CN109132886A - A kind of transport reprinting vehicle and the cartridge box based on transport reprinting vehicle reprint method - Google Patents
A kind of transport reprinting vehicle and the cartridge box based on transport reprinting vehicle reprint method Download PDFInfo
- Publication number
- CN109132886A CN109132886A CN201810634419.0A CN201810634419A CN109132886A CN 109132886 A CN109132886 A CN 109132886A CN 201810634419 A CN201810634419 A CN 201810634419A CN 109132886 A CN109132886 A CN 109132886A
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- China
- Prior art keywords
- transport
- vehicle
- reprinted
- cartridge box
- car launcher
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The cartridge box reprinted vehicle the present invention provides a kind of transport and reprint vehicle based on the transport reprints method.It includes retractable supports platform and mechanical arm that vehicle is reprinted in the transport, it is used to support the load of loading process, including N root guide rail, N is more than or equal to 2, the N root guide rail is parallel to each other, it is mounted on transport and loading vehicle bottom, under the driving of external force, it stretches out and shrinks along loader transporter vehicle two sides, mechanical arm, according to externally input object pose information and running track information, mobile end to target position, quick reprinting is realized using full-automatic algorithm according to cartridge box reprinting method described in instruction implementation cAN _ SNture is arrested, improves reprinting efficiency.
Description
Technical field
The cartridge box reprinted vehicle the present invention relates to a kind of transport and reprint vehicle based on the transport reprints method, belongs to reprinting vehicle
Design field.
Background technique
Transport is reprinted vehicle and is generally made of chassis, bearing structure and reprinting loop wheel machine.When vehicle design is reprinted in transport, it is desirable that turn
Load with big, operating radius is long, and reproduced time is short, and there are following difficult points for design process: (1) loop wheel machine type selecting is difficult, due to rising
Torque requirement height is hung, the loop wheel machine outer dimension for meeting lifting loads requirement is caused to transfinite；(2) operating radius is big, causes to reprint
Journey stability is difficult to control, and loop wheel machine operating difficulties causes the operating time long；(3) loop wheel machine lifting torque is big, increases loop wheel machine installation
Pedestal design difficulty increases complete vehicle structure weight.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming the shortage of prior art, provides a kind of transport and reprint vehicle and based on the fortune
The defeated cartridge box for reprinting vehicle reprints method, realizes and automatically quickly reprints, improves reprinting efficiency.
The technical solution of the invention is as follows: a kind of transport reprinting vehicle, including retractable supports platform and mechanical arm,
In:
Retractable supports platform is used to support the load of loading process, including N root guide rail, and N is more than or equal to 2, the N root
Guide rail is parallel to each other, and is mounted on transport and loading vehicle bottom, under the driving of external force, stretches out and shrinks along loader transporter vehicle two sides；
Mechanical arm, according to externally input object pose information and running track information, mobile end to target position,
Implement cAN _ SNture according to instruction is arrested.
The guide rail includes fixed guide rail, slide rail, gear and driving device, in which:
Gear is fixedly connected with driving device, is rotated under the drive of the drive；
Fixed guide rail, is fixed on transport and loading vehicle bottom；
Slide rail, slide rail cover on fixed guide rail, and rack gear, rack and pinion engagement is arranged in outside, and gear drives
The relatively fixed guide rail sliding of slide rail；
The guide rail further includes M scroll box, is set between fixed guide rail and slide rail, is used for sliding friction
It is changed into rolling friction, M is more than or equal to 2.
The driving device is hydraulic motor.
