CN106427733B - A kind of extraordinary handling transit vehicle - Google Patents
A kind of extraordinary handling transit vehicle Download PDFInfo
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- CN106427733B CN106427733B CN201611221060.1A CN201611221060A CN106427733B CN 106427733 B CN106427733 B CN 106427733B CN 201611221060 A CN201611221060 A CN 201611221060A CN 106427733 B CN106427733 B CN 106427733B
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- vehicle body
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- 230000033001 locomotion Effects 0.000 claims abstract description 56
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 27
- 239000012530 fluid Substances 0.000 claims abstract description 18
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 238000004088 simulation Methods 0.000 claims abstract description 9
- 210000000245 forearm Anatomy 0.000 claims description 45
- 239000000758 substrate Substances 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 229910000746 Structural steel Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims 1
- 230000009194 climbing Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 11
- 230000002262 irrigation Effects 0.000 description 7
- 238000003973 irrigation Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 2
- -1 3.10 Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/48—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above load-transporting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of extraordinary handling transit vehicles, including wheel undercarriage（1）, scaffold（2）, vehicle body moving assembly（3）, electric drive swivel component（4）, fluid pressure type lift leg assembly（5）, vehicle body pedestal（6）, loading body（7）, robot assemblies（8）And driver's cabin（9）；The wheel undercarriage（1）It is identical as typical wheel undercarriage structure on the market；The present invention is a kind of extraordinary handling transit vehicle, its mobile device combines the advantage that wheeled devices speed is fast and leg formula device obstacle climbing ability is strong, specified region can quickly be reached, pass through the coordinated movement of various economic factors of vehicle body moving assembly and sixdegree-of-freedom simulation, assist staff's handling goods, Windsor, ability to work are strong, efficient.
Description
Technical field
The present invention relates to a kind of extraordinary handling transit vehicle, specifically a kind of wheel leg type special type is loaded and unloaded transit vehicle, is belonged to
Vehicle research technical field.
Background technology
In existing vehicle movement technical solution, wheeled mobile device speed is fast but obstacle climbing ability is poor, leg formula mobile device
Obstacle climbing ability is strong but movement speed is slow；In addition, existing loading-unloading formula generally use is artificial, take time and effort, it is of high cost.
Invention content
In view of the above existing problems in the prior art, the present invention provides a kind of extraordinary handling transit vehicle, mobile devices
The advantage that wheeled devices speed is fast and leg formula device obstacle climbing ability is strong is combined, specified region can be quickly reached, pass through vehicle body
Staff's handling goods is assisted in the coordinated movement of various economic factors of moving assembly and sixdegree-of-freedom simulation, has the function of transhipment, Er Qieyun
Dynamic performance is good, and ability to work is strong, efficient.
To achieve the goals above, the technical solution adopted by the present invention is：A kind of extraordinary handling transit vehicle, including it is wheeled
Chassis, scaffold, vehicle body moving assembly, electric drive swivel component, fluid pressure type lift leg assembly, vehicle body pedestal, loading body, machine
Tool arm component and driver's cabin；Two sets of wheel undercarriages provide movement speed fast wheel type mobile side for special type handling transit vehicle
Formula, vehicle body moving assembly adjust the position of centre of gravity of extraordinary handling transit vehicle, and electric drive swivel component and fluid pressure type lift leg assembly
It provides obstacle climbing ability strong leg formula move mode for special type handling transit vehicle, has both that movement speed is fast and obstacle detouring to be combined into
The telecontrol equipment of strong two advantages of ability, quickly reaches designated position；Pass through the coordination of vehicle body moving assembly and robot assemblies
Movement, assistance staff's handling goods, Windsor, ability to work are strong, efficient；
The wheel undercarriage is identical as typical wheel undercarriage structure on the market, is only adjusted in the fitted position of part
It is whole；
The robot assemblies are mounted on by bolt at the top of driver's cabin, including one component of axis, two component of axis, three groups of axis
Part, four component of axis, five component of axis, six component of axis, mechanical arm is electrically held and gripper；One component of axis, two component of axis, three groups of axis
Part, four component of axis, five component of axis and six component of axis are sequentially connected, and are combined into sixdegree-of-freedom simulation, one element end of axis peace
Harness has the gripper of clamping function, mechanical arm electrically to hold external power supply and signal receiving/transmission device, can be by working to constitute
Personnel manipulate to assist the sixdegree-of-freedom simulation of its handling goods；
One component of axis includes pawl head, pawl head swivel bearing, pawl head electric rotating machine and pawl headstock；Pawl head electric rotating
Machine is embedded in the rectangular opening of pawl headstock and by the inner ring axially position of pawl head swivel bearing；The Internal and external cycle of pawl head swivel bearing respectively with
Pawl headstock is connected with pawl hook bolt；The output shaft of pawl head electric rotating machine is keyed with pawl head, and pawl head end connects with gripper bolt
It connects；The rotation band pawl head of pawl head electric rotating machine output shaft is rotated around pawl head electric rotating machine axis direction, that is, axis one, to realize
Rotation of the gripper around axis one；
Two component of axis includes pawl headstock electric motor end cap, pawl headstock electric rotating machine, pawl headstock swivel bearing and small
Arm；The Internal and external cycle of pawl headstock swivel bearing is bolted with pawl headstock and forearm respectively, the output shaft of pawl headstock electric rotating machine with
Pawl headstock is keyed；Pawl headstock electric motor end cap is fixed through periphery holes and small arm bolt, then through inner ring hole fixed jaw headstock electric rotating
Machine；The rotation band pawl headstock of pawl headstock electric rotating machine output shaft is rotated around pawl headstock electric rotating machine axis direction, that is, axis two, from
And realize rotation of one component of axis around axis two；
Three component of axis includes forearm rotary connector, forearm swivel bearing, forearm electric rotating machine and small arm seat；
The Internal and external cycle of forearm swivel bearing is bolted with forearm rotary connector and small arm seat respectively, forearm rotary connector it is another
End is bolted with forearm；Forearm electric rotating machine is embedded in the rectangular opening of small arm seat and axially fixed through the inner ring of forearm swivel bearing
Position, output shaft and the forearm rotary connector of forearm electric rotating machine are keyed；The rotation of forearm electric rotating machine output shaft drives small
Arm rotary connector is rotated around forearm electric rotating machine axis direction, that is, axis three, to realize rotation of two component of axis around axis three；
