direction track beam 21 is driven by a first driving mechanism to move along the X-direction track beam 11, the Z-direction track beam 31 is driven by a second driving mechanism to move along the Y-direction track beam 21, a lifting frame 37 is slidably arranged on the Z-direction track beam 31, and the lifting frame 37 is driven by a third driving mechanism to move along the Z-; as shown in fig. 6, tank chains 8 for protecting cables are arranged on the X-direction track beam 11 and the Y-direction track beam 21;
in order to improve the movement stability and the positioning accuracy of the transporting vehicle, as shown in fig. 2, 3, 5 and 11, the first driving mechanism includes a first gear 141, a first rack 142 and a first servo motor 143 disposed on the Y-direction track beam 21, the first rack 142 is fixedly disposed on the X-direction track beam 11, the first servo motor 143 is in transmission connection with the first gear 141 through a coupling 144, and the first gear 141 is engaged with the first rack 142; the second driving mechanism comprises a second gear 251, a second rack 252 and a second servo motor 253 arranged on the Z-direction track beam 31, the second rack 252 is fixedly arranged on the Y-direction track beam 21, the second servo motor 253 is in transmission connection with the second gear 251, and the second gear 251 is meshed with the second rack 252; the third driving mechanism comprises a roller 382, a sling chain 383 and a third servo motor 381, the third servo motor 381 is arranged on the Z-direction track beam 31 through a motor seat 384, the roller 382 is in transmission connection with the third servo motor 381, one end of the sling chain 383 is wound on the roller 382, and the other end of the sling chain 383 is fixedly connected with the lifting frame 37; the first servo motor 143, the second servo motor 253 and the third servo motor 381 are absolute value encoder servo motors;
in order to improve the stability and the moving precision of the transporting vehicle, as shown in fig. 2, 3, 5 and 11, a first guide rail 12 is fixedly arranged on the X-direction track beam 11 along the length direction thereof, and a first slide block 22 in sliding fit with the first guide rail 12 is fixedly arranged on the Y-direction track beam 21; a second guide rail 23 is fixedly arranged on the Y-direction track beam 21 along the length direction of the Y-direction track beam, and a second sliding block 32 in sliding fit with the second guide rail 23 is fixedly arranged on the Z-direction track beam 31; a third guide rail 34 is fixedly arranged on the lifting frame 37 along the Z direction, and a third sliding block 33 in sliding fit with the third guide rail 34 is fixedly arranged on the Z-direction track beam 31;
in order to limit the travel of the transporting trolley and improve the safety performance of the transporting trolley, as shown in fig. 3, 5, 6, 7 and 9, two ends of the X-direction track beam 11 are respectively provided with a first limit switch 13 for limiting the Y-direction track beam 21; two ends of the Y-direction track beam 21 are respectively provided with a second limit switch 24 for limiting the Z-direction track beam 31; a photoelectric switch is arranged on the Z-direction track beam 31, and a third limit switch matched with the photoelectric switch is arranged at the bottom end of the lifting frame 37 and used for limiting the lifting position of the lifting frame 37;
as shown in fig. 11 and 12, a downward limit switch 41 and a downward trigger 42 which are matched with each other are arranged at the bottom end of the lifting frame 37, the downward trigger 42 moves close to or away from the downward limit switch 41, the downward limit switch 41 is electrically connected with a third servo motor 381, and when the downward trigger 42 contacts the workpiece 9 to be carried, the downward trigger 42 moves close to the downward limit switch 41 to trigger the downward limit switch 41, so as to control the third servo motor 381 to stop; specifically, the descending trigger 42 includes a support 421, an elastic element and a trigger rod 423, the support 421 is fixedly arranged at the bottom end of the lifting frame 37, the trigger rod 423 slides through the support 421 along the Z direction, a first flange 4231 radially extends from one end of the trigger rod 423 close to the descending limit switch 41, a second flange 4232 radially extends from one end of the trigger rod 423 far away from the descending limit switch 41, the elastic element is located between the support 421 and the second flange 4232, the elastic element is a spring 422, the spring 422 is sleeved on the trigger rod 423, and when the second flange 4232 contacts the workpiece 9 to be conveyed, the workpiece 9 pushes the trigger rod 423 to move towards the descending limit switch 41 to trigger the descending limit switch 41, so as to control the third servo motor 381 to stop; when the workpiece 9 is separated from the trigger rod 423, the elastic element drives the trigger rod 423 to separate from the downlink limit switch 41 for movement and reset;
as shown in fig. 8 to 10, the bottom end of the lifting frame 37 is fixedly provided with a fixture 7 through a connecting disc 6, for convenience of assembly, a downlink limit switch 41 and a downlink actuator 42 can be arranged on the connecting disc 6, for convenience of controlling the ascending position of the fixture 7, a third limit switch can be arranged on a fixture body 71, the fixture 7 comprises a fixture body 71, a plurality of buffer members are fixedly arranged at the bottom end of the fixture body 71, and grabbing members for sucking the workpiece 9 are fixedly connected to the buffer members; the buffer part is a steel wire rope 72, the grabbing part is an electromagnet 73, and when the electromagnet 73 is electrified, the workpiece 9 to be carried is sucked; the specific form of the gripper 7 can of course be selected according to the type of workpiece 9 to be handled.
