CN219606668U - Lifting type mobile platform - Google Patents
Lifting type mobile platform Download PDFInfo
- Publication number
- CN219606668U CN219606668U CN202321280422.XU CN202321280422U CN219606668U CN 219606668 U CN219606668 U CN 219606668U CN 202321280422 U CN202321280422 U CN 202321280422U CN 219606668 U CN219606668 U CN 219606668U
- Authority
- CN
- China
- Prior art keywords
- lifting
- connecting rod
- platform
- elevating
- mobile platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The utility model discloses a lifting type mobile platform, which comprises a mobile device and a lifting device, wherein the lifting device is arranged on the mobile device in a lifting manner and is used for carrying a working mechanism; a centering component which keeps the vertical centering of the lifting device in the lifting process is arranged between the moving device and the lifting device; the lifting device is provided with at least one supporting column, and the supporting column is positioned at least one outer side of the moving device and vertically supports the moving device. According to the lifting type mobile platform, through the cooperation of the mobile device and the lifting device, the operation mechanism carried on the lifting type mobile platform can reach the corresponding operation position and action height, and manual operation is replaced; the lifting device has good vertical centering and stability in the lifting process, and can prevent deviation.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a lifting type mobile platform.
Background
Under certain special working environments, such as severe environments of strong radiation, high temperature, low temperature and the like, the manual operation has great potential safety hazards and high labor cost. In this regard, it is highly demanded to complete the related work by a robot instead of a human.
The special working environment, especially the underwater environment of nuclear power plant, has certain foreign matter adhering to the surface of various facilities, especially the end plug of conduit with hole structure, such as thermocouple end plug, and other parts. In order to ensure the accuracy of the inner diameter of the conduit end plug and further ensure the normal plugging and unplugging of the thermocouple, an underwater robot is required to be used as a platform carrying operation mechanism to grind and dredge the inner hole of the conduit end plug underwater.
The current underwater robots are mostly lifted by cross rods or guide chains, swing is easy to generate in an underwater environment, and due to the fact that the inner hole of the end plug of the guide pipe is small, even small swing can drive the operation mechanism to deviate, the centering of the operation mechanism and the end plug of the guide pipe is affected, and then the grinding efficiency and the grinding effect are affected.
Disclosure of Invention
The utility model aims to provide a lifting type mobile platform which can be used for carrying various operation mechanisms and realizing stable centering.
The technical scheme adopted for solving the technical problems is as follows: the lifting type mobile platform comprises a mobile device and a lifting device, wherein the lifting device is arranged on the mobile device in a lifting manner and is used for carrying a working mechanism;
a centering component which keeps the vertical centering of the lifting device in the lifting process is arranged between the moving device and the lifting device, the lifting device is provided with at least one support column, and the support column is positioned at least one outer side of the moving device and vertically supports the moving device;
the centering component comprises a guide post and a lifting shaft which are matched with each other; one of the guide post and the lifting shaft is arranged on the moving device, and the other is arranged on the lifting device; the lifting shaft is connected in the guide post in a penetrating way and can move up and down along the axis of the guide post.
Preferably, in the centering assembly, the guide post is vertically connected to a bottom surface of the moving device facing the lifting device, and the lifting shaft is vertically connected to the lifting device and is opposite to the guide post on the moving device.
Preferably, the lifting device comprises a lifting main body and at least one set of connecting rod lifting mechanism;
the connecting rod lifting mechanism is arranged on at least one side of the lifting main body and positioned on the moving device, and drives the lifting main body to lift relative to the moving device.
Preferably, the link lifting mechanism comprises a screw rod horizontally arranged on the moving device, a moving support matched with the screw rod, at least one link assembly connected between the moving support and the lifting main body, and a driving unit connected with and driving the screw rod to rotate;
the movable support can move back and forth along the screw rod in the axial direction to drive the connecting rod assembly to rotate, so that the lifting main body is driven to lift relative to the movable device; the support column is connected to one side of the movable support through a rotating rod.