Another technical solution of the invention is: reprinting method based on the cartridge box that vehicle is reprinted in above-mentioned transport, this method will be sent out
The cartridge box for penetrating vehicle, which is reprinted to transport, reprints vehicle, the cartridge box that vehicle is reprinted in transport is reprinted to car launcher, it is characterised in that including as follows
Step:
(1), car launcher is obtained in real time and the relative pose information of vehicle is reprinted in transport, and transport is driven to reprint vehicle close to hair
Vehicle is penetrated, so that car launcher is fallen into transport and reprints within vehicle mechanical arm sphere of action, using the cartridge box on car launcher as bullet to be reprinted
Case enters step (2) using retractable supports platform as target platform；
(2), calculate cartridge box to be reprinted and reprint the posture information on vehicle in the mechanical arm frame of reference in transport, according to
The posture information of cartridge box is reprinted, trajectory planning is carried out, obtains object pose information and running track information, driving mechanical arm moves
It moves right above its end suspender to cartridge box to be reprinted, keeps preset distance with cartridge box to be reprinted；
(3), further detection cartridge box hanging block is transporting the position reprinted on vehicle under the mechanical arm frame of reference, adjusts machine
Tool arm end suspender posture slowly falls, locks after arresting cartridge box hanging block, it is vertically sling；
(4), gradient and the position for detecting target platform, carry out trajectory planning, obtain object pose information and operation rail
Mark information, mechanical arm move right above its end suspender to target platform according to object pose information and running track information,
The posture for adjusting mechanical arm tail end suspender makes cartridge box bottom surface and platform parallel, and control mechanical arm tail end suspender will cartridge box be reprinted
Vertical drop is placed on target platform；
(5), transport is reprinted into the cartridge box on vehicle as cartridge box to be reprinted, using transmitting railway carriage as target platform, repeats to walk
Transport is reprinted the cartridge box on vehicle and is moved on transmitting railway carriage by (2)~step (4) suddenly；
(6), step (2)~(4) are repeated using the cartridge box on retractable supports platform as cartridge box to be reprinted again, it can
Cartridge box on retractable support platform is moved to transport and reprints on railway carriage.
The relative pose information includes the relative position information and relative attitude letter between car launcher and transport and loading vehicle
Breath.
The car launcher and transport reprinting vehicle are in the same plane, and vehicle is reprinted in car launcher body coordinate system and transport
Body coordinate system XOY plane is parallel to each other, and relative pose information obtains as follows:
(1.1), vehicle cartridge box cabinet edge is reprinted by laser radar scanning car launcher and transport, obtains car launcher respectively
With at least two identification points on transport reprinting vehicle cartridge box cabinet in the coordinate of laser radar coordinate system；
(1.2), any one identification point on car launcher is converted in the coordinate of laser radar coordinate system and is reprinted in transport
Coordinate under vehicle body coordinate system and the coordinate under car launcher body coordinate system, and the seat between two coordinate systems is obtained accordingly
Transition matrix is marked, to obtain the relative position information between car launcher and transport and loading vehicle；
(1.3), according to each identification point in the coordinate in laser radar coordinate system, car launcher is established in calculating and transport is reprinted
Vehicle cartridge box cabinet edge line equation；
(1.4), it calculates car launcher and the folder of the projection of vehicle cartridge box cabinet edge line equation in the horizontal plane is reprinted in transport
Angle, obtains car launcher and the angle of vehicle is reprinted in transport；
(1.5), the angle that vehicle is reprinted according to car launcher and transport, obtains car launcher and the relative attitude of vehicle is reprinted in transport
Information.
Cartridge box to be reprinted obtains as follows in the posture information that transport is reprinted on vehicle in the mechanical arm frame of reference
It takes:
(2.1), cartridge box to be reprinted is calculated and reprints the coordinate under vehicle body coordinate system in transport；
(2.2), the coordinate of vehicle body coordinate system is reprinted in transport further according to cartridge box to be reprinted and transport is reprinted vehicle ontology and sat
The coordinate conversion matrix of mark system and the mechanical arm frame of reference acquires cartridge box to be reprinted in transport and reprints mechanical arm benchmark on vehicle
Posture information in coordinate system.
At least three identification point is arranged in the step (4) on target platform, then obtains mark by machine vision camera
Know point image, analysis obtains the gradient of target platform, and 3 identification points are not arranged on the same straight line.
Certain distance in the step (2) are as follows: 200mm~400mm.
Compared with the prior art, the invention has the advantages that:
(1), the scalable heavy load support platform of present invention setting provides safely controllable reprinting environment for load, realizes
Quick reprinting is not landed, avoids damaging loading because of road surface reason.
(2), the scalable heavy load support platform of the present invention is mounted on transport and loading vehicle, is reduced load lifting and was reprinted
The range ability of journey, and then the operating radius and lifting torque of loop wheel machine are reduced, the requirements of type selecting to loop wheel machine is reduced, is met simultaneously
Loop wheel machine reprints the problem of torque and transport are transfinited, and solves solution transport and reprints vehicle and reprint that load is big, and operating radius is long, reprints
The technological difficulties such as the time is short.
(3), integrated application robot path planning of the present invention, automatic control and machine vision localization method are realized entirely certainly
It is dynamic quickly to reprint, improve reprinting efficiency.
