CN113640828B - A laser anti-collision device for large flatbed trucks in shipyards - Google Patents
A laser anti-collision device for large flatbed trucks in shipyards Download PDFInfo
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- CN113640828B CN113640828B CN202110973593.XA CN202110973593A CN113640828B CN 113640828 B CN113640828 B CN 113640828B CN 202110973593 A CN202110973593 A CN 202110973593A CN 113640828 B CN113640828 B CN 113640828B
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- 230000005540 biological transmission Effects 0.000 claims description 34
- 238000009434 installation Methods 0.000 claims description 12
- 230000006698 induction Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/30—Moving or transporting modules or hull blocks to assembly sites, e.g. by rolling, lifting or floating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Lasers (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
本发明申请公开了一种船厂大型板车用激光防撞器，包括控制器以及与控制器电连接的换向模块、升降模块、转向模块、激光扫描器，升降模块安装在换向模块上，升降模块处设有转向模块，转向模块处安装有激光扫描器；通过在板车的前后两侧均安装本船厂大型板车用激光防撞器，能够精准识别板车四周的障碍物，并及时将障碍物信息反馈给板车的驾驶员，使得驾驶员能够及时发现障碍物，避免板车与障碍物碰撞，且本船厂大型板车用激光防撞器与板车控制电脑联动，使得板车能够在撞击前停止行进；本船厂大型板车用激光防撞器能够有效避免板车撞击损坏龙门架上船体底部的仪器仪表，避免船体底部损坏，避免由于板车驾驶不当造成的经济损失。
The present invention application discloses a laser anti-collision device for a large flatbed truck in a shipyard, comprising a controller and a reversing module, a lifting module, a steering module and a laser scanner electrically connected to the controller, wherein the lifting module is installed on the reversing module, the lifting module is provided with a steering module, and the steering module is provided with a laser scanner; by installing the laser anti-collision device for a large flatbed truck in a shipyard on both the front and rear sides of the truck, obstacles around the truck can be accurately identified, and obstacle information can be fed back to the driver of the truck in time, so that the driver can find obstacles in time and avoid collision between the truck and the obstacle, and the laser anti-collision device for a large flatbed truck in a shipyard is linked with a truck control computer, so that the truck can stop moving before collision; the laser anti-collision device for a large flatbed truck in a shipyard can effectively prevent the truck from colliding with and damaging instruments and meters on the bottom of the hull on the gantry, avoid damage to the bottom of the hull, and avoid economic losses caused by improper truck driving.
Description
Technical Field
The invention relates to auxiliary driving, in particular to a laser bumper for a large-scale board vehicle in a shipyard.
Background
When the large-scale plate vehicle is used for carrying the ship body erected on the portal frame in shipbuilding factories, the plate vehicle generally needs to be moved to the lower parts of the portal frame and the ship body to carry the ship body, a plurality of instruments and various pipelines are arranged at the bottom of the ship body, the instruments are always lower than the height of a cross beam of the portal frame, the view of the plate vehicle is smaller, obstacles in the front, the back and the upper part of the plate vehicle cannot be completely seen, and the plate vehicle can often strike together instruments or parts at the bottom of the ship body to cause huge economic loss.
Disclosure of Invention
In view of the above problems, the invention provides a shipyard large-scale plate vehicle laser bumper capable of detecting obstacles on the front side, the rear side and the upper side of a plate vehicle, so as to solve the problem that the plate vehicle is easy to strike instruments and parts at the bottom of a ship body.
The laser anti-collision device for the large-scale plate vehicle of the shipyard comprises a controller, and a reversing module, a lifting module, a steering module and a laser scanner which are electrically connected with the controller, wherein the lifting module is arranged on the reversing module, the steering module is arranged at the lifting module, the laser scanner is arranged at the steering module, the reversing module comprises a base, a reversing motor, a worm wheel and a transmission shaft, the reversing motor is arranged in the base, the worm is meshed with the worm wheel at the output shaft of the reversing motor, the worm wheel is rotatably arranged in the base through one end of the transmission shaft, the other end of the transmission shaft is fixedly connected with the lifting module, the lifting module comprises a machine body, a lifting motor, a gear, a guide rail, a slide block and a rack, the machine body is fixedly connected with the transmission shaft, the output shaft of the lifting motor is connected with the gear through a key, the gear is meshed with the rack, the rack is arranged on the slide block, the slide block is slidably connected with the guide rail, and one end of the slide block is provided with the steering module.
