CN111620273A - High-position robot and adjusting method thereof - Google Patents
High-position robot and adjusting method thereof Download PDFInfo
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- CN111620273A CN111620273A CN202010507565.4A CN202010507565A CN111620273A CN 111620273 A CN111620273 A CN 111620273A CN 202010507565 A CN202010507565 A CN 202010507565A CN 111620273 A CN111620273 A CN 111620273A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07559—Stabilizing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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Abstract
The application discloses high-position robot and adjusting method thereof, the robot comprises: a robot carrier and a high-order actuator; further comprising: the adjusting device is arranged on the robot carrier and used for supporting the high-position executing mechanism; the adjusting device can be used for leveling the high-level actuating mechanism; the detection device is used for detecting the fluctuation variation of the robot carrier; and the control device is used for controlling the adjusting device to compensate the fluctuation variation of the robot carrier according to the fluctuation variation of the robot carrier detected by the detection device. In the technical scheme, the levelness of the high-level executing mechanism is adjusted by the adjusting device, when the robot carrier is formed on an undulating road surface, the adjusting device is controlled by the control device to compensate, the high-level executing mechanism is always kept in a horizontal state, the safety of a container is guaranteed, and meanwhile the collision condition which possibly occurs between the high-level executing mechanism and a goods shelf is avoided.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to a high-position robot and an adjusting method thereof.
Background
The high-order forklift robot, the cargo carrying robot and the like run in a roadway of a goods shelf, and because the height of the robot is far greater than the width of the robot, the fluctuation of the ground is amplified by several times and finally reflected on the swinging amount of the top of the robot in the running process, and the risk of collision between the top of the robot and the goods shelf is increased. In order to ensure that the top of the robot does not collide with the goods shelf, methods such as increasing the width of a roadway to increase the margin or improving the flatness of the ground are generally adopted. However, in the two methods, the former sacrifices the storage density, and the latter increases the difficulty of construction.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a high-position robot and an adjusting method thereof.
The invention is realized by the following technical scheme:
the application discloses high-order robot, this robot includes: a robot carrier and a high-order actuator; further comprising: the adjusting device is arranged on the robot carrier and used for supporting the high-position executing mechanism; wherein the adjusting device can be used for leveling the high-position actuating mechanism; a detecting device for detecting the fluctuation variation of the robot carrier; and the control device is used for controlling the adjusting device to compensate the fluctuation variation of the robot carrier according to the fluctuation variation of the robot carrier detected by the detection device. In the technical scheme, the levelness of the high-level executing mechanism is adjusted by the adjusting device, when the robot carrier is formed on an undulating road surface, the adjusting device is controlled by the control device to compensate, the high-level executing mechanism is always kept in a horizontal state, the safety of a container is guaranteed, and meanwhile the collision condition which possibly occurs between the high-level executing mechanism and a goods shelf is avoided.
In a specific possible embodiment, the adjustment device comprises: the robot comprises a support rod and a self-driving telescopic rod, wherein two ends of the self-driving telescopic rod are correspondingly hinged with the robot carrier and the high-position executing mechanism one by one respectively; one end of the supporting rod is hinged with the robot carrier, and the other end of the supporting rod is fixedly connected with the high-position executing mechanism; or one end of the supporting rod is fixedly connected with the robot carrier, and the other end of the supporting rod is hinged with the high-position executing mechanism. The leveling of the high-position executing mechanism is realized through the supporting rod and the self-driven telescopic rod.
In a specific implementation manner, the axis about which the self-driving telescopic rod rotates relative to the robot carrier and the high-position executing mechanism is parallel to the walking direction of the robot carrier; the axis around which the supporting rod and the robot carrier or the high-order executing mechanism rotate is parallel to the walking direction of the robot carrier. The direction of adjustment is perpendicular to the direction of robot carrier walking when guaranteeing the robot carrier walking, avoids appearing colliding with the goods shelves of robot carrier both sides.
In a specific possible embodiment, the self-driving telescopic rod is a servo electric cylinder, a driving air cylinder or a driving hydraulic cylinder. Leveling is achieved in different ways.