Preferably, the lifting main body comprises a supporting platform for carrying a working mechanism and an intermediate platform arranged below the supporting platform;
the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod; the first connecting rod is connected between the movable support and the middle platform and can rotate relative to the movable support and the middle platform; the first end of the second connecting rod is rotatably connected with the first end of the third connecting rod, the second end of the second connecting rod is rotatably connected with the middle platform, the second end of the third connecting rod is rotatably connected with the supporting platform, and the second end of the second connecting rod is connected with the first connecting rod through a gear assembly in a linkage mode.
Preferably, the driving unit comprises a driving motor, the driving motor is accommodated in the moving device, and an output shaft of the driving motor is connected with the screw rod through a linkage gear.
Preferably, the moving device comprises a vehicle body, wheels arranged on the vehicle body, and a driving mechanism arranged on the vehicle body and connected with the wheels for driving the wheels to rotate;
the vehicle body is provided with an open cavity, and the lifting device is correspondingly arranged above the cavity.
Preferably, the wheel is a Mecanum wheel.
Preferably, four mutually symmetrical Mecanum wheels are arranged on the vehicle body, and each Mecanum wheel is driven by one driving mechanism.
Preferably, the mobile device further comprises a camera arranged on the vehicle body.
The utility model has the beneficial effects that: the operation mechanism carried on the movable device can reach the corresponding operation position and action height through the cooperation of the movable device and the lifting device, so that manual operation is replaced; the lifting device has good vertical centering and stability in the lifting process, and can prevent deviation.
The lifting type mobile platform has good environment and operation applicability, meets the operation under various special environments, can carry different operation mechanisms to finish different operation contents, and can realize remote control.
Drawings
The utility model will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of a lifting platform according to an embodiment of the utility model;
FIG. 2 is a schematic diagram of a mobile device in a lifting platform according to an embodiment of the utility model;
FIG. 3 is a schematic diagram illustrating a lifting device of a lifting platform according to an embodiment of the utility model;
fig. 4 is a schematic view of a lifting type mobile platform carrying an end plug grinding mechanism according to an embodiment of the present utility model.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present utility model, a detailed description of embodiments of the present utility model will be made with reference to the accompanying drawings.
As shown in fig. 1 to 3, the lifting type mobile platform according to an embodiment of the present utility model, which can include a moving device 10 and a lifting device 20, is used as a robot to perform work instead of a human. The mobile device 10 is used for realizing the movement of the whole lifting type mobile platform in a working occasion; the lifting device 20 is disposed on the moving device 10, and is used for carrying various working mechanisms (such as a grinding mechanism and the like) to realize the moving application of the working mechanisms in various working occasions. And the lifting device 20 can lift relative to the moving device 10, so as to drive the operation mechanism on the lifting device to lift, thereby meeting the working demands of different heights.
The mobile device 10 may include a vehicle body 11, wheels 12, a driving mechanism 13, a camera (not shown), and the like. Wheels 12 are provided on the vehicle body 11, generally at the lower end of the vehicle body 11, and function as a rollably supported vehicle body 11 that moves on the ground. The driving mechanism 13 is arranged on the vehicle body 11 and connected with the wheels 12, and drives the wheels 12 to rotate so as to realize the movement of the moving device 10 on the ground.
To accommodate movement of the mobile device 10 in all directions, including forward, lateral, sideways, and rotational, the wheels 12 are preferably Mecanum wheels that have greater friction with the ground than conventional wheels and are less prone to slipping. Corresponding to the selection of the Mecanum wheels, four Mecanum wheels which are symmetrical with each other are arranged on the vehicle body 11, so that the vehicle body 11 can move forwards, transversely move, incline and rotate. Each of the Mecanum wheels is driven by a drive mechanism 13, each Mecanum wheel being individually controllable.
The driving mechanism 13 may include a servo motor mounted on the underside of the vehicle body 11 through a motor bracket 131, and an output shaft of the servo motor is connected to the wheels 12. One end of each motor bracket 131 is connected with the vehicle body 11 through a pin shaft, the opposite end is connected with the vehicle body 11 through a spring 132, and the arrangement of the spring 132 has a certain damping effect on the driving mechanism 13 and the wheels 12 connected with the driving mechanism.