Further, the steering module comprises a steering motor and a connecting shaft, wherein the steering motor is connected with one end of the connecting shaft, and a laser scanner is arranged at the other end of the connecting shaft.
Further, the reversing module further comprises an induction mechanism, the induction mechanism comprises a sleeve, trigger blocks, a first photoelectric sensor and a second photoelectric sensor, the sleeve is sleeved on the transmission shaft and fixedly connected with the transmission shaft, two trigger blocks are arranged on the sleeve and distributed in ninety degrees by taking the transmission shaft as the center, and the installation positions of the first photoelectric sensor and the second photoelectric sensor are matched with the setting positions of the two trigger blocks.
Further, a third photoelectric sensor and a fourth photoelectric sensor are arranged in the body of the lifting module, the installation position of the third photoelectric sensor is matched with the setting position of the gear, and the installation position of the fourth photoelectric sensor is matched with the setting position of the rack.
Further, a folding sheath is sleeved at the rack and the sliding block.
Further, still include protection module, protection module includes protective housing, spacing post, mount pad and fixation hook, the protective housing is installed on the base surface and protective housing and laser scanner adaptation, and the one end that laser scanner was kept away from to the slider is equipped with spacing post, and spacing post and fixation hook adaptation and spacing post are located the fixation hook, and the fixation hook is installed in mount pad department rotationally.
The laser anti-collision device for the large-scale board vehicle of the shipyard has the advantages that the laser anti-collision device for the large-scale board vehicle of the shipyard is arranged on the front side and the rear side of the scooter, the front side and the rear side of the scooter and the obstacle above the front side and the rear side of the scooter can be accurately identified, obstacle information is fed back to a driver of the scooter in time, the driver can timely find the obstacle, the scooter is prevented from colliding with the obstacle, the laser anti-collision device for the large-scale board vehicle of the shipyard is linked with a control computer of the scooter, the scooter can stop moving before collision, the laser anti-collision device for the large-scale board vehicle of the shipyard can effectively prevent the scooter from collision from damaging instruments and meters at the bottom of a hull on a portal frame, the bottom of the hull is prevented from being damaged, and economic losses caused by improper driving of the scooter are avoided.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is an internal structure of the present invention;
FIG. 4 is a block diagram of a reversing module of the present invention;
FIG. 5 is a block diagram of a lifting module according to the present invention;
Fig. 6 is a structural view of the protection module of the present invention.
Reference numerals in the drawings of the specification include:
1. The device comprises a reversing module, a base, a reversing motor, a worm wheel, a transmission shaft, a sleeve, a trigger block, a first photoelectric sensor, a second photoelectric sensor, a lifting module, a machine body, a lifting motor, a gear, a guide rail, a sliding block, a rack, a third photoelectric sensor, a fourth photoelectric sensor, a folding sheath, a steering module, a steering motor, a connecting shaft, a laser scanner, a protection module, a protection shell, a limiting post, a mounting seat and a fixing hook.
Detailed Description
The following is a further detailed description of the embodiments:
As shown in fig. 1 to 6, a laser bumper for a large-scale board vehicle in a shipyard comprises a controller, and a reversing module 1, a lifting module 2, a steering module 3 and a laser scanner 4 which are electrically connected with the controller, wherein the lifting module 2 is installed on the reversing module 1, the lifting module 2 is provided with the steering module 3, the laser scanner 4 is installed at the position of the steering module 3, the reversing module 1 comprises a base 11, a reversing motor 12, a worm 13, a worm wheel 14 and a transmission shaft 15, the reversing motor 12 is installed in the base 11, the worm 13 is meshed with the worm wheel 14 at the output shaft of the reversing motor 12, one end of the worm wheel 14 is rotationally installed in the base 11 through one end of the transmission shaft 15, the other end of the transmission shaft 15 is fixedly connected with the lifting module 2, the lifting module 2 comprises a machine body 21, a lifting motor 22, a gear 23, a guide rail 24, a sliding block 25 and a rack 26, the machine body 21 is fixedly connected with the transmission shaft 15, the output shaft of the lifting motor 22 is connected with the gear 23 through a key, the gear 23 is meshed with the rack 26, the rack 25 is installed on the sliding block 25, the sliding block 25 is connected with the guide rail 24, and one end of the sliding block 24 is installed in the machine body 3.