Four component of axis include small arm seat electric motor end cap, forearm seat rotating axis hold, small arm seat electric rotating machine and big
Arm；The Internal and external cycle that forearm seat rotating axis is held is bolted with small arm seat and large arm respectively, the output shaft of small arm seat electric rotating machine with
Small arm seat key connection；Small arm seat electric motor end cap is fixed through periphery holes and big arm bolt, then fixes small arm seat electric rotating through inner ring hole
Machine；The rotation of small arm seat electric rotating machine output shaft drives small arm seat to be rotated around small arm seat spin motor shaft line direction, that is, axis four, from
And realize rotation of three component of axis around axis four；
Five component of axis includes large arm electric motor end cap, large arm electric rotating machine, large arm swivel bearing and big arm seat；Greatly
The Internal and external cycle of arm swivel bearing is bolted with large arm and big arm seat respectively, and output shaft and the large arm key of large arm electric rotating machine connect
It connects；Large arm electric motor end cap is fixed through periphery holes and big arm seat bolt, then fixes large arm electric rotating machine through inner ring hole；Large arm electric rotating
The rotation of machine output shaft drives large arm to be rotated around large arm electric rotating machine axis direction, that is, axis five, to realize four component of axis around axis five
Rotation；
Six component of axis include big arm seat rotary connector, large arm seat rotating axis hold, mechanical arm pedestal and large arm
Seat rotational deceleration motor；Mechanical arm pedestal is bolted on vehicle body, the Internal and external cycle that large arm seat rotating axis is held respectively with machine
Tool arm pedestal and big arm seat rotary connector are bolted, and the other end and the big arm seat of big arm seat rotary connector are bolted；
Big arm seat rotational deceleration motor is fixed on through bolt on mechanical arm pedestal, and output shaft is keyed with big arm seat rotary connector；
The rotation of big arm seat rotational deceleration motor output shaft drives big arm seat around big arm seat rotational deceleration electricity through big arm seat rotary connector
Machine axis direction, that is, axis six rotates, to realize rotation of five component of axis around axis six；
The gripper is mechanical fingers common on the market, can be corresponding with selection of dimension according to the shape of cargo
Type and model；
The vehicle body moving assembly includes vehicle body mobile motor, vehicle body mobile motor seat, vehicle body movement shaft coupling, vehicle body
Mobile drive block, vehicle body mobile connection part, vehicle body move linear slider, vehicle body moves ball-screw, vehicle body moves line slide rail,
Vehicle body moving substrate, vehicle body movement lead screw shaft bearings and vehicle body move leading screw bearing；Vehicle body mobile motor seat, vehicle body movement are straight
Line sliding rail and vehicle body movement lead screw shaft bearings are bolted on vehicle body moving substrate, vehicle body mobile motor and vehicle body
Mobile leading screw bearing is bolted on respectively on vehicle body mobile motor seat and vehicle body movement lead screw shaft bearings；Vehicle body movement connection
Axis device both ends are separately connected the output shaft of vehicle body movement ball-screw and vehicle body mobile motor, and vehicle body moves the another of ball-screw
The inner ring tight fit at end and vehicle body movement leading screw bearing；Loading body and driver's cabin are bolted on vehicle body pedestal,
Vehicle body pedestal both sides move linear slider with four vehicle bodies by bolt and are connected, intermediate solid by bolt and vehicle body mobile connection part
Fixed, vehicle body mobile connection part is fixed with vehicle body movement drive block bolt again；Vehicle body moves the inner ring of drive block and vehicle body movement is rolled
Ballscrew screw-thread fit, the rotation of vehicle body mobile motor output shaft are converted to vehicle body movement drive block by ball-screw-transmission
Moving for ball-screw axis direction is moved along vehicle body, to realize the cross of loading body and driver's cabin on vehicle body moving substrate
To linear motion；On the one hand its position of centre of gravity is adjusted flexibly in special type loads and unloads transit vehicle motion process in vehicle body moving assembly,
The work that leg assembly is lifted for fluid pressure type provides precondition；On the other hand after special type handling transit vehicle reaches designated position,
Increase the reachable operating space of handling goods by transverse movement；
The fluid pressure type lift leg assembly includes rotatable base, vehicle body supporting rack, Barrel of Hydraulic Cylinders, hydraulic cylinder piston
Bar, supporting rack rotate small bearing, supporting rack rotary shaft, supporting rack and rotate big bearing, supporting rack rotation hubcap, hydraulic cylinder rotation
Axis locating plate and hydraulic cylinder rotary shaft；Vehicle body supporting rack is connect with vehicle body foundation bolt, two side holes and supporting rack rotary shaft
It is connected through spline and passes through the shaft shoulder and sleeve axially position；Supporting rack rotating shaft terminal rotates small bearing and branch with supporting rack respectively
Support rotates the inner ring tight fit of big bearing, supporting rack rotates small bearing and supporting rack rotate the outer ring of big bearing respectively with can revolve
Turn two counterbore tight fits of pedestal, supporting rack rotates hubcap and the outer end face of supporting rack rotary shaft is adjacent to and is bolted
On rotatable base, to realize the axially position of supporting rack rotary shaft；The interlude outer surface of hydraulic cylinder rotary shaft and liquid
The connecting pin internal surface gaps cooperation of cylinder pressure cylinder barrel or hydraulic cylinder piston rod, both sides section outer surface and rotatable base or vehicle body branch
The corresponding aperture position internal surface gaps of support are with merging through the positioning of hydraulic cylinder rotary shaft locating plate, thus by Barrel of Hydraulic Cylinders and hydraulic pressure
The connecting pin of cylinder piston rod is connected to the designated position of rotatable base or vehicle body supporting rack；Unilateral hydraulic cylinder piston rod edge
The linear motion of its axis direction is converted to rotation of the vehicle body supporting rack around supporting rack rotary shaft by linkage rod slide block mechanism, to
The rotatable base of the other side is lifted, the work for electric drive swivel component provides precondition；
The electric drive swivel component include swivel driving motor, swivel retarder, turntable bearing, swivel set axis and
Cover axis locating plate；The both ends of turntable bearing are bolted with rotatable base and scaffold respectively, and swivel retarder passes through spiral shell
Bolt is fixed on rotatable base, and power source comes from swivel driving motor；Swivel set axis one end is defeated with swivel retarder
Shaft is keyed, and the other end connect through spline with scaffold and by covering axis locating plate axially position；Turn driving motor
Output torque is transmitted to through turning retarder amplification, then through swivel set axis on scaffold, before scaffold is fixed
It puts, is converted to rotating backward for swivel retarder, to drive rotatable base to rotate, the fortune of leg assembly is lifted in conjunction with fluid pressure type
It is dynamic, realize the movement of leg formula and the obstacle detouring of extraordinary handling transit vehicle.