One or more cameras can be arranged and installed at the position of the car body 11 corresponding to the moving direction of the car body, and the position of the mobile device 10 is shot, so that the staff can conveniently master and monitor in real time.
The lifting device 20 is provided on the moving device 10 and moves with the moving device 10. In the embodiment shown in fig. 1 and 2, an open chamber 100 is provided in the middle of the vehicle body 11 of the mobile device 10, and the lifting device 20 is located above the chamber 100. The chamber 100 is configured to provide a space for accommodating a working mechanism mounted on the lifting device 20, for example, for some working mechanisms having a certain height, the lower end of the working mechanism mounted on the lifting device 20 may be suspended in the chamber 100 of the vehicle body 11.
The moving device 10 is used as a moving carrier of the lifting device 20 and also used as a supporting carrier of the lifting device 20, and a centering component is arranged between the moving device 10 and the lifting device 20 in order to keep the vertical centering of the lifting device 20 in the lifting process relative to the moving device 10.
Alternatively, the centering assembly may include correspondingly disposed guide posts 31 and lift shafts 32. One of the guide post 31 and the elevation shaft 32 is vertically provided on the moving device 10, and the other of the guide post 31 and the elevation shaft 32 is vertically provided on the elevation device 20; the lifting shaft 32 is inserted into the guide post 31 and can move up and down along the axis of the guide post 31.
Specifically, in the embodiment shown in fig. 1-3, the guide posts 31 are disposed on the mobile device 10, and in particular, vertically disposed on the bottom surface of the chamber 100 of the body 11 of the mobile device 10. The elevation shaft 32 is vertically extended on the elevation device 20 and is diametrically opposite to the guide post 31. The elevating shaft 32 is penetrated into the central passage of the guide post 31 and is movable up and down along the axis of the guide post 31. When the lifting device 20 performs the lifting operation with respect to the moving device 10, the lifting shaft 32 also moves up and down along the guide column 31, and the lower end portion of the lifting shaft 32 is held in the guide column 31 so as not to be separated from the guide column 31.
Of course, in other embodiments, the positions of the guide post 31 and the lifting shaft 32 are interchanged, for example, the lifting shaft 32 may be vertically disposed on the bottom surface of the chamber 100 of the vehicle body 11 of the mobile device 10, and the guide post 31 may be vertically extended on the lifting device 20 and directly opposite to the guide post 31.
The lifting device 20 is provided with at least one supporting column 33, the supporting column 33 is positioned on at least one outer side of the moving device 10 and vertically supports, and after the whole lifting type moving platform moves to a working occasion, the supporting column 33 is positioned on the ground through the vertical support, so that the lifting type moving platform is ensured to have good stability during operation.
Support column 33 is remotely operated by selecting a remotely adjustable support column.
As shown in fig. 1 and 3, the lifting device 20 may include a lifting body 21 and two sets of link lifting mechanisms 22. Two sets of link lifting mechanisms 22 are respectively arranged on two opposite sides of the lifting main body 21 and are positioned on the moving device 10, and are used for driving the lifting main body 21 to lift relative to the moving device 10.
The link lift mechanism 22 may further include a lead screw 221, a movable support 222, at least one link assembly 220, and a driving unit 223. Wherein, the screw 221 is horizontally disposed on the moving device 10, opposite ends thereof can be supported on the moving device 10 through the supporting seats 2210, respectively, and can rotate relative to the moving device 10 and the supporting seats 2210. The driving unit 223 serves as a power unit, and is connected to and drives the screw 221 to rotate. The driving unit 223 includes a driving motor which can be accommodated in the vehicle body 11 of the moving device 10, and an output shaft of the driving motor is connected to the screw 221 through a coupling gear. The driving motor further can adopt a servo motor to realize accurate control on rotation of the screw 221.