The controller is a Programmable Logic Controller (PLC) or other control modules with similar functions, the reversing module 1 is used for driving the lifting module 2, the steering module 3 and the laser scanner 4 to integrally rotate ninety degrees, the lifting module 2 is used for driving the steering module 3 and the laser scanner 4 to lift up and down, the special module is used for driving the laser scanner 4 to rotate, the laser scanner 4 is of the prior art, the laser scanner 4 can adopt a TIM561-2050101 type, the base 11 of the reversing module 1 is arranged at the front end part and the rear end part of a scooter, the base 11 is used for protecting and installing the reversing motor 12 and providing installation support for other modules, the reversing motor 12 is used for driving the worm 13 to rotate, the worm 13 and the worm wheel 14 need to rotate, the worm wheel 14 drives the transmission shaft 15 to rotate, the transmission shaft 15 drives the lifting module 2 to rotate, the body 21 of the lifting module 2 is a main body supporting member of the lifting module 2, the body 21 is fixedly connected with the transmission shaft 15, so that the transmission shaft 15 can drive the body 21 to rotate, the lifting motor 22 is used for driving the gear 23 to rotate, the gear 23 is meshed with the rack 26, and further drives the steering module 3 and the laser scanner 4 to rotate up and down, the slide block 24 and the slide block 26 are used for strengthening the strength of the rack 26 and the rack 26.
As shown in fig. 3 and 5, the steering module 3 includes a steering motor 3 and a connection shaft 32, the steering motor 31 is connected to one end of the connection shaft 32, and the other end of the connection shaft 32 is provided with a laser scanner 4.
Wherein the steering motor 31 and the connecting shaft 32 drive the laser scanner 4 to rotate, so that the laser scanner 4 can rotate at multiple angles.
As shown in fig. 3 and fig. 4, the reversing module 1 further includes an induction mechanism, the induction mechanism includes a sleeve 16, a trigger block 17, a first photoelectric sensor 18 and a second photoelectric sensor 19, the sleeve 16 is sleeved on the transmission shaft 15 and the sleeve 16 is fixedly connected with the transmission shaft 15, two trigger blocks 17 are arranged on the sleeve 16 and distributed in ninety degrees with the transmission shaft 15 as a center, and the installation positions of the first photoelectric sensor 18 and the second photoelectric sensor 19 are matched with the setting positions of the two trigger blocks 17 in a coordinated manner.
The sleeve 16 is provided with two trigger blocks 17 distributed by ninety degrees with the sleeve 16 as the center, the trigger blocks 17 are matched with the first photoelectric sensor 18 and the second photoelectric sensor 19, and are used for identifying whether the transmission shaft 15 and the lifting module 2 rotate by ninety degrees, and the specific identification process is that the initial position of the first trigger block 17 is located in an identification area of the first photoelectric sensor 18, after the transmission shaft 15 rotates by ninety degrees, the first trigger block 17 enters into an identification area of the second photoelectric sensor 19, the second trigger block 17 enters into an identification area of the first photoelectric sensor 18, further, the transmission shaft 15 is accurately controlled to rotate by ninety degrees by a double identification method, the first photoelectric sensor 18 and the second photoelectric sensor 19 are all existing mature technologies, which are not repeated herein, and other trigger devices with similar functions can be used for replacing.
As shown in fig. 1,2, 3 and 5, a third photoelectric sensor 27 and a fourth photoelectric sensor 28 are disposed in the body 21 of the lifting module 2, the installation position of the third photoelectric sensor 27 is adapted to the installation position of the gear 23, and the installation position of the fourth photoelectric sensor 28 is adapted to the installation position of the rack 26.
The third photoelectric sensor 27 and the fourth photoelectric sensor 28 are respectively used for detecting the motion parameters of the gear 23 and the rack 26, and double detection is used for detecting the lifting height of the lifting module 2, so that the lifting height control of the laser scanner 4 is more accurate, the third photoelectric sensor 27 and the fourth photoelectric sensor 28 are all existing mature products, and can be selected and purchased according to actual use requirements, and the detection devices are not repeated herein, and can be replaced by other detection devices with the same functions.
As shown in fig. 1, a folding sheath 29 is sleeved at the rack 26 and the sliding block 25.
Wherein a folding sheath 29 is used to protect the rack 26 and the slide 25 from dirt contaminating the rack 26 and the slide 25.
As shown in fig. 1 and 6, the protection module 5 further comprises a protection module 5, the protection module 5 comprises a protection shell 51, a limit post 52, a mounting seat 53 and a fixed hook 54, the protection shell 51 is mounted on the surface of the base 11, the protection shell 51 is matched with the laser scanner 4, one end, far away from the laser scanner 4, of the sliding block 25 is provided with the limit post 52, the limit post 52 is matched with the fixed hook 54, the limit post 52 is located in the fixed hook 54, and the fixed hook 54 is rotatably mounted at the mounting seat 53.