The rotatable base and vehicle body supporting rack is cast by stainless steel, is done on the basis of ensureing bearing capacity
Light-weight technologg.
Pawl headstock, forearm, small arm seat, large arm, big arm seat and the mechanical arm pedestal is cast, and is ensureing to carry
Light-weight technologg is done on the basis of ability.
The scaffold is welded using structural steel.
The present invention is a kind of extraordinary handling transit vehicle, and mobile device combines that wheeled devices speed is fast and leg formula device
The strong advantage of trench crossing capacity can quickly reach specified region, pass through the coordination of vehicle body moving assembly and sixdegree-of-freedom simulation
Staff's handling goods is assisted in movement, and with good transport function, Windsor, ability to work is strong, efficient.
Description of the drawings
Fig. 1 is extraordinary handling transit vehicle principle schematic provided in an embodiment of the present invention；
In figure：1, wheel undercarriage, 2, scaffold, 3, vehicle body moving assembly, 4, electric drive swivel component, 5, fluid pressure type
Lift leg assembly, 6, vehicle body pedestal, 7, loading body, 8, robot assemblies, 9, driver's cabin.
Fig. 2 is extraordinary handling transit vehicle front view provided in an embodiment of the present invention；
Fig. 3 is extraordinary handling transit vehicle vertical view provided in an embodiment of the present invention；
Fig. 4 is extraordinary handling transit vehicle side view provided in an embodiment of the present invention；
Fig. 5 is robot assemblies principle schematic provided in an embodiment of the present invention；
In figure：8.1, one component of axis, 8.2, two component of axis, 8.3, three component of axis, 8.4, four component of axis, 8.5, five groups of axis
Part, 8.6, six component of axis, 8.7, mechanical arm electrically hold, 8.8, gripper.
Fig. 6 is one assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.1.1, pawl head, 8.1.2, pawl head swivel bearing, 8.1.3, pawl head electric rotating machine, 8.1.4, pawl headstock.
Fig. 7 is two assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.2.1, pawl headstock electric motor end cap, 8.2.2, pawl headstock electric rotating machine, 8.2.3, pawl headstock swivel bearing,
8.2.4, forearm.
Fig. 8 is three assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.3.1, forearm rotary connector, 8.3.2, forearm swivel bearing, 8.3.3, forearm electric rotating machine,
8.3.4, small arm seat.
Fig. 9 is four assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.4.1, small arm seat electric motor end cap, 8.4.2, forearm seat rotating axis are held, 8.4.3, small arm seat electric rotating machine,
8.4.4, large arm.
Figure 10 is five assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.5.1, large arm electric motor end cap, 8.5.2, large arm electric rotating machine, 8.5.3, large arm swivel bearing, 8.5.4,
Big arm seat.
Figure 11 is six assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.6.1, big arm seat rotary connector, 8.6.2, large arm seat rotating axis are held, 8.6.3, mechanical arm pedestal,
8.6.4 big arm seat rotational deceleration motor.
Figure 12 is vehicle body moving assembly principle schematic provided in an embodiment of the present invention；
In figure：3.1, vehicle body mobile motor, 3.2, vehicle body mobile motor seat, 3.3, vehicle body move shaft coupling, 3.4, vehicle body
Mobile drive block, 3.5, vehicle body mobile connection part, 3.6, vehicle body move linear slider, 3.7, vehicle body move ball-screw, 3.8,
Vehicle body moves line slide rail, 3.9, vehicle body moving substrate, 3.10, vehicle body move lead screw shaft bearings, 3.11, vehicle body move lead screw shaft
It holds.
Figure 13 is that fluid pressure type provided in an embodiment of the present invention lifts leg assembly principle schematic；
Figure 14 is that fluid pressure type provided in an embodiment of the present invention lifts circle A enlarged drawings in leg assembly principle schematic；
In figure：5.1, rotatable base, 5.2, vehicle body supporting rack, 5.3, Barrel of Hydraulic Cylinders, 5.4, hydraulic cylinder piston rod,
5.5, supporting rack rotates small bearing, 5.6, supporting rack rotary shaft, 5.7, supporting rack rotate big bearing, 5.8, supporting rack rotate shaft end
Lid, 5.9, hydraulic cylinder rotary shaft locating plate, 5.10, hydraulic cylinder rotary shaft.
