CN209112997U - A kind of intelligent transport trolley for electrometric experiment room instrument check - Google Patents
A kind of intelligent transport trolley for electrometric experiment room instrument check Download PDFInfo
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- CN209112997U CN209112997U CN201821802012.6U CN201821802012U CN209112997U CN 209112997 U CN209112997 U CN 209112997U CN 201821802012 U CN201821802012 U CN 201821802012U CN 209112997 U CN209112997 U CN 209112997U
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Abstract
The utility model relates to automatic guided vehicle technical fields, more particularly, to a kind of intelligent transport trolley for electrometric experiment room instrument check.Including car body, the vehicle bottom is equipped with driving mechanism, and the car body front end is equipped with laser sensor, elevating mechanism is provided on the car body, is provided with conveying mechanism on the elevating mechanism.Process of the manpower as instrument check work manpower transport can be substituted, the danger of manual work is avoided, significantly reduces the labor intensity of staff, improve working efficiency.
Description
Technical field
The utility model relates to automatic guided vehicle technical fields, are used for electrometric experiment room instrument more particularly, to one kind
The intelligent transport trolley of verification.
Background technique
The electrometric experiment room of power supply bureau, districts and cities, power grid enterprises is the highest metering mark of all kinds of electrical measuring instruments of power supply bureau
Standard is mainly responsible for the transmission of quantity value work of all kinds of instrument.The instrument of periodic verification, not only substantial amounts, but also class are needed every year
Type is also very more.The annual instrument calibration in Jiangmen power supply bureau electrometric experiment room works more than 2500.Main meter type packet
Include all kinds of electric measuring instruments, earth resistance meter, insulation resistance meter, voltage monitoring instrument, frequency meter, electric energy quality monitoring terminal, direct current
Totally 18 kinds of electric bridge etc..
Daily instrument periodic verification work, main flow include: 1. inspection instrument sign for and account typing；2. will
Instrument to be checked is stored classifiedly to area to be checked；3. all kinds of instrument to be checked are carried to corresponding verification station；4. pair instrument carries out school
It tests；5. instrument will have been examined to store classifiedly to the area Yi Jian；6. having examined instrument delivers outbound.
Since intelligent management is also not implemented in whole flow process, to the lookup of instrument, checks, classifies, signs for and carry and all need
Testing crew is wanted to participate in the overall process.The especially multiple carrying of instrument, needs to consume a large amount of manpowers and time.If carried
Instrument is fallen, and can not only be damaged to instrument, it is also possible to hurt testing crew.In addition, also being deposited during instrument check
It in instrument to be checked and has examined instrument and puts disorderly and unsystematic phenomenon, testing crew is caused to need to take a significant amount of time and carry out instrument
It searches and checks, and be easy to cause inspection instrument, the loss for having examined instrument, leakage examination or repeat to test, ultimately cause instrument
Verifying work inefficiency problem, the requirement grave fault with lean management.
Teams and groups' productivity is improved it is necessary to solve the problems, such as the carrying of instrument, by testing crew from heavy manual labor
It frees.If the intelligence of instrument classification conveying and subregion storage can be realized by new and high technology and completely new management philosophy
Energyization management will fundamentally reduce the labor intensity of verification personnel.