Wherein, the protective housing is used for protecting laser scanner 4, and mount pad 53 is installed on the scooter, and fixed hook 54 articulates in mount pad 53 department, and spacing post 52 is installed at the end of slider 25 and rack 26, and spacing post 52 and fixed hook 54 cooperation are used for the relative position of fixed rack 26 and slider 25, avoid rack 26 and slider 25 to receive external force influence and take place to warp.
The specific implementation process is as follows:
The front end and the rear end of the scooter are provided with the large-scale plate vehicle laser anti-collision device of the shipyard, and the controller is connected with a vehicle-mounted computer control system of the scooter; when the laser bumper for the large-scale board vehicle of the shipyard is used, firstly, the protective shell is opened, the fixed hook 54 is separated from the limiting column 52, the reversing module 1 is started, the reversing motor 12 of the reversing module 1 is started, the reversing motor 12 drives the transmission shaft 15 to rotate through the worm 13 and the worm wheel 14, the transmission shaft 15 drives the lifting module 2 and the sleeve 16 to move, the sleeve 16 drives the two trigger blocks 17 to move, the initial position of the first trigger block 17 is positioned in the identification area of the first photoelectric sensor 18, after the transmission shaft 15 rotates for ninety degrees, the first trigger block 17 enters the identification area of the second photoelectric sensor 19, the second trigger block 17 enters the identification area of the first photoelectric sensor 18, further, the transmission shaft 15 is accurately controlled to rotate for ninety degrees through a double identification method, and the lifting module 2, the special module and the laser scanner 4 also swing for ninety degrees by taking the transmission shaft 15 as a circle center; then the lifting module 2 is started, the lifting motor 22 drives the rack 26 to move upwards through the gear 23, the guide rail 24 and the sliding block 25 play a role in guiding the movement of the rack 26, the rack 26 lifts the steering module 3 and the laser scanner 4 upwards, the front and rear groups of laser bumpers of the scooter work simultaneously, whether obstacles exist in the front and rear directions of the scooter, the upper direction of the scooter and the upper direction of the form track or not are scanned, if the obstacles exist, the laser scanner 4 returns relevant information to the controller, the controller feeds back the information to the vehicle-mounted system of the scooter so as to remind a driver of avoiding the scooter from impacting the obstacles, if the alarm is given, the scooter still travels, the controller transmits a signal back to the vehicle-mounted system of the scooter when a certain distance from the obstacle is present (the secondary distance can be set autonomously), and the vehicle-mounted system of the scooter controls the scooter to stop travelling. If the laser scanner needs to rotate an angle, when scanning other directions, the steering motor 31 is started, the steering motor 31 drives the connecting shaft 32 to rotate, and the connecting shaft 32 drives the laser scanner 4 to rotate together, so that the scanning direction of the laser scanner can be changed.
When the laser bumper is not used, the laser bumper is reset, so that the laser scanner 4 reenters the protective shell 51, and the fixed hooks 54 are hooked on the limit posts 52 again.
The laser anti-collision device for the large-scale plate vehicle in the shipyard is installed on the front side and the rear side of the shipyard, the barriers on the front side and the rear side of the shipyard and the barriers on the front side and the rear side of the shipyard can be accurately identified, and barrier information is fed back to a driver of the shipyard in time, so that the driver can timely find the barriers, the collision of the shipyard and the barriers is avoided, the laser anti-collision device for the large-scale plate vehicle in the shipyard is linked with a control computer of the shipyard, the traveling of the shipyard can be stopped before the collision, the laser anti-collision device for the large-scale plate vehicle in the shipyard can effectively prevent the collision of the shipyard from damaging the instrument and the instrument on the bottom of a hull on a portal frame, the bottom of the hull from being damaged, and economic losses caused by improper driving of the shipyard are avoided.