Figure 15 is electric drive swivel component principle schematic provided in an embodiment of the present invention；
In figure：4.1, driving motor is turned, 4.2, swivel retarder, 4.3, turntable bearing, 4.4, swivel set axis, 4.5, set
Axis locating plate.
Figure 16 is that the extraordinary transit vehicle that loads and unloads provided in an embodiment of the present invention crosses over irrigation canals and ditches state one.
Figure 17 is that the extraordinary transit vehicle that loads and unloads provided in an embodiment of the present invention crosses over irrigation canals and ditches state two.
Figure 18 is that the extraordinary transit vehicle that loads and unloads provided in an embodiment of the present invention crosses over irrigation canals and ditches state three.
Figure 19 is that the extraordinary transit vehicle that loads and unloads provided in an embodiment of the present invention crosses over irrigation canals and ditches state four.
Figure 20 is that the extraordinary transit vehicle that loads and unloads provided in an embodiment of the present invention crosses over irrigation canals and ditches state five.
Figure 21 is that the extraordinary transit vehicle that loads and unloads provided in an embodiment of the present invention tilts state diagram across irrigation canals and ditches.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to Fig.1 to Fig.4, is a kind of extraordinary handling transit vehicle principle schematic and three provided in an embodiment of the present invention
View, it include wheel undercarriage 1, scaffold 2, vehicle body moving assembly 3, electric drive swivel component 4, fluid pressure type lift leg assembly 5,
Vehicle body pedestal 6, loading body 7, robot assemblies 8 and driver's cabin 9；Two sets of wheel undercarriages 1 are that extraordinary handling transit vehicle carries
For the fast wheel type mobile mode of movement speed, vehicle body moving assembly 3 adjusts the position of centre of gravity of extraordinary handling transit vehicle, electric drive
Swivel component 4 and fluid pressure type lift leg assembly 5 provide obstacle climbing ability strong leg formula move mode for special type handling transit vehicle, to
It is combined into and has both that movement speed is fast and the telecontrol equipment of strong two advantages of obstacle climbing ability, quickly reach designated position；Pass through vehicle body
The coordinated movement of various economic factors of moving assembly 3 and robot assemblies 8, assists staff's handling goods, Windsor, ability to work is strong,
It is efficient；
The wheel undercarriage 1 is identical as typical wheel undercarriage structure on the market, only in the fitted position of part
Adjustment；
The scaffold 2 is welded using structural steel.
Referring to Fig. 5, being that a kind of extraordinary robot assemblies principle for loading and unloading transit vehicle provided in an embodiment of the present invention is shown
It is intended to, including one component 8.1 of axis, two component 8.2 of axis, three component 8.3 of axis, four component 8.4 of axis, five component 8.5 of axis, six component of axis
8.6, mechanical arm electrically holds 8.7 and gripper 8.8；One component 8.1 of axis, two component 8.2 of axis, three component 8.3 of axis, four component of axis
8.4, five component 8.5 of axis and six component 8.6 of axis are sequentially connected, and are combined into sixdegree-of-freedom simulation, one component of axis, 8.1 end peace
Harness has the gripper 8.8 of clamping function, mechanical arm electrically to hold 8.7 external power supplys and signal receiving/transmission device, can be with to constitute
It is manipulated by staff to assist the sixdegree-of-freedom simulation of its handling goods；
The gripper 8.8 is mechanical fingers common on the market, can be according to the shape and selection of dimension phase of cargo
The type and model answered.
Referring to Fig. 6, be a kind of one principle schematic of axis of extraordinary handling transit vehicle provided in an embodiment of the present invention, it
Including pawl head 8.1.1, pawl head swivel bearing 8.1.2, pawl head electric rotating machine 8.1.3 and pawl headstock 8.1.4；Pawl head electric rotating machine
8.1.3 it is embedded in the rectangular opening of pawl headstock 8.1.4 and by the inner ring axially position of pawl head swivel bearing 8.1.2；Pawl head swivel bearing
8.1.2 Internal and external cycle is bolted with pawl headstock 8.1.4 and pawl head 8.1.1 respectively；The output shaft of pawl head electric rotating machine 8.1.3 with
Pawl head 8.1.1 key connections, the pawl ends head 8.1.1 are bolted with gripper 8.8；Pawl head electric rotating machine 8.1.3 output shafts turn
Dynamic band pawl head 8.1.1 is rotated around pawl head electric rotating machine 8.1.3 axis directions, that is, axis one, to realize gripper 8.8 around axis one
Rotation；
The pawl headstock 8.1.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 7, being a kind of two assembly principle of the axis signal of extraordinary handling transit vehicle provided in an embodiment of the present invention
Figure, it includes pawl headstock electric motor end cap 8.2.1, pawl headstock electric rotating machine 8.2.2, pawl headstock swivel bearing 8.2.3 and forearm
8.2.4；The Internal and external cycle of pawl headstock swivel bearing 8.2.3 is bolted with pawl headstock 8.1.4 and forearm 8.2.4 respectively, pawl headstock
The output shaft of electric rotating machine 8.2.2 is keyed with pawl headstock 8.1.4；Pawl headstock electric motor end cap 8.2.1 is through periphery holes and forearm
8.2.4 bolt is fixed, then through inner ring hole fixed jaw headstock electric rotating machine 8.2.2；Pawl headstock electric rotating machine 8.2.2 output shafts turn