In a specific possible implementation, the number of the supporting rods is one, the number of the self-driving telescopic rods is two, and the supporting rods and the two self-driving telescopic rods are arranged in a triangle. Different numbers of support elements may be used.
In a specific possible implementation, the number of the supporting rods is two, the number of the self-driving telescopic rods is two, and the two supporting rods and the two self-driving telescopic rods are arranged in a square shape. Different numbers of support elements may be used.
In a specific possible embodiment, the control device is further configured to control the amount of expansion and contraction of the self-driving telescopic rod to offset the amount of fluctuation of the robot carrier.
In a specific embodiment, the control device is also used for receiving the expansion amount of the self-driven telescopic rod and forming closed-loop control. The reliability of control is improved.
In a particular possible embodiment, the control device is arranged at the robotic carrier. The arrangement is convenient.
In a specific possible embodiment, the detection device is a three-axis gyroscope or an inertial navigation module. The undulation change of the robot carrier can be detected.
In a particular possible embodiment, the detection device is located in a central position of the adjustment device. The accuracy of detection is improved.
The application also provides a high-order robot adjusting method, which comprises the following steps:
detecting the fluctuation variation of the robot carrier;
and when the fluctuation change of the robot carrier is detected, controlling an adjusting device to compensate the high-order actuating mechanism according to the detected fluctuation change quantity of the robot carrier as a compensation quantity parameter for compensating the high-order actuating mechanism. In the technical scheme, the levelness of the high-level executing mechanism is adjusted by the adjusting device, when the robot carrier is formed on an undulating road surface, the adjusting device is controlled by the control device to compensate, the high-level executing mechanism is always kept in a horizontal state, the safety of a container is guaranteed, and meanwhile the collision condition which possibly occurs between the high-level executing mechanism and a goods shelf is avoided.
In a specific possible embodiment, the method further comprises: and comparing the expansion amount of the adjusting device during compensation with the compensation amount parameter, and if the expansion amount does not reach the expansion amount of the adjusting device, expanding and contracting again until the expansion amount is equal to the compensation amount parameter. The reliability of the adjustment is improved by closed-loop control.
Drawings
Fig. 1 is a schematic structural diagram of an upper robot provided in an embodiment of the present invention;
FIG. 2 is a side view of an upper robot provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of adjustment of the high-level robot according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
First, an application scenario of the high-level robot provided by the embodiment of the present application is described, where the high-level robot provided by the embodiment of the present application is applied to transfer goods in a logistics warehouse, and when the high-level robot is used, the goods are placed on the high-level robot, and the goods are transferred from a location a to a location B by the high-level robot, where the location a and the location B represent two different locations in the logistics warehouse, such as a storage point, a loading and unloading point, a picking point, and the like. When the high-position robot is transported, the high-position robot can be influenced by the fluctuation of the ground, the fluctuation of the ground can be amplified by several times and finally appears on the swinging amount of the top of the robot, the risk of collision between the top of the robot and a goods shelf is increased, and the safety of the high-position robot when walking is ensured. The details of which are set forth in the accompanying drawings and the examples below.
First, the high-level robot provided in the embodiments of the present application may include: the height of the robot is high, such as a robot or a forklift for carrying a cargo box; the height of the robot is low, but the overall height formed by the robot and goods is high, such as a robot for carrying goods shelves; or other robots with a high height for use in the logistics industry.
Fig. 1 shows a schematic structural diagram of a high-level robot provided in an embodiment of the present application. The main structure of the robot provided by the embodiment of the application comprises three parts: a robot carrier 1, a high-level actuator 2 and an adjusting device 3. The adjusting device 3 is used for connecting the robot carrier 1 and the high-order actuator 2. In the specific arrangement, the adjusting device 3 is arranged on the robot carrier 1, and the high-order actuator 2 is arranged on the adjusting device 3. The adjusting device 3 can be used for leveling the high-level executing mechanism 2, so that the high-level executing mechanism 2 keeps a horizontal state when the high-level robot walks. The following describes in detail the respective structures of the transfer robot according to the embodiments of the present application with reference to the drawings.