(4), retractable supports platform of the present invention is realized using guide rail, can be contracted to transport and loading vehicle bottom completely, empty
Between occupy it is small in size.
(5), the present invention uses lidar measurement, and acquisition data speed is fast and accurate, interferes small.
(6), scroll box is set between the fixed guide rail of the present invention and slide rail, frictional force, required drive is greatly lowered
Power is small.
Detailed description of the invention
Fig. 1 is retractable supports of embodiment of the present invention stage+module schematic diagram；
Fig. 2 (a) is retractable supports of embodiment of the present invention platform dextral expanded schematic diagram；
Fig. 2 (b) is retractable supports of embodiment of the present invention platform sinistral expanded schematic diagram；
Fig. 3 (a) is schematic diagram when guide rail of the embodiment of the present invention is packed up；
Fig. 3 (b) is schematic diagram when guide rail of the embodiment of the present invention skids off；
Fig. 4 is scroll box of embodiment of the present invention schematic diagram；
Fig. 5 is that vehicle relative pose positioning schematic is reprinted in car launcher of the embodiment of the present invention and transport；
Fig. 6 identifies position view when being the gradient detection of target platform of the embodiment of the present invention；
Fig. 7 is that the embodiment of the present invention reprints process.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The technologies such as integrated application structure of the present invention, control, vision, path planning provide a kind of transport and reprint vehicle, packet
Include retractable supports platform and mechanical arm, in which:
Retractable supports platform, is used to support the load of loading process, and when reprinting is deployable, and when transport can collapse.This can
Retractable support platform includes N root guide rail, and N is more than or equal to 2, and the N root guide rail is parallel to each other, and is mounted on transport and loading vehicle bottom,
It under the driving of external force, stretches out and shrinks along loader transporter vehicle arranged on left and right sides, shown in (a) as shown in Figure 1, Figure 2 and Fig. 2 (b).
As shown in Fig. 3 (a) and Fig. 3 (b), the guide rail includes fixing guide rail, slide rail, gear and driving device,
In:
Gear is fixedly connected with driving device, is rotated under the drive of the drive；Driving device is by hydraulic motor and liquid
Pressure valve part composition.
Fixed guide rail, is fixed on transport and loading vehicle bottom；
Slide rail, slide rail cover on fixed guide rail, and rack gear, rack and pinion engagement is arranged in outside, and gear drives
The relatively fixed guide rail sliding of slide rail；
Mechanical arm, according to externally input object pose information and running track information, mobile end to target position,
Implement cAN _ SNture according to instruction is arrested.
Every group of guide rail by hydraulic motor drive gear & rack structure realize sliding, for avoid guide rail, cartridge box it is inswept
Track and load play constructive interference, and guide rail and load play structure fore-and-aft clearance 50mm.
Preferably, as shown in figure 4, the guide rail further includes M scroll box, fixed guide rail and sliding are set to
Between guide rail, for sliding friction to be changed into rolling friction, M is more than or equal to 2.
The present invention also provides a kind of cartridge boxs for reprinting vehicle based on above-mentioned transport to reprint method, and this method is by car launcher
Cartridge box is reprinted to transport and reprints vehicle, and the cartridge box that vehicle is reprinted in transport is reprinted to car launcher, is included the following steps:
(1), car launcher is obtained in real time and the relative pose information of vehicle is reprinted in transport, and transport is driven to reprint vehicle close to hair
Vehicle is penetrated, so that car launcher is fallen into transport and reprints within vehicle mechanical arm sphere of action, using the cartridge box on car launcher as bullet to be reprinted
Case enters step (2) using retractable supports platform as target platform；
The relative pose information includes the relative position information and relative attitude letter between car launcher and transport and loading vehicle
Breath.