The movable support 222 is fitted on the screw 221, and the support column 33 is connected to one side of the movable support 222 through a rotation lever 331. After the moving device 10 is positioned on the ground or the like, the support column 33 is supported on the ground to form a fixed point, and when the screw 221 rotates, the screw 221 is in threaded fit with the moving support 222 to convert the rotary motion of the screw 221 into the linear motion of the moving support 222, so that the moving support 222 is driven to move back and forth along the axial direction of the screw 221. The support column 33 is connected to the movable support 222 through the rotating rod 331, so that when the movable support 222 moves axially along the screw 221, the rotating rod 331 rotates by a corresponding angle along with the movement of the movable support 222, while the support column 33 remains stationary.
The link assembly 220 is connected between the movable support 222 and the lifting body 21, and when the movable support 222 moves axially along the screw 221, the link assembly 220 is driven to rotate, so as to drive the lifting body 21 above to lift.
In the present embodiment, as shown in fig. 3, the elevating body 21 includes a support platform 211 and an intermediate platform 212 disposed up and down. The support platform 211 is located at the uppermost side of the lifting body 21, and is used for mounting a work mechanism. The middle platform 212 is below the supporting platform 211, and plays a role of middle connection support, and can be used for auxiliary support of a working mechanism.
The middle parts of the supporting platform 211 and the middle platform 212 can be respectively provided with a yielding hole, so that the cooperation and the fixation of an operation mechanism are facilitated.
Corresponding to the two platform arrangement of the lifting body 21, the linkage assembly may comprise two-stage links, the first stage link being connected between the mobile support 222 and the intermediate platform 212, and the second stage link being connected between the intermediate platform 212 and the support platform 211, such that the lifting body 21 has a two-stage lifting height, which can accommodate the larger lifting height requirement.
Specifically, the link assembly 220 may include a first link 231, a second link 232, and a third link 233.
The first link 231 serves as a first stage link that is connected between the movable support 222 and the intermediate platform 212, and the first link 231 is rotatable with respect to the movable support 222 and the intermediate platform 212. When the first link 231 is rotated to the vertical state, there is a maximum separation distance between the intermediate platform 212 and the movable support 222, and vice versa.
The second link 232 and the third link 233 serve as second-stage links connected between the intermediate platform 212 and the support platform 211. Wherein, the first end of the second link 232 is rotatably connected to the first end of the third link 233, the second end of the second link 232 is rotatably connected to the middle platform 212, and the second end of the third link 233 is rotatably connected to the support platform 211. When the second link 232 and the third link 233 are rotated to the vertical state, the intermediate platform 212 and the support platform 211 have the maximum separation distance therebetween, and vice versa. In addition, in order to realize the linkage connection of the second-stage connecting rod and the first-stage connecting rod, the first connecting rod 231 rotates to drive the second connecting rod 232 to rotate, and the second end of the second connecting rod 232 is in linkage connection with the first connecting rod 231 through the gear assembly 234. For example, in fig. 3, the gear assembly 234 includes two gears, one gear coupled to an end of the first link 231 facing the intermediate platform 212 and the other gear coupled to a second end of the second link 232, the two gears being supported on and engaged with the intermediate platform 212 by the connection base 2340. Thus, the rotation of the first connecting rod 231 drives the gears on the first connecting rod to synchronously rotate, and the meshing between the gears drives the gears on the second connecting rod 232 to synchronously rotate, so that the second connecting rod 232 is driven to rotate; the second link 232 rotates to also drive the third link 233 to rotate.
It will be appreciated that, in order to achieve a stable and balanced connection of the lifting body 21 above the mobile support 222, the first stage links between the intermediate platform 212 and the mobile support 222 are preferably provided in two or more groups, and the second stage links between the intermediate platform 212 and the support platform 211 are preferably provided in two or more groups. In addition, the number of first stage linkages may be greater than the number of second stage linkages, each having a first stage linkage attached thereto, with the excess first stage linkages being used as an aid to enhance the stability of the connection between intermediate platform 212 and mobile support 222.