Firstly, the robot carrier 1 provided by the embodiment of the present application is described, the robot carrier 1 is used as a walking device of the whole high-position robot, the robot carrier 1 may be a robot commonly used in the prior art, and the robot carrier 1 is used as a moving carrier in the embodiment of the present application and is used for driving the high-position actuator 2 to run in a roadway. During driving, the robot carrier 1 can move to the front of the shelf to be worked according to the navigation system, and complete operations such as route switching, obstacle avoidance and the like in the moving process, and the actions are all common technical means in the existing robot carrier 1, and are not described in detail herein.
The high-order actuator 2 comprises the following types: a. the height of the high-level actuating mechanism is higher; b. the high-level actuating mechanism is low in height, but is higher after being combined with goods. The high-level executing mechanism 2 is an executing device when the high-level robot is used as robots with different functions, if the carrying robot is used as a robot for carrying the goods shelf, the high-level executing mechanism is a tray which is combined with the goods shelf and lifts the goods shelf, the height of the high-level executing mechanism is not high, but the whole height of the high-level executing mechanism is higher after the goods shelf is lifted. If the high-position robot is a container carrying robot, the high-position actuating mechanism 2 can be a container cache frame with a goods taking mechanism or a portal frame with the goods taking mechanism arranged on the robot carrier 1, and the height of the high-position actuating mechanism is higher at the moment. However, no matter what kind of function is, the high-order actuator 2 or the high-order actuator has a certain height in the vertical direction after being combined with the goods, and as shown in fig. 1, the height of the high-order actuator 2 itself is far greater than that of the robot carrier 1.
When the height of the high-position executing mechanism is high, when the robot carrier 1 walks in a roadway, the robot carrier 1 is affected by the fluctuation of the ground in the roadway, and fluctuation changes are generated. The fluctuation of the ground can be amplified by several times and finally appears on the swing amount of the high-position actuating mechanism 2, and the goods shelves on the two sides of the roadway are easily touched or the high-position robot is easily toppled. When the height of the high-level executing mechanism is higher after the high-level executing mechanism is combined with goods, in the walking process of the robot, when the roadway has fluctuation, the ground fluctuation can be amplified by several times and is applied to the goods carried by the high-level executing mechanism, for example, the robot for carrying goods shelves, and when the walking ground has fluctuation, the goods shelves carried by the robot are very easy to touch the goods shelves on two sides. For this reason, the transfer robot according to the embodiment of the present application is provided with the above-described adjustment device 3 to adjust the high-position actuator 2.
In order to detect the change in the undulation of the robot carrier 1, a detection device 4 is provided on the robot carrier 1, the detection device 4 being configured to detect the change in the undulation of the robot carrier 1. As an alternative embodiment, the detecting device 4 is a three-axis gyroscope or an inertial navigation module, or other sensors capable of detecting the fluctuation of the ground, and only a device capable of detecting the variation and the variation direction of the ground is needed.
When adjusting the levelness of the high-order actuator 2, the fluctuation amount can be used as a parameter for the adjusting device 3 to adjust the high-order actuator 2, and the adjusting device 3 correspondingly controls the adjusting amount according to the parameter so as to ensure the levelness of the high-order actuator 2.
Specifically, the adjustment amount of the adjustment device 3 is controlled by the control device 5. The control device 5 may be a common control device 5 such as a PLC, a single chip microcomputer, or an industrial computer. In use, the control device 5 may control the adjustment device 3 to compensate for the amount of fluctuation of the robot carrier 1 based on the amount of fluctuation of the robot carrier 1 detected by the detection device 4. It should be understood that the control device 5 controls the component to act according to the received data as a common technical means in the art, and therefore, the specific electrical connection relationship between the control device 5 and the detection device 4 and the adjustment device 3, and the specific control logic are not specifically illustrated in the present application.
In an alternative, the control device 5 is arranged on the robot carrier 1, or the control device 5 is arranged within the robot carrier 1. It should be understood that the present embodiment does not specifically limit the setting position of the control device 5, and it is only necessary to ensure that the control device 5 can control the adjusting device 3.