Dynamic band pawl headstock 8.1.4 is rotated around pawl headstock electric rotating machine 8.2.2 axis directions, that is, axis two, to realize one component 8.1 of axis
Around the rotation of axis two；
The forearm 8.2.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 8, being a kind of three assembly principle of the axis signal of extraordinary handling transit vehicle provided in an embodiment of the present invention
Figure, it includes forearm rotary connector 8.3.1, forearm swivel bearing 8.3.2, forearm electric rotating machine 8.3.3 and small arm seat
8.3.4；The Internal and external cycle of forearm swivel bearing 8.3.2 connects with forearm rotary connector 8.3.1 and small arm seat 8.3.4 bolts respectively
It connects, the other end and the forearm 8.2.4 of forearm rotary connector 8.3.1 are bolted；Forearm electric rotating machine 8.3.3 is embedded in small arm seat
8.3.4 in rectangular opening and through the inner ring axially position of forearm swivel bearing 8.3.2, the output shaft of forearm electric rotating machine 8.3.3
It is keyed with forearm rotary connector 8.3.1；The rotation of forearm electric rotating machine 8.3.3 output shafts drives forearm rotary connector
8.3.1 it is rotated around forearm electric rotating machine 8.3.3 axis directions, that is, axis three, to realize rotation of two component 8.1 of axis around axis three；
The small arm seat 8.3.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 9, being a kind of four assembly principle of the axis signal of extraordinary handling transit vehicle provided in an embodiment of the present invention
Figure, it includes that small arm seat electric motor end cap 8.4.1, forearm seat rotating axis hold 8.4.2, small arm seat electric rotating machine 8.4.3 and large arm
8.4.4；The Internal and external cycle that forearm seat rotating axis holds 8.4.2 is bolted small arm seat rotation with small arm seat 8.3.4 and large arm 8.4.4 respectively
The output shaft of rotating motor 8.4.3 is keyed with small arm seat 8.3.4；Small arm seat electric motor end cap 8.4.1 is through periphery holes and large arm 8.4.4
Bolt is fixed, then fixes small arm seat electric rotating machine 8.4.3 through inner ring hole；The rotation band of small arm seat electric rotating machine 8.4.3 output shafts
It moves small arm seat 8.3.4 to rotate around small arm seat electric rotating machine 8.4.3 axis directions, that is, axis four, to realize three component 8.3 of axis around axis
Four rotation；
The large arm 8.4.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 10, being a kind of five assembly principle of the axis signal of extraordinary handling transit vehicle provided in an embodiment of the present invention
Figure, it includes large arm electric motor end cap 8.5.1, large arm electric rotating machine 8.5.2, large arm swivel bearing 8.5.3 and big arm seat
8.5.4；The Internal and external cycle of large arm swivel bearing 8.5.3 is bolted with large arm 8.4.4 and big arm seat 8.5.4 respectively, large arm rotation
The output shaft of motor 8.5.2 is keyed with large arm 8.4.4；Large arm electric motor end cap 8.5.1 is through periphery holes and big arm seat 8.5.4 bolts
It is fixed, then fix large arm electric rotating machine 8.5.2 through inner ring hole；The rotation of large arm electric rotating machine 8.5.2 output shafts drives large arm
8.4.4 it is rotated around large arm electric rotating machine 8.5.2 axis directions, that is, axis five, to realize rotation of four component 8.4 of axis around axis five；
The big arm seat 8.5.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
1 is please referred to Fig.1, is a kind of six assembly principle of the axis signal of extraordinary handling transit vehicle provided in an embodiment of the present invention
Figure, it includes that big arm seat rotary connector 8.6.1, large arm seat rotating axis hold 8.6.2, mechanical arm pedestal 8.6.3 and big arm seat
Rotational deceleration motor 8.6.4；Mechanical arm pedestal 8.6.3 is bolted on vehicle body 6, and large arm seat rotating axis holds 8.6.2's
Internal and external cycle is bolted with mechanical arm pedestal 8.6.3 and big arm seat rotary connector 8.6.1 respectively, big arm seat rotary connector
8.6.1 the other end is bolted with big arm seat 8.5.4；Big arm seat rotational deceleration motor 8.6.4 is fixed on mechanical arm through bolt
On pedestal 8.6.3, output shaft is keyed with big arm seat rotary connector 8.6.1；Big arm seat rotational deceleration motor 8.6.4 outputs
The rotation of axis drives big arm seat 8.5.4 around the axis sides big arm seat rotational deceleration motor 8.6.4 through big arm seat rotary connector 8.6.1
It is rotated to i.e. axis six, to realize rotation of five component 8.5 of axis around axis six；
The mechanical arm pedestal 8.6.3 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
2 are please referred to Fig.1, is a kind of vehicle body moving assembly principle of extraordinary handling transit vehicle provided in an embodiment of the present invention
Schematic diagram, it includes vehicle body mobile motor 3.1, vehicle body mobile motor seat 3.2, vehicle body movement shaft coupling 3.3, vehicle body movement driving
Block 3.4, vehicle body mobile connection part 3.5, vehicle body movement linear slider 3.6, vehicle body movement ball-screw 3.7, vehicle body move straight line
Sliding rail 3.8, vehicle body moving substrate 3.9, vehicle body movement lead screw shaft bearings 3.10 and vehicle body movement leading screw bearing 3.11；Vehicle body moves
Dynamic motor cabinet 3.2, vehicle body movement line slide rail 3.8 and vehicle body movement lead screw shaft bearings 3.10 are bolted on vehicle body