In addition, the two sets of link lifters 22 on opposite sides of the lifter body 21 may be identical or different. For example, the two sets of link lifting mechanisms 22 drive the movable support 222 to move back and forth along the axial direction of the screw 221 through the cooperation of the driving unit 223 and the screw 221 respectively. Alternatively, the set of link lifting mechanism 22 is used as an active lifting mechanism, and the driving unit 223 and the lead screw 221 are matched to drive the movable support 222 to move back and forth along the axial direction of the lead screw 221; the other set of connecting rod lifting mechanism 22 is used as a driven lifting mechanism, wherein a linear guide rail 224 is used for replacing a lead screw to be matched with the movable support 222, and a driving unit is not required to be arranged; when the driving lifting mechanism is started to drive the movable support 222 to move back and forth, the lifting main body 21 drives the movable support 222 of the other set of driven lifting mechanism to move back and forth along the linear guide rail 224, so that the lifting main body 21 can be lifted or lowered horizontally.
Two sets of link lifting mechanisms 22 are respectively arranged on two opposite sides of the lifting main body 21 and are positioned on the moving device 10, and are used for driving the lifting main body 21 to lift relative to the moving device 10.
The use of the elevating mobile platform of the present utility model will be further described with respect to the installation of an end plug grinding mechanism in a nuclear power plant.
Referring to fig. 2-4, end plug grinding mechanism 300 is vertically mounted in lifting body 21 of lifting device 20. The grinding body of the end plug grinding mechanism 300 is mainly positioned on the supporting platform 211, and the driving unit of the end plug grinding mechanism 300 is downward and suspended in the relief hole of the middle platform 212.
When the carrying end plug grinding mechanism 300 grinds an end plug, the lifting type moving platform is controlled by a remote terminal or a control platform: first, the entire lifting platform is moved to below the end plugs by the moving means 10, and positioning of the entire lifting platform is achieved by supporting positioning of the support columns 33 on the ground. Then, the end plug grinding mechanism 300 thereon is lifted up to approach the end plug to be ground by the lifting movement of the lifting device 20, based on the height at which the grinding body of the end plug grinding mechanism 300 can grind the end plug. In the grinding process, the lifting device 20 can also perform height fine adjustment according to the grinding progress of the end plug, so as to meet the grinding requirements of different height positions of the end plug.
The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.
Claims (10)
1. The lifting type mobile platform is characterized by comprising a mobile device and a lifting device which is arranged on the mobile device in a lifting manner and is used for carrying a working mechanism;
a centering component which keeps the vertical centering of the lifting device in the lifting process is arranged between the moving device and the lifting device, the lifting device is provided with at least one support column, and the support column is positioned at least one outer side of the moving device and vertically supports the moving device;
the centering component comprises a guide post and a lifting shaft which are matched with each other; one of the guide post and the lifting shaft is arranged on the moving device, and the other is arranged on the lifting device; the lifting shaft is connected in the guide post in a penetrating way and can move up and down along the axis of the guide post.
2. The elevating mobile platform as set forth in claim 1, wherein said guide post is vertically connected to a bottom surface of said mobile device facing said elevating device in said centering assembly, and said elevating shaft is vertically connected to said elevating device and is directly opposite to said guide post on said mobile device.
3. The elevating mobile platform as set forth in claim 1, wherein the elevating device comprises an elevating body and at least one set of link elevating mechanism;
the connecting rod lifting mechanism is arranged on at least one side of the lifting main body and positioned on the moving device, and drives the lifting main body to lift relative to the moving device.
4. A lifting mobile platform according to claim 3, wherein the link lifting mechanism comprises a screw rod horizontally arranged on the moving device, a moving support matched on the screw rod, at least one link assembly connected between the moving support and a lifting main body, and a driving unit connected with and driving the screw rod to rotate;
the movable support can move back and forth along the screw rod in the axial direction to drive the connecting rod assembly to rotate, so that the lifting main body is driven to lift relative to the movable device; the support column is connected to one side of the movable support through a rotating rod.