For convenience of understanding how the adjusting device 3 provided in the embodiment of the present application adjusts the high-order actuator 2, it is described below with reference to fig. 2. The adjusting device 3 provided in the embodiment of the present application mainly includes two components: height-adjustable part and fixed height part. As shown in fig. 2, the height adjustable member is a self-driving rod 31, and the fixed height member is a support rod 32. In fig. 2, one end of the support rod 32 is hinged with the robot carrier 1, and the other end is fixedly connected with the high-level executing mechanism 2; or the support bar 32 may be fixedly connected to the robot carrier 1 at one end and hinged to the high-level actuator 2 at the other end. And two ends of the self-driving telescopic rod 31 are hinged with the robot carrier 1 and the high-position executing mechanism 2 in a one-to-one correspondence manner.
When the height of the self-driving telescopic rod 31 changes, the two ends of the self-driving telescopic rod 31 are both hinged, and one end of the supporting rod 32 is hinged. Meanwhile, the axis around which the self-driving telescopic rod 31, the robot carrier 1 and the high-position executing mechanism 2 rotate relatively is parallel to the walking direction of the robot carrier 1; the axis about which the support bar 32 and the robot carrier 1 or the high-mount actuator 2 rotate is also parallel to the direction in which the robot carrier 1 travels. Therefore, it is possible to drive the high-order actuator 2 to swing in the left-right direction with respect to the robot carrier 1 (with the placing direction of the high-order robot in fig. 2 as a reference direction). When the robot carrier 1 has a fluctuation, the control device 5 may control the amount of expansion and contraction of the self-driving telescopic rod 31 to offset the fluctuation amount of the robot carrier 1 according to the fluctuation amount of the robot carrier 1 as a parameter.
In an alternative, the self-driven telescopic rod 31 may be a servo electric cylinder, a driving air cylinder or a driving hydraulic cylinder, etc. which can achieve high telescopic effect.
In an alternative scheme, when the self-driving telescopic rod 31 is a servo electric cylinder, the control device 5 is also used for receiving the expansion amount of the self-driving telescopic rod 31 and forming closed-loop control. When the robot carrier is used, the control device 5 transmits control information to a driver of the servo electric cylinder to control the extending amount of the servo electric cylinder, so that the high-position actuating mechanism 2 and the robot carrier 1 are compensated in the opposite directions of fluctuation and are always kept horizontal. An encoder in the servo electric cylinder feeds back the displacement execution condition to the control device 5, and the control device 5 adjusts in real time according to the fed-back displacement execution condition to achieve a preset control effect in a stroke closed loop mode.
As an alternative variation, the number of the supporting rods 32 and the self-driving rods 31 is not limited to the number shown in fig. 2, and other numbers may be adopted. For example, when the support rods 32 and the self-driving telescopic rods 31 are specifically arranged, the number of the support rods 32 may be one, the number of the self-driving telescopic rods 31 may be two, and the support rods 32 and the two self-driving telescopic rods 31 are arranged in a triangle. At this time, the support rod 32 and the self-driving telescopic rod 31 may be connected to the robot carrier 1 and the high-order actuator 2 by using a universal joint when they are hinged, wherein the support rod 32 is also provided with one end hinged and one end fixedly connected as described above. When the support high-position actuator 2 is arranged in the above manner, two adjustment points (two self-driving telescopic rods 31) can be provided, thereby providing more adjustment manners.
The adjusting device 3 may also employ: the number of the supporting rods 32 is two, the number of the self-driving telescopic rods 31 is two, and the two supporting rods 32 and the two self-driving telescopic rods 31 are arranged in a square shape. The support rod 32 and the self-driving telescopic rod 31 can be connected with the robot carrier 1 and the high-order executing mechanism 2 by adopting a universal joint when being hinged, wherein the support rod 32 also adopts the arrangement mode that one end is hinged and the other end is fixedly connected. When the high-level actuating mechanism 2 is supported in the above manner, the high-level actuating mechanism 2 can be adjusted.
When the levelness of the container stored in the container is adjusted, the detection accuracy of the detection device 4 is very important according to the detection data of the detection device 4. When a three-axis gyroscope is used, the detection device 4 is located at the center of the adjustment device 3 as an alternative. The center position of the adjusting device 3 refers to a center position of a pattern surrounded by connecting points formed when the adjusting device 3 is connected to the robot carrier 1. The support rod 32 and the self-driving rod 31 form a center position of a straight line, a triangle, a square, and other different shapes. To improve the accuracy of the detected data.