As shown in figure 5, the car launcher and transport reprinting vehicle are in the same plane, car launcher body coordinate system and fortune
The defeated body coordinate system XOY plane for reprinting vehicle is parallel to each other, and relative pose information obtains as follows:
(1.1), vehicle cartridge box cabinet edge is reprinted by laser radar scanning car launcher and transport, obtains car launcher respectively
With at least two identification points on transport reprinting vehicle cartridge box cabinet in the coordinate of laser radar coordinate system；
(1.2), any one identification point on car launcher is converted in the coordinate of laser radar coordinate system and is reprinted in transport
Coordinate under vehicle body coordinate system and the coordinate under car launcher body coordinate system, and the seat between two coordinate systems is obtained accordingly
Transition matrix is marked, to obtain the relative position information between car launcher and transport and loading vehicle；
(1.3), according to each identification point in the coordinate in laser radar coordinate system, car launcher is established in calculating and transport is reprinted
Vehicle cartridge box cabinet edge line equation；
(1.4), it calculates car launcher and the folder of the projection of vehicle cartridge box cabinet edge line equation in the horizontal plane is reprinted in transport
Angle, obtains car launcher and the angle of vehicle is reprinted in transport；
(1.5), the angle α that vehicle is reprinted according to car launcher and transport, obtains car launcher and the relative attitude of vehicle is reprinted in transport
Information:
The relative pose information of vehicle is reprinted in car launcher and transport are as follows:
(2), calculate cartridge box to be reprinted and reprint the posture information on vehicle in the mechanical arm frame of reference in transport, according to
The posture information of cartridge box is reprinted, trajectory planning is carried out, obtains object pose information and running track information, driving mechanical arm moves
It moves right above its end suspender to cartridge box to be reprinted, preset distance is kept with cartridge box to be reprinted, such as 200mm~400mm.
Cartridge box to be reprinted obtains as follows in the posture information that transport is reprinted on vehicle in the mechanical arm frame of reference
It takes:
(2.1), cartridge box to be reprinted is calculated and reprints the coordinate under vehicle body coordinate system in transport；
When being located at car launcher wait reprint cartridge box, according to cartridge box to be reprinted in the position of car launcher and car launcher and fortune
Defeated reprinting vehicle relative pose relationship is calculated cartridge box to be reprinted in transport and reprints the coordinate under vehicle body coordinate system；
(2.2), the coordinate of vehicle body coordinate system is reprinted in transport further according to cartridge box to be reprinted and transport is reprinted vehicle ontology and sat
The coordinate conversion matrix of mark system and the mechanical arm frame of reference acquires cartridge box to be reprinted in transport and reprints mechanical arm benchmark on vehicle
Posture information in coordinate system.
(3), further detection cartridge box hanging block is transporting the position reprinted on vehicle under the mechanical arm frame of reference, adjusts machine
Tool arm end suspender posture slowly falls, locks after arresting cartridge box hanging block, it is vertically sling；
(4), gradient and the position for detecting target platform, carry out trajectory planning, obtain object pose information and operation rail
Mark information, mechanical arm move right above its end suspender to target platform according to object pose information and running track information,
The posture for adjusting mechanical arm tail end suspender makes cartridge box bottom surface and platform parallel, and control mechanical arm tail end suspender will cartridge box be reprinted
Vertical drop is placed on target platform.
As shown in fig. 6, at least three identification point is arranged on target platform, mark is then obtained by machine vision camera
Point image is analyzed to obtain the gradient of target platform by monocular vision location algorithm, and 3 identification points are not in same straight line
On.
(5), transport is reprinted into the cartridge box on vehicle as cartridge box to be reprinted, using transmitting railway carriage as target platform, repeats to walk
Transport is reprinted the cartridge box on vehicle and is moved on transmitting railway carriage by (2)~step (4) suddenly；
(6), step (2)~(4) are repeated using the cartridge box on retractable supports platform as cartridge box to be reprinted again, it can
Cartridge box on retractable support platform is moved to transport and reprints on railway carriage.
As shown in fig. 7, with car launcher dress, there are two dress on transmitting cartridge box (A1 and A2), transport and loading vehicle, there are two transmittings
For cartridge box (B1, B2), loading task, which needs to reprint the firing box of car launcher to transport, reprints vehicle, and vehicle is reprinted in transport
Firing box is reprinted to car launcher.According to above-mentioned stowage, loading process be may is that
Firstly, finding cartridge box A2, cartridge box A2 is lifted by crane, cartridge box A2 is placed on retractable supports platform；
Then, cartridge box B1 is found, cartridge box B1 is lifted by crane, cartridge box B1 is placed on car launcher；
Then, cartridge box A1 is found, cartridge box A1 is lifted by crane, cartridge box A1 is placed on and is reprinted on vehicle；
Then, cartridge box B2 is found, cartridge box B2 is lifted by crane, cartridge box B2 is placed on car launcher；
The platform that changes the outfit carries A2 return, changes the outfit and finishes.
This specification, which is not described in detail, partly belongs to common sense well known to those skilled in the art.