The double vehicle linkage techniques of Xin Song company domestic initiation intelligent mobile robot, double vehicle linkage techniques are led by two laser
The automatic vehicle that navigates is constituted, and vehicle uses 3 fulcrum structures, and power is provided by 150mm driving unit wheel, it is ensured that after vehicle realization is advanced
It moves back and is acted with sidesway.Vehicle positions ambient enviroment by laser navigation sensor when mobile, and electric system is by plumbic acid
Battery provides, it is ensured that double vehicle linked system close look at the swing run smoothly.Qingdao sea leads to AGV in " 2017 Chinese (Guangzhou)
It exhibits one's skill to the full in international logistics equipment and technology exhibition ", in conjunction with powerful intelligent dispatching system, more Che Liandong, Collaboration,
As current exhibition maximum bright spot.The logical intelligent dispatching system in sea can dispatch simultaneously inertial navigation, vision guided navigation (two dimensional code),
Navigate AGV series of products for all no tracks such as laser navigation and hybrid navigation, and have intelligence send, active path planning, from
Dynamic congestion evacuation, the monitoring of AGV status visualization and Simulation Decision support function.Shenyang airplane industry Co., Ltd.For certain type
Number aircraft flexible production line demand has developed two stylobates and links AGV transport vehicle in Mitsubishi's controller.By debugging and verification, connection
Dynamic AGV realizes bicycle straight line sidesway, center rotation and eight word travelling controls, and it is various to AGV to meet flexible assemble production line
The demand of movement.Very more research work is all done to Dual-robot coordination movement by famous colleges and universities both at home and abroad.In the world, beautiful
Robot, Clemson university, state laboratory completes to carry workpiece experiment by two PUMA-560 industrial robots of control；Beauty
Coordinated control experiment is completed in the laboratory state Duke by two ABB-IRB140 industrial robots of control；Italian PRISMA is real
Room is tested, completes to coordinate jack experiment by two SMART-3S industrial robots of control.At home, Shenyang automation research institute
Using layered structure, multi-stage mechanism Dual-robot coordination control system is established according to discrete control principle, the system is at material gain
Position control is completed with PUMA-560 industrial robot and PUMA-760 industrial robot to coordinate to coordinate experiment with TRAJECTORY CONTROL；
Hong Kong University of Science and Thchnology successfully constitutes more finger experiment porch by controlling three Motoman K3S industrial robots.Schneider
Electrical industrial robot scheme is based on the high-end Motion Control Platform of PacDrive3, passes through the various moduluss of conversion in software library
Type, control module and function abundant, user can integrate on PacDrive3 platform, parallel robot and third party
The manipulator of a variety of different structures such as machinery, meets the diversified demand of equipment.
With the raising of unmanned technology and equipment the relevant technologies, automatic Pilot trolley (AGV), which has begun, to be appeared in
The every field of industry, the substation of south electric network 500KV, which has begun, largely there is automatic crusing robot.It avoids artificial
The danger of operation significantly reduces the labor intensity of staff.
During instrument check, instrument needs between area to be checked, calibrating station and the area Yi Jian by repeatedly carrying.
For the first time carry: inspection instrument is signed for and is classified, inspection instrument enter state to be checked after be carried to it is to be checked
Area (requires, after instrument enters laboratory environment, the time to be checked be cannot be below 24 hours) according to vertification regulation.
Second of carrying: when testing crew verifies instrument, instrument to be checked needs to be carried to corresponding school from area to be checked
It tests on station.
Third time is carried: after verification, having been examined instrument needs and has been carried to the area Yi Jian from station again.
Since the instrument weight of FCL is likely to be breached 10kg to 20kg, and chest is not easy to single lift to move, needs 2 people very
At most people assists to carry, and both expends the time, does not also meet man-machine efficacy, and needs that manually instrument is checked and screened.It is right
It is excessively poor in the timeliness of daily production, affect working efficiency.The task of top priority is exactly to realize the intelligent classification conveying of instrument
And partition management.
The intelligent conveying for realizing instrument, can realize by AGV intelligent carriage.But existing AGV is intelligently small
Vehicle is designed not directed to instrument check handling work, therefore is not appropriate in the handling work applied to instrument check.
Utility model content
The utility model in order to overcome at least one of the drawbacks of the prior art described above, provides a kind of for electrometric experiment room
The intelligent transport trolley of instrument check can substitute process of the manpower as instrument check work manpower transport, avoid artificial
The danger of operation significantly reduces the labor intensity of staff, improves working efficiency.
In order to solve the above technical problems, the technical solution adopted in the utility model is: one kind being used for electrometric experiment room instrument
The intelligent transport trolley of verification, including car body, the vehicle bottom are equipped with driving mechanism, and the car body front end is equipped with laser
Sensor is provided with elevating mechanism on the car body, is provided with conveying mechanism on the elevating mechanism.
In the work of electrometric experiment room, electric instrument equipment is placed on the indoor shelf of experiment, and trolley is according to setting
Route running is to the picking point of shelf, and when trolley reaches station, the elevating mechanism on trolley rises to electric instrument and sets
Electric instrument equipment on shelf is transported on trolley by standby storage area, the conveying mechanism on trolley, determines electric instrument
When equipment is in place, elevating mechanism resets decline, declines whole trolley center of gravity, guarantees stationarity when its movement.Trolley
It travels by carrying cargo and according to default route to detection zone, repeats above-mentioned work for electric instrument equipment and serve testing stand i.e.