On moving substrate 3.9, vehicle body mobile motor 3.1 and vehicle body movement leading screw bearing 3.11 are bolted on vehicle body movement respectively
On motor cabinet 3.2 and vehicle body movement lead screw shaft bearings 3.10；3.3 both ends of vehicle body movement shaft coupling are separately connected vehicle body movement ball
The output shaft of leading screw 3.7 and vehicle body mobile motor 3.1, vehicle body moves the other end of ball-screw 3.7 and vehicle body moves lead screw shaft
Hold 3.11 inner ring tight fit；Loading body 7 and driver's cabin 9 are bolted on vehicle body pedestal 6,6 liang of vehicle body pedestal
Side moves linear slider with four vehicle bodies by bolt and is connected, intermediate to be fixed by bolt and vehicle body mobile connection part 3.5, vehicle body
Mobile connection part 3.5 is fixed with vehicle body movement 3.4 bolt of drive block again；Vehicle body moves the inner ring of drive block 3.4 and vehicle body moves
3.7 screw-thread fit of ball-screw, the rotation of 3.1 output shaft of vehicle body mobile motor are converted to vehicle body shifting by ball-screw-transmission
Dynamic drive block 3.4 moves moving for 3.7 axis direction of ball-screw along vehicle body, to realize loading body 7 and driver's cabin 9 in vehicle
Lateral linear motion on body moving substrate 3.9；3 one side of vehicle body moving assembly is loaded and unloaded in special type in transit vehicle motion process
Its position of centre of gravity is adjusted flexibly, the work that leg assembly 5 is lifted for fluid pressure type provides precondition；On the other hand in special type handling transhipment
After vehicle reaches designated position, increase the reachable operating space of handling goods by transverse movement；
3 and 14 are please referred to Fig.1, are a kind of fluid pressure type lift leg groups of extraordinary handling transit vehicle provided in an embodiment of the present invention
The schematic diagram of part principle schematic and wherein round A, it includes rotatable base 5.1, vehicle body supporting rack 5.2, Barrel of Hydraulic Cylinders
5.3, hydraulic cylinder piston rod 5.4, supporting rack rotate small bearing 5.5, supporting rack rotary shaft 5.6, supporting rack rotate big bearing 5.7,
Supporting rack rotates hubcap 5.8, hydraulic cylinder rotary shaft locating plate 5.9 and hydraulic cylinder rotary shaft 5.10；Vehicle body supporting rack 5.2 with
Vehicle body moving substrate 3.9 is bolted, and two side holes connect with supporting rack rotary shaft 5.6 through spline axial by the shaft shoulder and sleeve
Positioning；5.6 both ends of supporting rack rotary shaft rotate small bearing 5.5 with supporting rack respectively and supporting rack rotates the inner ring of big bearing 5.7
Tight fit, supporting rack rotates small bearing 5.5 and supporting rack rotates two of the outer ring of big bearing 5.7 respectively with rotatable base 5.1
The outer end face of counterbore tight fit, supporting rack rotation hubcap 5.8 and supporting rack rotary shaft 5.6 is adjacent to and is bolted on can
On rotating basis 5.1, to realize the axially position of supporting rack rotary shaft 5.6；The interlude appearance of hydraulic cylinder rotary shaft 5.10
The connecting pin internal surface gaps of face and Barrel of Hydraulic Cylinders 5.3 or hydraulic cylinder piston rod 5.4 coordinate, both sides section outer surface with it is rotatable
The corresponding aperture position internal surface gaps of pedestal 5.1 or vehicle body supporting rack 5.2 are positioned with merging through hydraulic cylinder rotary shaft locating plate 5.9,
To which the connecting pin of Barrel of Hydraulic Cylinders 5.3 and hydraulic cylinder piston rod 5.4 is connected to rotatable base 5.1 or vehicle body support
The designated position of frame 5.2；Unilateral hydraulic cylinder piston rod 5.4 is converted along the linear motion of its axis direction by linkage rod slide block mechanism
It is vehicle body supporting rack 5.2 around the rotation of supporting rack rotary shaft 5.6, to lift the rotatable base 5.1 of the other side, for electricity
The work of swivel component 4 is driven to provide precondition；
The rotatable base 5.1 and vehicle body supporting rack 5.2 is cast by stainless steel, in the base for ensureing bearing capacity
Light-weight technologg is done on plinth.
5 are please referred to Fig.1, is that a kind of electric drive swivel component of extraordinary handling transit vehicle provided in an embodiment of the present invention is former
Schematic diagram is managed, it includes swivel driving motor 4.1, swivel retarder 4.2, turntable bearing 4.3, swivel set axis 4.4 and set axis
Locating plate 4.5；The both ends of turntable bearing 4.3 are bolted with rotatable base 5.1 and scaffold 2 respectively, turn retarder
4.2 are bolted on rotatable base 5.1, and power source comes from swivel driving motor 4.1；Swivel set axis 4.4 1
End and the output shaft of swivel retarder 4.2 are keyed, and the other end connect through spline with scaffold 2 and by covering axis locating plate
4.5 axially position；The output torque for turning driving motor 4.1 is amplified through turning retarder 4.2, then is transmitted through swivel set axis 4.4
Onto scaffold 2, under the premise of scaffold 2 is fixed, rotating backward for swivel retarder 4.2 is converted to, to
It drives rotatable base 5.1 to rotate, the movement of leg assembly 5 is lifted in conjunction with fluid pressure type, realize that the leg formula of extraordinary handling transit vehicle is moved
It moves and obstacle detouring whens Figure 21 does not wait for irrigation canals and ditches both sides height, utilizes to tilt and get over trench if Figure 16-20 is that the present invention gets over ditch schematic diagram