Claims (10)
1. vehicle is reprinted in a kind of transport, it is characterised in that including retractable supports platform and mechanical arm, in which:
Retractable supports platform is used to support the load of loading process, including N root guide rail, and N is more than or equal to 2, the N root guide rail
It is parallel to each other, is mounted on transport and loading vehicle bottom, under the driving of external force, stretch out and shrink along loader transporter vehicle two sides；
Mechanical arm, according to externally input object pose information and running track information, mobile end to target position, according to grabbing
It catches instruction and implements cAN _ SNture.
2. vehicle is reprinted in a kind of transport according to claim 1, it is characterised in that: the guide rail includes fixed guide rail, sliding
Guide rail, gear and driving device, in which:
Gear is fixedly connected with driving device, is rotated under the drive of the drive；
Fixed guide rail, is fixed on transport and loading vehicle bottom；
Slide rail, slide rail cover on fixed guide rail, and rack gear, rack and pinion engagement is arranged in outside, and gear drives sliding
The relatively fixed guide rail sliding of guide rail.
3. vehicle is reprinted in a kind of transport according to claim 2, it is characterised in that: the guide rail further includes M scroll box, if
It is placed between fixed guide rail and slide rail, for sliding friction to be changed into rolling friction, M is more than or equal to 2.
4. vehicle is reprinted in a kind of transport according to claim 2, it is characterised in that: the driving device is hydraulic motor.
5. reprinting methods based on the cartridge boxs that vehicles are reprinted in the described in any item transports of Claims 1 to 4, this method is by the bullet of car launcher
Case is reprinted to transport and reprints vehicle, the cartridge box that vehicle is reprinted in transport is reprinted to car launcher, it is characterised in that include the following steps:
(1), car launcher is obtained in real time and the relative pose information of vehicle is reprinted in transport, and transport is driven to reprint vehicle close to car launcher,
Make car launcher fall into transport to reprint within vehicle mechanical arm sphere of action, it, can using the cartridge box on car launcher as cartridge box to be reprinted
Retractable support platform enters step (2) as target platform；
(2), it calculates cartridge box to be reprinted and reprints the posture information on vehicle in the mechanical arm frame of reference in transport, according to bullet to be reprinted
The posture information of case carries out trajectory planning, obtains object pose information and running track information, its mobile end of driving mechanical arm
Right above suspender to cartridge box to be reprinted, preset distance is kept with cartridge box to be reprinted；
(3), further detection cartridge box hanging block is transporting the position reprinted on vehicle under the mechanical arm frame of reference, adjustment mechanical arm end
Suspender posture is held, is slowly fallen, is locked after arresting cartridge box hanging block, it is vertically sling；
(4), gradient and the position for detecting target platform, carry out trajectory planning, obtain object pose information and running track letter
Breath, mechanical arm adjust machine to target platform surface according to object pose information and running track information, its mobile end suspender
The posture of tool arm end suspender, makes cartridge box bottom surface and platform parallel, control mechanical arm tail end suspender will cartridge box be reprinted it is vertical under
It falls, is placed on target platform；
(5), transport the cartridge box on vehicle is reprinted as cartridge box to be reprinted to repeat step (2) using transmitting railway carriage as target platform
Transport is reprinted the cartridge box on vehicle and is moved on transmitting railway carriage by~step (4)；
(6), step (2)~(4) are repeated using the cartridge box on retractable supports platform as cartridge box to be reprinted again, it will be scalable
Cartridge box in support platform is moved to transport and reprints on railway carriage.
6. cartridge box according to claim 5 reprints method, it is characterised in that the relative pose information include car launcher and
Relative position information and relative attitude information between transport and loading vehicle.
7. cartridge box according to claim 6 reprints method, it is characterised in that the car launcher and transport reprint parking stall in same
In one plane, the body coordinate system XOY plane of car launcher body coordinate system and transport reprinting vehicle is parallel to each other, relative pose letter
Breath obtains as follows:
(1.1), vehicle cartridge box cabinet edge is reprinted by laser radar scanning car launcher and transport, obtains car launcher and transport respectively
Coordinate of at least two identification points in laser radar coordinate system on reprinting vehicle cartridge box cabinet；
(1.2), any one identification point on car launcher is converted in the coordinate of laser radar coordinate system and reprints vehicle sheet in transport
Coordinate under body coordinate system and the coordinate under car launcher body coordinate system, and the conversion of the coordinate between two coordinate systems is obtained accordingly
Matrix, to obtain the relative position information between car launcher and transport and loading vehicle；
(1.3), according to each identification point in the coordinate in laser radar coordinate system, car launcher is established in calculating and vehicle cartridge box is reprinted in transport
Cabinet edge line equation；
(1.4), it calculates car launcher and the angle of the projection of vehicle cartridge box cabinet edge line equation in the horizontal plane is reprinted in transport, obtain
The angle of vehicle is reprinted to car launcher and transport；
(1.5), the angle that vehicle is reprinted according to car launcher and transport, obtains car launcher and the relative attitude information of vehicle is reprinted in transport.