Complete transport.In trolley front end, the laser sensor of setting is used to detect Environment Obstacles, and according to detection environment
As a result travel route is modified, realizes the work that electric instrument equipment is carried to test area.
Further, the driving mechanism includes front-wheel mechanism and rear-wheel mechanism, and the front-wheel mechanism is equipped with outstanding
Extension system, the rear-wheel mechanism and vehicle bottom are rigidly connected.Trolley can be made to be expert at by the suspension of front-wheel mechanism
Guarantee trolley stable drive under the uneven environment in road surface is encountered during sailing, plays the role of shock-absorbing, and in addition rear-wheel mechanism is not
Suspension, which is arranged, can guarantee the intensity of entire trolley, avoid the excessively soft influence transport of trolley.
Further, the front-wheel mechanism is identical with rear-wheel mechanism structure, including Mecanum wheel, stub shaft, row
Star speed reducer and servo motor, the servo motor of watching are connected with planetary reducer, the planetary reducer and ring flange
Axis connection, the stub shaft are connect with Mecanum wheel.Mecanum wheel is a kind of device that can be mobile with omnidirection, this
Kind all-around mobile mode is based on one there are many in the principle of the centre wheel for the wheel shaft for being located at wheel periphery, these are angled
Periphery wheel shaft a part wheel steering force be transformed into above a wheel normal force.Direction and speed by respective wheel
Degree, the final synthesis of these power generate a resultant force vector on the direction of any requirement to ensure that this platform final
Resultant force vector direction on can move freely through, without change wheel itself direction.It diagonally distributes on its wheel rim
Many small rollers, therefore wheel can be with horizontal sliding.The bus of small roller is very special, when wheel is rotated around fixed wheel arbor
When, the envelope of each small roller is cylindrical surface, so the wheel being capable of continuously rolls forward.Mecanum wheel is compact-sized,
Movement is a kind of very successful omni-directional wheel flexibly.By the effect of upper 4 Mecanum wheels of front-wheel mechanism and rear-wheel mechanism,
And rotated forward and inverted by Serve Motor Control, trolley all-around mobile may be implemented, guarantee that trolley can adapt in laboratory
Narrow space.
Further, the suspension includes firm banking, rotating plate and damper, the firm banking and car body
Bottom is fixedly connected, and the rotating plate and firm banking are rotatablely connected, the damper both ends respectively with rotating plate and car body bottom
Portion is hinged.
Further, the elevating mechanism includes Lifting bench and worm and gear elevator (112), the worm and gear
Elevator (112) is connect with Lifting bench, and the Lifting bench is provided with several guiding axis by linear bearing.4 guide posts
It is separately positioned on 4 ends angle of Lifting bench, Lifting bench can be made more steady during lifting by guide post, guaranteed
Power equipment is not fallen out.
Further, the conveying mechanism includes main frame, driving device and transmission shaft, and several transmission shafts turn
It is dynamic to be arranged in main frame, it further include having the first limit sensors, the second limit sensors and material detection sensor, it is described
First sensor and second sensor are separately positioned on the rear and front end of main frame, and the material detection sensor is set to master
Below frame.
When material enters, first position sensor sensing to material enters, and driving device starting drives transmission shaft
Rotation drives material movement, when material is transported to suitable position, i.e. the material inspection that has been more than first position sensor
Range is surveyed, driving device stops working, and material comes to a complete stop, at this point, if material slides into second position sensing due to the effect of inertia
When the detection position of device, then driving device, which is driven in the reverse direction, is finely adjusted material until body feed tank leaves second position sensing
The detection of device then stops working, and guarantees that body feed tank is placed between first position sensor and second position sensor.
Further, the transmission shaft includes driving shaft and driven shaft, and driving wheel, institute are provided on the driving shaft
The driven shaft stated is equipped with driven wheel, and the driving shaft is connect with driving device, and the driving wheel and driven wheel pass through biography
Send V belt translation.Driving device drives driving shaft rotation, and driving shaft drives driving wheel rotation, driving wheel and driven wheel V belt translation, and
Driving wheel is identical with the diameter of driven wheel, therefore can guarantee the revolving speed one of driving shaft and driven shaft during transported material
It causes, it is ensured that the stationarity of transmission, in addition, conveyer belt is provided with several, when transported material, conveyer belt plays load-bearing
Effect, the bottom surface of material directly contact conveyer belt, are transported relative to direct by transmission shaft, between material and conveyer belt
It rubs bigger, can guarantee the efficiency and stationarity of transmission, material is avoided to slide.