The foregoing is merely exemplary of the present application, and the specific structures and features well known in the art are not described in detail herein, so that those skilled in the art will be able to ascertain all prior art in the field, and will not be able to ascertain the essential characteristics of the present application, without the general knowledge of the skilled person in the art, to ascertain the general knowledge of the technical field, before the application or the priority date, to apply the general experimental means before the date, with the ability of the person skilled in the art to perfect and practice the present application with the help of the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the applicability of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (4)
1. The utility model provides a laser bumper for large-scale board vehicle of shipyard which characterized in that: the automatic steering device comprises a controller, a reversing module, a lifting module, a steering module and a laser scanner, wherein the reversing module, the lifting module, the steering module and the laser scanner are electrically connected with the controller, the lifting module is arranged on the reversing module, the steering module is provided with the laser scanner, the reversing module comprises a base, a reversing motor, a worm wheel and a transmission shaft, the reversing motor is arranged in the base, the worm is arranged at an output shaft of the reversing motor and meshed with the worm wheel, the worm wheel is rotatably arranged in the base through one end of the transmission shaft, the other end of the transmission shaft is fixedly connected with the lifting module, the lifting module comprises a machine body, a lifting motor, a gear, a guide rail, a slider and a rack, the machine body is fixedly connected with the transmission shaft, the output shaft of the lifting motor is connected with the gear through a key, the gear is meshed with the rack, the slider is slidably connected with the guide rail and is arranged in the machine body, and one end of the slider is provided with the steering module;
The steering module comprises a steering motor and a connecting shaft, the steering motor is connected with one end of the connecting shaft, and the other end of the connecting shaft is provided with a laser scanner;
The reversing module further comprises an induction mechanism, the induction mechanism comprises a sleeve, trigger blocks, a first photoelectric sensor and a second photoelectric sensor, the sleeve is sleeved on the transmission shaft and fixedly connected with the transmission shaft, two trigger blocks are arranged on the sleeve and distributed in ninety degrees by taking the transmission shaft as the center, and the installation positions of the first photoelectric sensor and the second photoelectric sensor are matched with the setting positions of the two trigger blocks.
2. The laser bumper for the shipyard large-scale vehicle of claim 1, wherein a third photoelectric sensor and a fourth photoelectric sensor are arranged in a machine body of the lifting module, the installation position of the third photoelectric sensor is matched with the arrangement position of the gear, and the installation position of the fourth photoelectric sensor is matched with the arrangement position of the rack.
3. The laser bumper for the shipyard large-scale vehicle of claim 1, wherein the rack and the slide block are sleeved with a folding sheath.
4. The laser bumper for the shipyard large-scale vehicle of claim 1, further comprising a protection module, wherein the protection module comprises a protection shell, a limit post, a mounting seat and a fixed hook, the protection shell is mounted on the surface of the base and is matched with the laser scanner, the limit post is arranged at one end of the sliding block, which is far away from the laser scanner, the limit post is matched with the fixed hook and is positioned in the fixed hook, and the fixed hook is rotatably mounted at the mounting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110973593.XA CN113640828B (en) | 2021-08-24 | 2021-08-24 | A laser anti-collision device for large flatbed trucks in shipyards |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110973593.XA CN113640828B (en) | 2021-08-24 | 2021-08-24 | A laser anti-collision device for large flatbed trucks in shipyards |
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| CN113640828B true CN113640828B (en) | 2024-12-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN215813351U (en) * | 2021-08-24 | 2022-02-11 | 广州西威科智能科技有限公司 | Laser bumper for large plate trailer of shipyard |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1842082A2 (en) * | 2005-01-20 | 2007-10-10 | Elbit Systems Electro-Optics Elop Ltd. | Laser obstacle detection and display |
| CN202796471U (en) * | 2012-08-15 | 2013-03-13 | 东莞市一川金品机械有限公司 | Steering, casing and forming mechanism for fully automatic foot forming machine |
| CN106532529B (en) * | 2016-11-29 | 2018-05-18 | 北京特种机械研究所 | Power distribution cabinet intelligence Handling device |
| JP6926020B2 (en) * | 2018-03-29 | 2021-08-25 | ヤンマーパワーテクノロジー株式会社 | Obstacle detection system |
| CN108972528A (en) * | 2018-09-26 | 2018-12-11 | 重庆西电普华智能机器人技术有限公司 | A kind of multi-joint crusing robot |
| CN110666471B (en) * | 2019-08-15 | 2021-01-19 | 燕山大学 | Six-freedom-degree attitude adjusting platform for butt joint assembly of low trackless large carrier rocket cabin sections |
| CN110974366B (en) * | 2019-11-29 | 2020-11-17 | 浙江大学 | Minimally invasive customized puncture guiding device and puncture positioning optimization method |
| CN211977945U (en) * | 2020-03-31 | 2020-11-20 | 广东技术师范大学天河学院 | An AGV based on a laser scanner |
| CN112607668B (en) * | 2020-12-31 | 2024-07-02 | 深圳市迈睿迈特环境科技有限公司 | AGV car transfer device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN215813351U (en) * | 2021-08-24 | 2022-02-11 | 广州西威科智能科技有限公司 | Laser bumper for large plate trailer of shipyard |
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