8. cartridge box according to claim 5 reprints method, it is characterised in that cartridge box to be reprinted is reprinted mechanical on vehicle in transport
Posture information in the arm frame of reference obtains as follows:
(2.1), cartridge box to be reprinted is calculated and reprints the coordinate under vehicle body coordinate system in transport；
(2.2), the coordinate of vehicle body coordinate system is reprinted in transport further according to cartridge box to be reprinted and vehicle body coordinate system is reprinted in transport
With the coordinate conversion matrix of the mechanical arm frame of reference, cartridge box to be reprinted is acquired in transport and reprints the mechanical arm frame of reference on vehicle
Interior posture information.
9. cartridge box according to claim 5 reprints method, it is characterised in that the step (4) be arranged on target platform to
Few 3 identification points, then obtain mark point image by machine vision camera, and analysis obtains the gradient of target platform, 3 marks
Know point to be not arranged on the same straight line.
10. cartridge box according to claim 5 reprints method, it is characterised in that the certain distance in the step (2) are as follows:
200mm~400mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810634419.0A CN109132886B (en) | 2018-06-20 | 2018-06-20 | Transport transfer cart and magazine transfer method based on transport transfer cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810634419.0A CN109132886B (en) | 2018-06-20 | 2018-06-20 | Transport transfer cart and magazine transfer method based on transport transfer cart |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109132886A true CN109132886A (en) | 2019-01-04 |
| CN109132886B CN109132886B (en) | 2020-05-12 |
Family
ID=64802132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810634419.0A Active CN109132886B (en) | 2018-06-20 | 2018-06-20 | Transport transfer cart and magazine transfer method based on transport transfer cart |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109132886B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114857996A (en) * | 2022-06-30 | 2022-08-05 | 成都航天万欣科技有限公司 | System and method for detecting comprehensive performance of launching box |
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| US5690240A (en) * | 1996-07-31 | 1997-11-25 | Thiermann Industries, Inc. | Dolly with detachable boom |
| EP0786431B1 (en) * | 1996-01-27 | 2000-04-26 | Walter Biedenbach | Crane |
| CN2820803Y (en) * | 2005-08-05 | 2006-09-27 | 上海振华港口机械（集团）股份有限公司 | Automation system of optimum path of container crane |
| CN2887826Y (en) * | 2006-04-26 | 2007-04-11 | 朱金广 | Tyre crane |
| CN101723248A (en) * | 2009-12-02 | 2010-06-09 | 上海能港电气工程科技有限公司 | System and method for optimizing control of track of rotary crane |
| CN202201659U (en) * | 2011-05-18 | 2012-04-25 | 中联重科股份有限公司 | Landing leg structure and crane comprising same |
-
2018
- 2018-06-20 CN CN201810634419.0A patent/CN109132886B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0786431B1 (en) * | 1996-01-27 | 2000-04-26 | Walter Biedenbach | Crane |
| US5690240A (en) * | 1996-07-31 | 1997-11-25 | Thiermann Industries, Inc. | Dolly with detachable boom |
| CN2820803Y (en) * | 2005-08-05 | 2006-09-27 | 上海振华港口机械（集团）股份有限公司 | Automation system of optimum path of container crane |
| CN2887826Y (en) * | 2006-04-26 | 2007-04-11 | 朱金广 | Tyre crane |
| CN101723248A (en) * | 2009-12-02 | 2010-06-09 | 上海能港电气工程科技有限公司 | System and method for optimizing control of track of rotary crane |
| CN202201659U (en) * | 2011-05-18 | 2012-04-25 | 中联重科股份有限公司 | Landing leg structure and crane comprising same |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114857996A (en) * | 2022-06-30 | 2022-08-05 | 成都航天万欣科技有限公司 | System and method for detecting comprehensive performance of launching box |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109132886B (en) | 2020-05-12 |
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