Further, the conveyer belt is V band, and the driving wheel and driven wheel are engaged with V band respectively.Using V band
Transmission can mitigate load impacting, and run smoothly noiseless, and transmission efficiency is high.
Further, the driving device is direct-drive motor.It is steady by direct-drive motor power, and work
Personnel can adjust the steering of direct-drive motor according to actual needs, and realization rotates and reverse, to realize charging and discharging.
Further, several reinforcing ribs are equipped in the main frame, the reinforcing rib is parallel with transmission shaft, described
Material detection sensor is mounted on reinforcing rib.The mounting height of reinforcing rib is the height center position of frame, and material detection passes
End face can guarantee that material will not touch during transportation without departing from the upper surface of transmission shaft to sensor so thereon after mounting
Encounter material detection sensor.
Compared with prior art, beneficial effect is:
1, present apparatus movement flexibly, and provided with elevating mechanism and conveying mechanism, can be well adapted for electrometric experiment room
Space size and layout, can replace manpower to electric instrument carry out handling work, save human cost, improve work effect
Rate；
2, present apparatus conveying is steady, can be avoided the electric instrument in carrying out electric instrument handling process and falls or collide and leads
Cause instrument damage；
3, the present apparatus can be realized all-around mobile, guarantee that trolley can adapt to narrow space in laboratory.
Detailed description of the invention
Fig. 1 is the utility model overall structure simplified schematic diagram；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the overall structure diagram of car body in the utility model；
Fig. 4 is the left view of Fig. 3；
Fig. 5 is the overall structure diagram of conveying mechanism in the utility model.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
As shown in Figs. 1-5, a kind of includes car body, and vehicle bottom is equipped with driving mechanism 12, and car body front end sets that there are two laser
Sensor 14 is provided with elevating mechanism 11 on car body, is provided with conveying mechanism 2 on elevating mechanism 11.
Wherein, driving mechanism 12 used by vehicle includes front-wheel mechanism and rear-wheel mechanism, and front-wheel mechanism is equipped with suspension
System, rear-wheel mechanism and vehicle bottom are rigidly connected.It can make trolley in the process of moving by the suspension of front-wheel mechanism
Guarantee trolley stable drive under the uneven environment in road surface is encountered, plays the role of shock-absorbing, in addition rear-wheel mechanism is not provided with hanging
System can guarantee the intensity of entire trolley, avoid the excessively soft influence transport of trolley.
Front-wheel mechanism is identical with the structure of rear-wheel mechanism, includes Mecanum wheel 121, stub shaft 122, planetary reduction gear
Machine 123 and servo motor, watch servo motor and planetary reducer 123 connects, and planetary reducer 123 and stub shaft 122 connect
It connects, stub shaft 122 is connect with Mecanum wheel 121.Mecanum wheel 121 is a kind of device that can be mobile with omnidirection, this
Kind all-around mobile mode is based on one there are many in the principle of the centre wheel for the wheel shaft for being located at wheel periphery, these are angled
Periphery wheel shaft a part wheel steering force be transformed into above a wheel normal force.Direction and speed by respective wheel
Degree, the final synthesis of these power generate a resultant force vector on the direction of any requirement to ensure that this platform final
Resultant force vector direction on can move freely through, without change wheel itself direction.It diagonally distributes on its wheel rim
Many small rollers, therefore wheel can be with horizontal sliding.The bus of small roller is very special, when wheel is rotated around fixed wheel arbor
When, the envelope of each small roller is cylindrical surface, so the wheel being capable of continuously rolls forward.121 structure of Mecanum wheel is tight
It gathers, movement is a kind of very successful omni-directional wheel flexibly.Pass through upper 4 Mecanum wheels 121 of front-wheel mechanism and rear-wheel mechanism
Effect, and rotated forward and inverted by Serve Motor Control, trolley all-around mobile may be implemented, guarantee that trolley can adapt to test
Indoor narrow space.
In addition, suspension adapts to the setting of front-wheel mechanism, firm banking 131, rotating plate 132 and damper 133 are used
Setting, fixed bottom plate is fixedly connected with vehicle bottom, hinged in two pieces of the both ends rotating plate 132 and fixation bottom plate of fixed bottom plate,
Shock absorber is provided with 4 in total, is respectively arranged 2 in the two sides of firm banking 131, wherein one end of shock absorber is articulated with rotating plate
132 sides, the other end is articulated with vehicle bottom, therefore front-wheel mechanism can be well adapted for broken terrain and be transported
It is dynamic.