In order to ensure the assembly accuracy of the carrying trolley, each mounting surface is machined.
The working principle is as follows:
firstly, the first servo motor 143 drives the Y-direction track beam 21 to move along the X-direction track beam 11, the second servo motor 253 drives the Z-direction track beam 31 to move along the Y-direction track beam 21, when the clamp 7 moves right above the workpiece 9 to be carried, the third servo motor 381 drives the roller 382 to rotate and release the lifting chain 383, the lifting frame 37 descends along the Z-direction track beam 31 along with the release of the lifting chain 383, when the second flange 4232 contacts the workpiece 9 to be carried, the workpiece 9 to be carried pushes the trigger rod 423 to move towards the descending limit switch 41 to trigger the descending limit switch 41, the descending limit switch 41 controls the third servo motor 381 to stop, the clamp 7 stops moving downwards, at the moment, the electromagnet 73 is electrified to absorb the workpiece 9 to be carried, after the electromagnet 73 absorbs the workpiece 9, the third servo motor 381 drives the roller 382 to rotate and recover the lifting chain 383, the lifting frame 37 ascends along the Z-direction track beam 31 along with the recovery of the lifting chain, when the clamp 7 rises to a preset position, the photoelectric switch and the third limit switch are matched to control the third servo motor 381 to stop, the first servo motor 143 drives the Y-direction track beam 21 to move along the X-direction track beam 11, the second servo motor 253 drives the Z-direction track beam 31 to move along the Y-direction track beam 21, when the clamp 7 drives the workpiece 9 to be carried to move to an automatic processing unit of the next process, the third servo motor 381 drives the roller 382 to rotate to release the sling 383, the lifting frame 37 descends along the Z-direction track beam 31 along with the release of the sling 383, when the workpiece 9 is placed to a specified position, the electromagnet 73 loses power and is separated from the workpiece 9, the third servo motor 381 drives the roller 382 to rotate to recover the sling 383, the lifting frame 37 ascends along the Z-direction track beam 31 to be reset along with the recovery of the sling 383, the trigger rod 423 is separated from the workpiece 9 at the moment, the spring 422 drives the trigger rod 423 to be reset, the first servo motor 143 drives the Y-direction track beam 21 to move along the X-direction track beam 11 for resetting, and the second servo motor 253 drives the Z-direction track beam 31 to move along the Y-direction track beam 21 for resetting.
Claims (10)
1. The utility model provides a heavy load intelligence transport driving, its characterized in that: the lifting mechanism comprises an X-direction track beam (11), a Y-direction track beam (21) and a Z-direction track beam (31) which are perpendicular to each other, wherein the Y-direction track beam (21) is driven by a first driving mechanism to move along the X-direction track beam (11), the Z-direction track beam (31) is driven by a second driving mechanism to move along the Y-direction track beam (21), a lifting frame (37) is arranged on the Z-direction track beam (31) in a sliding manner, and the lifting frame (37) is driven by a third driving mechanism to move along the Z-direction track beam (31); the third driving mechanism comprises a roller (382), a hanging chain (383) and a third servo motor (381) arranged on the Z-direction track beam (31), the roller (382) is in transmission connection with the third servo motor (381), one end of the hanging chain (383) is wound on the roller (382), and the other end of the hanging chain (383) is fixedly connected with the lifting frame (37);
the bottom of crane (37) is provided with descending limit switch (41) and lower trigger (42) of mutually supporting, lower trigger (42) are close to or keep away from down limit switch (41) motion, down limit switch (41) are connected with third servo motor (381) electricity, work as when lower trigger (42) contact and treat to carry work piece (9), down trigger (42) are close to down limit switch (41) motion and trigger down limit switch (41) for control third servo motor (381) stops.