As can be seen from the above description, the high-order robot provided in the embodiments of the present application can maintain the stability of the high-order actuator by adjustment. For ease of understanding, specific adjustment methods are described in detail.
The application also provides a high-order robot adjusting method, which comprises the following steps:
step 001: detecting the fluctuation variation of the robot carrier;
in particular, reference may be made to the above description for detecting the undulation change of the robot carrier by the detection device.
Step 002: and when the fluctuation change of the robot carrier is detected, controlling an adjusting device to compensate the high-order actuating mechanism according to the detected fluctuation change quantity of the robot carrier as a compensation quantity parameter for compensating the high-order actuating mechanism.
Specifically, when the levelness of the high-order actuator is adjusted, the fluctuation variable quantity can be used as a parameter for the adjusting device to adjust the high-order actuator, and the adjusting device correspondingly controls the adjusting quantity according to the parameter so as to ensure the levelness of the high-order actuator.
The adjustment amount of the adjustment device is specifically controlled by the control device. The control device can be a common control device such as a PLC, a singlechip or an industrial computer. When the robot carrier is used, the control device can control the adjusting device to compensate the fluctuation variation of the robot carrier according to the fluctuation variation of the robot carrier detected by the detection device. It should be understood that the control device controls the component to act according to the received data as a common technical means in the art, and therefore, the specific electrical connection relationship between the control device and the detection device and the adjustment device, and the specific control logic are not specifically illustrated in the present application.
In an alternative, the control device is arranged on or in the robot carrier. It should be understood that the embodiment of the present application does not specifically limit the setting position of the control device, and only needs to ensure that the control device can control the adjustment device.
Step 003: and comparing the expansion amount of the adjusting device during compensation with the compensation amount parameter, and if the expansion amount does not reach the expansion amount of the adjusting device, expanding and contracting again until the expansion amount is equal to the compensation amount parameter.
Specifically, the adjustment device will be described by taking the structure shown in fig. 2 as an example. When the self-driven telescopic rod is the servo electric cylinder, the control device can be used for receiving the telescopic amount of the self-driven telescopic rod and forming closed-loop control. When the robot carrier is used, the control device transmits control information to a driver of the servo electric cylinder to control the extension amount of the servo electric cylinder, so that the high-position actuating mechanism and the robot carrier are compensated in the direction opposite to the fluctuation direction and are always kept horizontal. An encoder in the servo electric cylinder feeds back the displacement execution condition to the control device, and the control device adjusts in real time according to the fed-back displacement execution condition to achieve a preset control effect in a stroke closed loop mode.
According to the method, the high-level robot provided by the embodiment of the application adjusts the levelness of the high-level executing mechanism by adopting the adjusting device, when the robot carrier is formed on an undulating road surface, the adjusting device is controlled by the control device to compensate, the high-level executing mechanism is always kept in a horizontal state, the safety of a container is ensured, and the collision condition possibly occurring between the high-level executing mechanism and a goods shelf is avoided.
In order to facilitate understanding of a usage scenario of the high-level robot provided in the embodiment of the present application, the following description is provided with reference to fig. 3. As shown in fig. 3, the robot carrier 1 walks in a tunnel, and the shelves 6 are disposed on two sides of the tunnel, which may cause the high-level actuator 2 to swing along the arc line shown in fig. 3 when the ground surface fluctuates, resulting in danger. However, after the adjustment device 3 is added, the high-level actuator 2 is leveled by the adjustment device 3. Even when the robot carrier 1 moves up and down, the high-level executing mechanism 2 can not swing left and right, the situation that the robot collides with the goods shelf 6 or the transfer robot topples over is avoided, and the safety of the high-level robot is guaranteed.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a high robot which characterized in that includes: a robot carrier and a high-order actuator; further comprising:
the adjusting device is arranged on the robot carrier and used for supporting the high-position executing mechanism; wherein the adjusting device can be used for leveling the high-position actuating mechanism;
a detecting device for detecting the fluctuation variation of the robot carrier;
and the control device is used for controlling the adjusting device to compensate the fluctuation variation of the robot carrier according to the fluctuation variation of the robot carrier detected by the detection device.