In the present embodiment, in order to adapt to shelf in laboratory multilayer different height setting, car body top be arranged
Elevating mechanism 11, is made of, the end of worm and gear elevator 112 and jacking Lifting bench 111 and worm and gear elevator 112
The center of platform 111 is fixedly connected, and 112 other end of worm and gear elevator is mounted on car body top, and Lifting bench 111 is rectangular layer
Plate is mounted with 4 guide posts by linear bearing respectively on 4 ends angle of Lifting bench 111, and the end of guide post is fixed on vehicle
At the top of body, Lifting bench 111 can be made more steady during lifting by guide post, guarantee that power equipment is not fallen out.
In addition, conveying mechanism 2 includes main frame 21, driving device 22 and transmission shaft, several transmission shafts are rotatably arranged on master
It further include having the first limit sensors 25, the second limit sensors 26 and material detection sensor 27 in frame 21, the first sensing
Device and second sensor are separately positioned on the rear and front end of main frame 21, and material detection sensor 27 is set under main frame 21
Side.Power equipment is transported in main frame 21 by transmission shaft, and when material enters, first position sensor sensing is arrived
Material enters, and the starting of driving device 22 drives transmission shaft rotation, material movement is driven, when material is transported to suitable position
The detection range that time, i.e. material have been more than first position sensor, driving device 22 stop working, and material comes to a complete stop, at this point, if object
When material slides into the detection position of second position sensor due to the effect of inertia, then driving device 22 is driven in the reverse direction to object
Material is finely adjusted until body feed tank leaves the detection of second position sensor and then stops working, and guarantees that body feed tank is placed on first
It sets between sensor and second position sensor.
Transmission shaft includes driving shaft 23 and driven shaft 24, and driving wheel 231 is provided on driving shaft 23, is set on driven shaft 24
There is driven wheel 241, driving shaft 23 is connect with driving device 22, and driving wheel 231 and driven wheel 241 are driven by conveyer belt 28.It drives
Dynamic device 22 drives driving shaft 23 to rotate, and driving shaft 23 drives driving wheel 231 to rotate, and driving wheel 231 and driven wheel 241 are with biography
It is dynamic, and driving wheel 231 is identical with the diameter of driven wheel 241, therefore can guarantee 23 He of driving shaft during transported material
The revolving speed of driven shaft 24 is consistent, it is ensured that the stationarity of transmission, in addition, conveyer belt 28 be provided with several, transported material when
Wait, conveyer belt 28 plays the role of load-bearing, and the bottom surface of material directly contact conveyer belt 28, relative to directly by transmission shaft into
Row transport, the friction between material and conveyer belt 28 is bigger, can guarantee the efficiency and stationarity of transmission, material is avoided to slide.
In the present embodiment, conveyer belt 28 is respectively arranged one in the left, center, right of main frame 21 respectively, for transmission and load-bearing.
Used conveyer belt 28 is V band, and driving wheel 231 and driven wheel 241 are engaged with V band respectively.Using V V belt translation energy
Load impacting is enough mitigated, run smoothly noiseless, and transmission efficiency is high.
Driving device 22 is direct-drive motor.It is steady by direct-drive motor power, and staff can be according to reality
Border needs to adjust the steering of direct-drive motor, and realization rotates and reverse, to realize charging and discharging.
In the present embodiment, several reinforcing ribs 29 are equipped in main frame 21, reinforcing rib 29 is parallel with transmission shaft, material detection
Sensor 27 is mounted on reinforcing rib 29.The mounting height of reinforcing rib 29 is the height center position of frame, material detection sensing
End face can guarantee that material will not touch during transportation without departing from the upper surface of transmission shaft to device 27 so thereon after mounting
Encounter material detection sensor 27.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (10)
1. a kind of intelligent transport trolley for electrometric experiment room instrument check, which is characterized in that including car body, the car body
Bottom is equipped with driving mechanism (12), and the car body front end is equipped with laser sensor (14), and lifting is provided on the car body
Mechanism (11) is provided with conveying mechanism (2) on the elevating mechanism (11).