State.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (4)
1. a kind of extraordinary handling transit vehicle, including wheel undercarriage（1）, scaffold（2）, vehicle body moving assembly（3）, electric drive
Swivel component（4）, fluid pressure type lift leg assembly（5）, vehicle body pedestal（6）, loading body（7）, robot assemblies（8）And driver's cabin
（9）；Wheel undercarriage（1）With two sets, two sets of wheel undercarriages（1）Mounted on vehicle body moving assembly（3）Bottom, vehicle body pedestal（6）
Mounted on vehicle body moving assembly（3）On so that vehicle body pedestal（6）In vehicle body moving assembly（3）Upper movement, vehicle body pedestal（6）Peace
Equipped with loading body（7）And driver's cabin（9）, driver's cabin（9）On robot assemblies are installed（8）,
The robot assemblies（8）It is mounted on driver's cabin by bolt（9）Top, including one component of axis（8.1）, two component of axis
（8.2）, three component of axis（8.3）, four component of axis（8.4）, five component of axis（8.5）, six component of axis（8.6）, mechanical arm electrically holds
（8.7）And gripper（8.8）；One component of axis（8.1）, two component of axis（8.2）, three component of axis（8.3）, four component of axis（8.4）、
Five component of axis（8.5）And six component of axis（8.6）It is sequentially connected, is combined into sixdegree-of-freedom simulation, one component of axis（8.1）End
Gripper with clamping function is installed（8.8）, mechanical arm electrically holds（8.7）External power supply and signal receiving/transmission device, to structure
At can be manipulated by staff to assist the sixdegree-of-freedom simulation of its handling goods;
The vehicle body moving assembly（3）Including vehicle body mobile motor（3.1）, vehicle body mobile motor seat（3.2）, vehicle body movement connection
Axis device（3.3）, vehicle body move drive block（3.4）, vehicle body mobile connection part（3.5）, vehicle body move linear slider（3.6）, vehicle body
Mobile ball-screw（3.7）, vehicle body move line slide rail（3.8）, vehicle body moving substrate（3.9）, vehicle body move lead screw shaft bearings
（3.10）And vehicle body moves leading screw bearing（3.11）；Vehicle body mobile motor seat（3.2）, vehicle body move line slide rail（3.8）With
And vehicle body moves lead screw shaft bearings（3.10）It is bolted on vehicle body moving substrate（3.9）On, vehicle body mobile motor
（3.1）Leading screw bearing is moved with vehicle body（3.11）It is bolted on vehicle body mobile motor seat respectively（3.2）It is moved with vehicle body
Lead screw shaft bearings（3.10）On；Vehicle body moves shaft coupling（3.3）Both ends are separately connected vehicle body movement ball-screw（3.7）And vehicle body
Mobile motor（3.1）Output shaft, vehicle body move ball-screw（3.7）The other end and vehicle body move leading screw bearing（3.11）'s
Inner ring tight fit；Loading body（7）And driver's cabin（9）It is bolted on vehicle body pedestal（6）On, vehicle body pedestal（6）Two
Side linear slider is moved by bolt and four vehicle bodies（3.6）It is connected, centre passes through bolt and vehicle body mobile connection part（3.5）Gu
It is fixed, vehicle body mobile connection part（3.5）Again drive block is moved with vehicle body（3.4）Bolt is fixed；Vehicle body moves drive block（3.4）It is interior
Circle moves ball-screw with vehicle body（3.7）Screw-thread fit, vehicle body mobile motor（3.1）The rotation of output shaft, passes through ball-screw
Transmission is converted to vehicle body movement drive block（3.4）Ball-screw is moved along vehicle body（3.7）The movement of axis direction, to realize
Loading body（7）And driver's cabin（9）In vehicle body moving substrate（3.9）On lateral linear motion；Vehicle body moving assembly（3）One side
Its position of centre of gravity is adjusted flexibly in special type loads and unloads transit vehicle motion process in face, and leg assembly is lifted for fluid pressure type（5）Work carry
For precondition；On the other hand after special type handling transit vehicle reaches designated position, handling goods is increased by transverse movement
Reachable operating space；One component of axis（8.1）Including pawl head（8.1.1）, pawl head swivel bearing（8.1.2）, pawl head rotation
Rotating motor（8.1.3）And pawl headstock（8.1.4）；Pawl head electric rotating machine（8.1.3）Embedded pawl headstock（8.1.4）Rectangular opening simultaneously
By pawl head swivel bearing（8.1.2）Inner ring axially position；Pawl head swivel bearing（8.1.2）Internal and external cycle respectively with pawl headstock
（8.1.4）With pawl head（8.1.1）It is bolted；Pawl head electric rotating machine（8.1.3）Output shaft and pawl head（8.1.1）Key connection,
Pawl head（8.1.1）End and gripper（8.8）It is bolted；Pawl head electric rotating machine（8.1.3）The rotation band pawl head of output shaft
（8.1.1）Around pawl head electric rotating machine（8.1.3）Axis direction, that is, axis one rotates, to realize gripper（8.8）Around the rotation of axis one
Turn；
Two component of axis（8.2）Including pawl headstock electric motor end cap（8.2.1）, pawl headstock electric rotating machine（8.2.2）, pawl headstock
Swivel bearing（8.2.3）And forearm（8.2.4）；Pawl headstock swivel bearing（8.2.3）Internal and external cycle respectively with pawl headstock
（8.1.4）And forearm（8.2.4）It is bolted, pawl headstock electric rotating machine（8.2.2）Output shaft and pawl headstock（8.1.4）Key connects
It connects；Pawl headstock electric motor end cap（8.2.1）Through periphery holes and forearm（8.2.4）Bolt is fixed, then is revolved through inner ring hole fixed jaw headstock
Rotating motor（8.2.2）；Pawl headstock electric rotating machine（8.2.2）The rotation band pawl headstock of output shaft（8.1.4）It is rotated around pawl headstock
Motor（8.2.2）Axis direction, that is, axis two rotates, to realize one component of axis（8.1）Around the rotation of axis two；The fluid pressure type