2. The robot of claim 1, wherein the adjustment device comprises: the robot comprises a support rod and a self-driving telescopic rod, wherein two ends of the self-driving telescopic rod are correspondingly hinged with the robot carrier and the high-position executing mechanism one by one respectively;
one end of the supporting rod is hinged with the robot carrier, and the other end of the supporting rod is fixedly connected with the high-position executing mechanism; or one end of the supporting rod is fixedly connected with the robot carrier, and the other end of the supporting rod is hinged with the high-position executing mechanism.
3. The robot of claim 2, wherein an axis about which the self-driving telescopic rod rotates relative to the robot carrier and the high-position executing mechanism is parallel to the walking direction of the robot carrier;
the axis around which the supporting rod and the robot carrier or the high-order executing mechanism rotate is parallel to the walking direction of the robot carrier.
4. The robot of claim 2 or 3, wherein the self-driving telescopic rod is a servo electric cylinder, a driving air cylinder or a driving hydraulic cylinder.
5. The robot according to any one of claims 1 to 4, wherein the number of the support rods is one, the number of the self-driving telescopic rods is two, and the support rods and the two self-driving telescopic rods are arranged in a triangular shape.
6. The robot according to any one of claims 1 to 4, wherein the number of the support rods is two, the number of the self-driving telescopic rods is two, and the two support rods and the two self-driving telescopic rods are arranged in a rectangular shape.
7. The robot of any one of claims 2 to 6, wherein the control device is further configured to control the amount of expansion and contraction of the self-driving telescopic rod to offset the amount of fluctuation of the robot carrier.
8. The robot of claim 7, wherein the control device is further configured to receive the amount of expansion of the self-driving telescopic rod and form a closed-loop control.
9. The robot according to any one of claims 1 to 8, wherein the control device is provided on the robot carrier.
10. The robot according to any one of claims 1 to 9, wherein the detection device is a three-axis gyroscope or an inertial navigation module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010507565.4A CN111620273A (en) | 2020-06-05 | 2020-06-05 | High-position robot and adjusting method thereof |
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| CN202010507565.4A CN111620273A (en) | 2020-06-05 | 2020-06-05 | High-position robot and adjusting method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4043428A (en) * | 1975-12-10 | 1977-08-23 | Otis Elevator Company | Automatic recycle control for hydraulic elevators with telescopic cylinders |
| CN105217413A (en) * | 2015-10-27 | 2016-01-06 | 中国矿业大学 | Become the gradient oblique operation container automatic leveling device and method |
| CN105858410A (en) * | 2016-06-22 | 2016-08-17 | 中国矿业大学 | Device and method for automatically regulating inclination angle of variable-slope oblique running container |
| CN108415330A (en) * | 2018-03-13 | 2018-08-17 | 哈尔滨理工大学 | Bio-robot foot end design method |
| CN207792501U (en) * | 2017-07-31 | 2018-08-31 | 泰富重工制造有限公司 | A kind of slope operation high pedestal jib crane |
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2020
- 2020-06-05 CN CN202010507565.4A patent/CN111620273A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4043428A (en) * | 1975-12-10 | 1977-08-23 | Otis Elevator Company | Automatic recycle control for hydraulic elevators with telescopic cylinders |
| CN105217413A (en) * | 2015-10-27 | 2016-01-06 | 中国矿业大学 | Become the gradient oblique operation container automatic leveling device and method |
| CN105858410A (en) * | 2016-06-22 | 2016-08-17 | 中国矿业大学 | Device and method for automatically regulating inclination angle of variable-slope oblique running container |
| CN207792501U (en) * | 2017-07-31 | 2018-08-31 | 泰富重工制造有限公司 | A kind of slope operation high pedestal jib crane |
| CN108415330A (en) * | 2018-03-13 | 2018-08-17 | 哈尔滨理工大学 | Bio-robot foot end design method |
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