2. a kind of intelligent transport trolley for electrometric experiment room instrument check according to claim 1, which is characterized in that
The driving mechanism (12) includes front-wheel mechanism and rear-wheel mechanism, and the front-wheel mechanism is equipped with suspension, described
Rear-wheel mechanism and vehicle bottom are rigidly connected.
3. a kind of intelligent transport trolley for electrometric experiment room instrument check according to claim 2, which is characterized in that
The front-wheel mechanism is identical with rear-wheel mechanism structure, including Mecanum wheel (121), stub shaft (122), planetary reducer
(123) it is connected with servo motor, the servo motor and planetary reducer (123), the planetary reducer (123) and method
Blue dish axle (122) connection, the stub shaft (122) are connect with Mecanum wheel (121).
4. a kind of intelligent transport trolley for electrometric experiment room instrument check according to claim 2, which is characterized in that
The suspension includes firm banking (131), rotating plate (132) and damper (133), the firm banking (131) with
Vehicle bottom is fixedly connected, and the rotating plate (132) and firm banking (131) are rotatablely connected, the damper (133) both ends
It is hinged with rotating plate (132) and vehicle bottom respectively.
5. a kind of intelligent transport trolley for electrometric experiment room instrument check according to claim 1, which is characterized in that
The elevating mechanism (11) includes Lifting bench (111) and worm and gear elevator (112), the worm and gear elevator
(112) it is connect with Lifting bench (111), the Lifting bench (111) is provided with several guiding axis (113) by linear bearing.
6. a kind of intelligent transport trolley for electrometric experiment room instrument check according to claim 1, which is characterized in that
The conveying mechanism (2) includes main frame (21), driving device (22) and transmission shaft, and several transmission shafts rotate setting
It further include having the first limit sensors (25), the second limit sensors (26) and material detection sensor in main frame (21)
(27), first limit sensors (25) and the second limit sensors (26) are separately positioned on the front and back two of main frame (21)
End, the material detection sensor (27) are set to below main frame (21).
7. a kind of intelligent transport trolley for electrometric experiment room instrument check according to claim 6, which is characterized in that
The transmission shaft includes driving shaft (23) and driven shaft (24), and driving wheel (231), institute are provided on the driving shaft (23)
The driven shaft (24) stated is equipped with driven wheel (241), and the driving shaft (23) is connect with driving device (22), the active
(231) and driven wheel (241) is taken turns to be driven by conveyer belt (28).
8. a kind of intelligent transport trolley for electrometric experiment room instrument check according to claim 7, which is characterized in that
The conveyer belt (28) is V band, and the driving wheel (231) and driven wheel (241) are engaged with V band respectively.
9. a kind of intelligent transport trolley for electrometric experiment room instrument check according to claim 6, which is characterized in that
The driving device (22) is direct-drive motor.
10. a kind of intelligent transport trolley for electrometric experiment room instrument check according to claim 6, feature exist
In equipped with several reinforcing ribs (29) in the main frame (21), the reinforcing rib (29) is parallel with transmission shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821802012.6U CN209112997U (en) | 2018-11-02 | 2018-11-02 | A kind of intelligent transport trolley for electrometric experiment room instrument check |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821802012.6U CN209112997U (en) | 2018-11-02 | 2018-11-02 | A kind of intelligent transport trolley for electrometric experiment room instrument check |
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| CN209112997U true CN209112997U (en) | 2019-07-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110597208A (en) * | 2019-09-19 | 2019-12-20 | 驭势科技（北京）有限公司 | Method for loading cargoes by intelligently driving trailer, vehicle-mounted equipment and storage medium |
| WO2021022842A1 (en) * | 2019-08-02 | 2021-02-11 | 苏州久一自动化科技有限公司 | Carrier trolley with towed wire |
-
2018
- 2018-11-02 CN CN201821802012.6U patent/CN209112997U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021022842A1 (en) * | 2019-08-02 | 2021-02-11 | 苏州久一自动化科技有限公司 | Carrier trolley with towed wire |
| CN110597208A (en) * | 2019-09-19 | 2019-12-20 | 驭势科技（北京）有限公司 | Method for loading cargoes by intelligently driving trailer, vehicle-mounted equipment and storage medium |
| CN110597208B (en) * | 2019-09-19 | 2020-11-20 | 驭势科技（北京）有限公司 | Method for loading cargoes by intelligently driving trailer, vehicle-mounted equipment and storage medium |
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