Lift leg assembly（5）Including rotatable base（5.1）, vehicle body supporting rack（5.2）, Barrel of Hydraulic Cylinders（5.3）, hydraulic cylinder piston rod
（5.4）, supporting rack rotate small bearing（5.5）, supporting rack rotary shaft（5.6）, supporting rack rotate big bearing（5.7）, supporting rack rotation
Shaft end cap（5.8）, hydraulic cylinder rotary shaft locating plate（5.9）And hydraulic cylinder rotary shaft（5.10）；Vehicle body supporting rack（5.2）With
Vehicle body moving substrate（3.9）It is bolted, two side holes and supporting rack rotary shaft（5.6）It is connected through spline and passes through the shaft shoulder and set
Cylinder axially position；Supporting rack rotary shaft（5.6）Both ends rotate small bearing with supporting rack respectively（5.5）Big bearing is rotated with supporting rack
（5.7）Inner ring tight fit, supporting rack rotates small bearing（5.5）Big bearing is rotated with supporting rack（5.7）Outer ring respectively with can
Rotating basis（5.1）Two counterbore tight fits, supporting rack rotate hubcap（5.8）With supporting rack rotary shaft（5.6）Outer end face
It is adjacent to and is bolted on rotatable base（5.1）On, to realize supporting rack rotary shaft（5.6）Axially position；Liquid
Cylinder pressure rotary shaft（5.10）Interlude outer surface and Barrel of Hydraulic Cylinders（5.3）Or hydraulic cylinder piston rod（5.4）Connecting pin in
Surface gap coordinates, both sides section outer surface and rotatable base（5.1）Or vehicle body supporting rack（5.2）Corresponding aperture position inner surface between
Gap is with merging through hydraulic cylinder rotary shaft locating plate（5.9）Positioning, thus by Barrel of Hydraulic Cylinders（5.3）And hydraulic cylinder piston rod
（5.4）Connecting pin be connected to rotatable base（5.1）Or vehicle body supporting rack（5.2）Designated position；Unilateral hydraulic cylinder
Piston rod（5.4）Linear motion along its axis direction is converted to vehicle body supporting rack by linkage rod slide block mechanism（5.2）Around support
Frame rotary shaft（5.6）Rotation, to by the rotatable base of the other side（5.1）It lifts.
2. a kind of extraordinary handling transit vehicle according to claim 1, which is characterized in that the electric drive swivel component
（4）Including turning driving motor（4.1）, swivel retarder（4.2）, turntable bearing（4.3）, swivel set axis（4.4）And set axis
Locating plate（4.5）；Turntable bearing（4.3）Both ends respectively with rotatable base（5.1）And scaffold（2）It is bolted, turns
Body retarder（4.2）It is bolted on rotatable base（5.1）On, power source comes from swivel driving motor（4.1）；
Swivel set axis（4.4）One end and swivel retarder（4.2）Output shaft key connection, the other end and scaffold（2）Connect through spline
It connects and by covering axis locating plate（4.5）Axially position；Turn driving motor（4.1）Output torque through turn retarder（4.2）
Amplification, then cover axis through swivel（4.4）It is transmitted to scaffold（2）On, in scaffold（2）Under the premise of fixed, conversion
To turn retarder（4.2）Rotate backward, to drive rotatable base（5.1）Rotation lifts leg assembly in conjunction with fluid pressure type（5）
Movement, realize that the leg formula of extraordinary handling transit vehicle is mobile and obstacle detouring.
3. a kind of extraordinary handling transit vehicle according to claim 1, which is characterized in that the rotatable base
（5.1）With vehicle body supporting rack（5.2）It is cast by stainless steel.
4. a kind of extraordinary handling transit vehicle according to claim 1, which is characterized in that the scaffold（2）It adopts
It is welded with structural steel.
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| CN201810547191.1A CN108749683A (en) | 2016-12-26 | 2016-12-26 | A kind of handling transit vehicle |
| CN201611221060.1A CN106427733B (en) | 2016-12-26 | 2016-12-26 | A kind of extraordinary handling transit vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611221060.1A CN106427733B (en) | 2016-12-26 | 2016-12-26 | A kind of extraordinary handling transit vehicle |
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| CN201810547191.1A Division CN108749683A (en) | 2016-12-26 | 2016-12-26 | A kind of handling transit vehicle |
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| CN201810547191.1A Pending CN108749683A (en) | 2016-12-26 | 2016-12-26 | A kind of handling transit vehicle |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107323332A (en) * | 2017-07-01 | 2017-11-07 | 徐州乐泰机电科技有限公司 | A kind of rotatable container mechanism transported for vehicle and its vehicle |
| CN107225556A (en) * | 2017-07-01 | 2017-10-03 | 徐州乐泰机电科技有限公司 | A kind of removable mineral transporter |
| CN107444861A (en) * | 2017-07-26 | 2017-12-08 | 象州县科学技术情报研究所 | Rail-guided formula assisted loading machine |
| CN108789358B (en) * | 2018-06-05 | 2020-10-27 | 清华大学 | Mobile series-parallel processing robot based on three-degree-of-freedom force control parallel module |
| CN109775345B (en) * | 2018-12-09 | 2021-01-12 | 西安航天精密机电研究所 | Special robot for carrying, taking and placing pills |
| CN110817415A (en) * | 2019-11-29 | 2020-02-21 | 安徽悦得自动化有限公司 | Multi-axis linkage robot arm for material handling |
| CN111003499A (en) * | 2019-12-27 | 2020-04-14 | 东莞市摩克电子科技有限公司 | Silk screen printing equipment based on automatic inkjet of manipulator |
| CN111591372B (en) * | 2020-07-07 | 2020-12-08 | 哈尔滨学院 | Intelligent transportation robot |
| CN113924836A (en) * | 2021-09-24 | 2022-01-14 | 深圳伊洛农业装备智能有限公司 | Agricultural machinery equipment terraced fields and irrigation canals and ditches mechanism of crossing |
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| CN106427733A (en) | 2017-02-22 |
| CN108749683A (en) | 2018-11-06 |
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