2. The heavy-duty intelligent handling vehicle of claim 1, wherein: the first driving mechanism comprises a first gear (141), a first rack (142) and a first servo motor (143) arranged on the Y-direction track beam (21), the first rack (142) is fixedly arranged on the X-direction track beam (11), the first servo motor (143) is in transmission connection with the first gear (141), and the first gear (141) is meshed with the first rack (142); the second driving mechanism comprises a second gear (251), a second rack (252) and a second servo motor (253) arranged on the Z-direction track beam (31), the second rack (252) is fixedly arranged on the Y-direction track beam (21), the second servo motor (253) is in transmission connection with the second gear (251), and the second gear (251) is meshed with the second rack (252).
3. The heavy-duty intelligent handling vehicle of claim 2, wherein: the first servo motor (143), the second servo motor (253) and the third servo motor (381) are absolute value encoder servo motors.
4. The heavy-duty intelligent handling vehicle of claim 1, 2 or 3, wherein: a first guide rail (12) is fixedly arranged on the X-direction track beam (11) along the length direction of the X-direction track beam, and a first sliding block (22) in sliding fit with the first guide rail (12) is fixedly arranged on the Y-direction track beam (21); a second guide rail (23) is fixedly arranged on the Y-direction track beam (21) along the length direction of the Y-direction track beam, and a second sliding block (32) in sliding fit with the second guide rail (23) is fixedly arranged on the Z-direction track beam (31); and a third guide rail (34) is fixedly arranged on the lifting frame (37) along the Z direction, and a third sliding block (33) in sliding fit with the third guide rail (34) is fixedly arranged on the Z-direction track beam (31).
5. The heavy-duty intelligent handling vehicle of claim 1, 2 or 3, wherein: the descending trigger (42) comprises a support (421), an elastic element and a trigger rod (423), the support (421) is fixedly arranged at the bottom end of the lifting frame (37), the trigger rod (423) slides along the Z direction to penetrate through the support (421), a first flange (4231) radially extends from one end, close to the descending limit switch (41), of the trigger rod (423), a second flange (4232) radially extends from one end, far away from the descending limit switch (41), of the trigger rod (423), and the elastic element is located between the support (421) and the second flange (4232).
6. The heavy-duty intelligent handling vehicle of claim 5, wherein: the elastic element is a spring (422), and the spring (422) is sleeved on the trigger rod (423).
7. The heavy-duty intelligent handling vehicle of claim 1, wherein: two ends of the X-direction track beam (11) are respectively provided with a first limit switch (13) for limiting the Y-direction track beam (21); two ends of the Y-direction track beam (21) are respectively provided with a second limit switch (24) for limiting the Z-direction track beam (31); and a photoelectric switch is arranged on the Z-direction track beam (31), and a third limit switch matched with the photoelectric switch is arranged at the bottom end of the lifting frame (37) and used for limiting the lifting position of the lifting frame (37).
8. The heavy-duty intelligent handling vehicle of claim 1, wherein: the X is to track roof beam (11) by a plurality of stands (51) support, and a plurality of stand (51) are arranged along the length direction of X to track roof beam (11) in proper order, and adjacent alternately be provided with lacing wire (52) between stand (51).
9. The heavy-duty intelligent handling vehicle of claim 1, wherein: the bottom of crane (37) is provided with anchor clamps (7) through connection pad (6) is fixed, anchor clamps (7) include anchor clamps body (71), the bottom mounting of anchor clamps body (71) is provided with a plurality of bolster, fixedly connected with is used for absorbing the piece that snatchs of work piece (9) on the bolster.
10. The heavy-duty intelligent handling vehicle of claim 9, wherein: the buffer piece is a rope (72), and the grabbing piece is an electromagnet (73).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920616472.8U CN210313219U (en) | 2019-04-30 | 2019-04-30 | Heavy-load intelligent carrying travelling crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920616472.8U CN210313219U (en) | 2019-04-30 | 2019-04-30 | Heavy-load intelligent carrying travelling crane |
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| Publication Number | Publication Date |
|---|---|
| CN210313219U true CN210313219U (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920616472.8U Expired - Fee Related CN210313219U (en) | 2019-04-30 | 2019-04-30 | Heavy-load intelligent carrying travelling crane |
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| CN (1) | CN210313219U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111847261A (en) * | 2019-04-30 | 2020-10-30 | 江苏金猫机器人科技有限公司 | Heavy-load intelligent carrying travelling crane |
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2019
- 2019-04-30 CN CN201920616472.8U patent/CN210313219U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111847261A (en) * | 2019-04-30 | 2020-10-30 | 江苏金猫机器人科技有限公司 | Heavy-load intelligent carrying travelling crane |
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Granted publication date: 20200414 |