5. The lifting mobile platform according to claim 4, wherein the lifting body comprises a support platform for carrying a working mechanism, and an intermediate platform disposed below the support platform;
the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod; the first connecting rod is connected between the movable support and the middle platform and can rotate relative to the movable support and the middle platform; the first end of the second connecting rod is rotatably connected with the first end of the third connecting rod, the second end of the second connecting rod is rotatably connected with the middle platform, the second end of the third connecting rod is rotatably connected with the supporting platform, and the second end of the second connecting rod is connected with the first connecting rod through a gear assembly in a linkage mode.
6. The elevating mobile platform according to claim 4, wherein the driving unit comprises a driving motor, the driving motor is accommodated in the moving device, and an output shaft of the driving motor is connected with the screw rod through a linkage gear.
7. The elevating mobile platform according to any one of claims 1 to 6, wherein the mobile device comprises a vehicle body, wheels provided on the vehicle body, and a driving mechanism provided on the vehicle body and connected to drive the wheels to rotate;
the vehicle body is provided with an open cavity, and the lifting device is correspondingly arranged above the cavity.
8. The elevating mobile platform according to claim 7, wherein the wheels are mecanum wheels.
9. The elevating mobile platform as set forth in claim 8, wherein four mutually symmetrical mecanum wheels are provided on the vehicle body, each mecanum wheel being driven by one of the driving mechanisms.
10. The elevating mobile platform according to claim 7, wherein the mobile device further comprises a camera disposed on the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321280422.XU CN219606668U (en) | 2023-05-24 | 2023-05-24 | Lifting type mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321280422.XU CN219606668U (en) | 2023-05-24 | 2023-05-24 | Lifting type mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219606668U true CN219606668U (en) | 2023-08-29 |
Family
ID=87754512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321280422.XU Active CN219606668U (en) | 2023-05-24 | 2023-05-24 | Lifting type mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219606668U (en) |
-
2023
- 2023-05-24 CN CN202321280422.XU patent/CN219606668U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109955049A (en) | A kind of vertical posture adjusting system can be used for large-scale assembly | |
| CN110666752B (en) | Combined deflection turntable with multiple working postures and combined mode | |
| CN202574633U (en) | Large high-precision large-inertia rotating and assembling mechanical arm system | |
| CN108163785A (en) | A kind of moveable attitude adjustment platform | |
| CN209412487U (en) | Sewing device is used in a kind of processing of slippers | |
| KR20090126501A (en) | Trolley for assembly of large size satellite | |
| CN113499903A (en) | Five-degree-of-freedom disinfection mechanical arm based on double-nozzle electric spray gun | |
| CN107775611B (en) | Cantilever type multi-shaft rotary table for spacecraft attitude adjustment | |
| CN111645737A (en) | Multifunctional transfer trolley | |
| CN107830358B (en) | Control device for electric adjusting bracket of accelerator | |
| CN212351904U (en) | Combined type displacement rotary table with multiple working postures | |
| CN219606668U (en) | Lifting type mobile platform | |
| CN109399330B (en) | Cable pay-off rack | |
| CN208716788U (en) | A kind of electric power overhaul platform that can stablize lifting | |
| CN110733027A (en) | welding robot without dead angle | |
| CN207645719U (en) | A kind of working at height robot auto-manual lifting gear | |
| CN109809322A (en) | A kind of chain type Lifting Equipment and its working method | |
| CN115741735A (en) | Multidimensional rigid-flexible coupling intelligent robot and control method thereof | |
| WO2021093610A1 (en) | Assembling and lifting mechanism for electric locomotive driving unit | |
| CN113929031A (en) | Mine lifting device with high safety performance | |
| CN211959138U (en) | Double-shaft linkage type photovoltaic tracking support | |
| CN210284440U (en) | Robot walking platform | |
| CN113894518A (en) | Top-mounted mechanism for assembling missile under airplane belly and control method thereof | |
| CN109095382B (en) | Battery frame lifting device convenient for electric automobile battery replacement | |
| CN111099517A (en) | Mobile lifting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |