CN102030288A - Elevator mechanism of automatic stacking device and control method - Google Patents
Elevator mechanism of automatic stacking device and control method Download PDFInfo
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- CN102030288A CN102030288A CN2010106049776A CN201010604977A CN102030288A CN 102030288 A CN102030288 A CN 102030288A CN 2010106049776 A CN2010106049776 A CN 2010106049776A CN 201010604977 A CN201010604977 A CN 201010604977A CN 102030288 A CN102030288 A CN 102030288A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000011449 brick Substances 0.000 claims abstract description 44
- 230000006698 induction Effects 0.000 claims abstract description 16
- 210000000664 rectum Anatomy 0.000 claims description 42
- 230000000630 rising effect Effects 0.000 claims description 25
- 238000006073 displacement reaction Methods 0.000 claims description 24
- 230000007423 decrease Effects 0.000 claims description 13
- 238000003032 molecular docking Methods 0.000 claims description 13
- 239000012530 fluid Substances 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 33
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001354 calcination Methods 0.000 description 1
- 238000000748 compression moulding Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 239000010727 cylinder oil Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
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Abstract
The invention discloses an elevator mechanism of an automatic stacking device. The elevator mechanism of the automatic stacking device comprises a hoisting cylinder and a connecting frame; a cylinder body of the hoisting cylinder is fixed on a horizontal walking frame; a piston rod of the hoisting cylinder is hinged with the connecting frame; a guide post which is arranged on the connecting frame slides in a guide sleeve on the horizontal walking frame; the elevator mechanism also comprises a hoisting control device and a position induction mechanism; the hoisting control device comprises a double-pump oil supply unit, a multi-stage pressure control unit and a control balance loop unit; the control balance loop unit is connected with an inlet-outlet opening of the hoisting cylinder through a pipeline; the position induction mechanism comprises an induction ruler and an inductor; the induction ruler is fixed on the horizontal walking frame; and the inductor is fixed on the connecting frame. The elevator mechanism of the automatic stacking device has a simple structure and low failure rate; a hoisting speed of the hoisting cylinder is adjusted gradually under the control of the hoisting control device; the elevator mechanism acts steadily; positioning is accurate when unburned bricks are stacked; the danger that the hoisting cylinder does not speed up suddenly or the speed is out of control is avoided; and the elevator mechanism of the automatic stacking device and the control method are safe and reliable, and guarantee the quality of brick stacking.
Description
Technical field
The present invention relates to the automatic piling device of briquet, specifically a kind of vertical lifting mechanism of automatic docking device and control method.
Background technology
Briquet by brick machine compression moulding or extrude the mud bar that the brick machine extrudes and be cut into piece through blank cutter, briquet in a row is transported on the belt transmission agency by brick-clamping device or brick cutting machine, belt-driving drives adobe and moves forward, like this, plural number row's briquet is arranged on the belt transmission agency according to certain spacing, plural number row's briquet is by the manipulator of stacking mechanism, with briquet according to certain spacing, and the adjacent two layers adobe will be carried out 90 ° of cross code and be placed on the kiln car, neat to guarantee yard piled bricks that goes out, the adobe overlap joint is firm up and down, in subsequent drying and calcining process, is not easy to collapse.
In the palletizing apparatus of present domestic use, lifting mechanism adopts the connecting rod lifting structure, and complicated in mechanical structure locate inaccurately, when piling up piled bricks, easily falls brick or slotting brick, and level easily misplaces, and it is of low quality to cause piled bricks to pile up, and adobe is vulnerable to destruction.The present palletizing apparatus complicated in mechanical structure of using, the fault rate height, degree of automation is low, inefficiency, the needs of timely piling are carried out in the adobe in enormous quantities that can not satisfy production.
Summary of the invention
Technical matters to be solved by this invention provides the vertical lifting mechanism and the control method of the automatic docking device of a kind of simple in structure, stable working, accurate positioning.
The present invention solves the problems of the technologies described above the technical scheme that is adopted to be: a kind of lifting mechanism of automatic docking device, be arranged on the walking in a horizontal state frame, lifting mechanism comprises hoist cylinder and link span, the cylinder body of hoist cylinder is fixed on the walking in a horizontal state frame, the piston rod and the link span of hoist cylinder are hinged, slide in the orienting sleeve of the guide pillar that is provided with on the link span on the walking in a horizontal state frame, also comprise apparatus for controlling of lifting and location sensitive mechanism, apparatus for controlling of lifting comprises the double pump oil supply unit, multistage pressure control unit and control unit, balanced loop, control unit, balanced loop links to each other with the hoist cylinder oil inlet and outlet by pipeline, location sensitive mechanism comprises induction ruler and inductor, induction ruler is fixed on the walking in a horizontal state frame, and inductor is fixed on the link span.Described double pump oil supply unit comprises large discharge pump, little displacement pump and motor, and motor is connected with the common coaxial of large discharge pump and little displacement pump.Described multistage pressure control unit comprises multistage pressure control cock and pilot pressure control cock, and the multistage pressure control cock links to each other with float amount pump discharge, and the pilot pressure control cock links to each other with the large discharge pump outlet.
Unit, described control balanced loop comprises externally controlled type balance cock, Double throttle check valve, little latus rectum 3-position 4-way solenoid directional control valve, big latus rectum 3-position 4-way solenoid directional control valve and safety valve, little latus rectum 3-position 4-way solenoid directional control valve is connected the back with latus rectum 3-position 4-way solenoid directional control valve is in parallel greatly with Double throttle check valve, be connected with the externally controlled type balance cock after parallel connection is confluxed, the externally controlled type balance cock is connected with hoist cylinder rod chamber hydraulic fluid port with safety valve simultaneously.
Vertical distribution has sensor block on the described induction ruler, and the spacing of sensor block is highly identical with adobe, and sensor block quantity is identical with the number of plies of brick.
The lift control method of the lifting mechanism of automatic docking device is:
(1), vertical lifting mechanism slows down behind the decline certain distance fast and descends at a slow speed moving to above the belt feeder back on the walking in a horizontal state frame, continue to enter the standby position and stop action behind the decline certain distance;
(2), lifting mechanism on the walking in a horizontal state frame, move to above the belt feeder treat that the brick folding position enters the brick folding operation time, begin to descend at a slow speed by apparatus for controlling of lifting control hoist cylinder, hoist cylinder stops action when arriving the brick folding position, after brick folding is finished, apparatus for controlling of lifting control hoist cylinder begins to rise at a slow speed, begin fast rise behind the rising certain distance, rise again and rise at a slow speed behind the certain distance, hoist cylinder stops action after rising to the rising stop bit, and described rising stop bit is the maximum position that lifting mechanism can promote;
(3), lifting mechanism enters when putting the brickwork preface move to kiln car on the walking in a horizontal state frame above, apparatus for controlling of lifting control hoist cylinder begins quick decline from the rising stop bit, behind the decline certain distance, beginning descends at a slow speed, hoist cylinder stops action after arriving and putting the brick position, finish put brick after, behind the hoist cylinder elder generation fast rise certain distance, that rises at a slow speed stops to move after rising stop bit again;
(4), finish the circulation of brick folding piling next time according to the order of step (1), step (2) and step (3).
The control method of described lifting mechanism by apparatus for controlling of lifting to hoist cylinder treat the seat in the plane stop-descending at a slow speed-at a slow speed risings-the rising of risings-fast rise-at a slow speed stop-decline-decline of quick decline-at a slow speed stops-fast rise-at a slow speed rising-rising stop-descending fast-treat the control of the whole working cycle process that the seat in the plane stops, realize the action request of hoist cylinder in each operation, when treating the seat in the plane standby, large discharge pump and the off-load simultaneously of little displacement pump in the multistage pressure control unit control double pump oil supply unit, control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, big latus rectum 3-position 4-way solenoid directional control valve all is in the meta locking states, and hoist cylinder is slack; Large discharge pump off-load and little displacement pump low pressure when descending at a slow speed in the multistage pressure control unit control double pump oil supply unit load, and control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, big latus rectum 3-position 4-way solenoid directional control valve all are in the oil-filled position of rodless cavity; Large discharge pump off-load and little displacement pump high pressure when rising at a slow speed in the multistage pressure control unit control double pump oil supply unit load, and control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, big latus rectum 3-position 4-way solenoid directional control valve all are in the oil-filled position of rod chamber; Large discharge pump high pressure during fast rise in the multistage pressure control unit control double pump oil supply unit loads and little displacement pump high pressure loads, and control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, big latus rectum 3-position 4-way solenoid directional control valve all are in the oil-filled position of rod chamber; Large discharge pump and the off-load simultaneously of little displacement pump when rising stops in the multistage pressure control unit control double pump oil supply unit, control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, big latus rectum 3-position 4-way solenoid directional control valve all are in the meta locking states; Large discharge pump and little displacement pump low pressure when descending fast in the multistage pressure control unit control double pump oil supply unit load, and control unit, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve, big latus rectum 3-position 4-way solenoid directional control valve all are in the oil-filled position of rodless cavity.
The invention has the beneficial effects as follows: simple in structure, fault rate is low, hoist cylinder is progressively adjusted rising or falling speed under the control of apparatus for controlling of lifting, stable action, accurate positioning when piling up adobe, the danger out of control of flat-out acceleration or speed can not appear in hoist cylinder, and is safe and reliable, guarantees that piled bricks piles up quality.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a lift cylinders fluid control schematic diagram of the present invention.
Fig. 3 is a lift cylinders Control Circulation diagram of circuit of the present invention
Mark among the figure: 1, the walking in a horizontal state frame, 2, hoist cylinder, 3, cylinder body, 4, piston rod, 5, hinged-support, 6, link span, 7, guide pillar, 8, orienting sleeve, 9, apparatus for controlling of lifting, 10, induction ruler, 11, sensor block, 12, inductor, 13, the double pump oil supply unit, 131, little displacement pump, 132, large discharge pump, 133, motor, 14, the multistage pressure control unit, 141, the multistage pressure control cock, 142, the pilot pressure control cock, 15, control unit, balanced loop, 151, the externally controlled type balance cock, 152, Double throttle check valve, 153, little latus rectum 3-position 4-way solenoid directional control valve, 154, big latus rectum 3-position 4-way solenoid directional control valve, 155, safety valve, 16, pumping plant.
The specific embodiment
As shown in Figure 1, a kind of lifting mechanism of automatic docking device is arranged on the walking in a horizontal state frame 1, the cylinder body 3 of hoist cylinder 2 is fixed on the walking in a horizontal state frame 1, and the piston rod 4 of hoist cylinder 2 is connected with link span 6 by hinged-support 5, and link span 6 is used to install the manipulator mechanism of palletizing apparatus.The guide pillar 7 that is provided with on the link span 6 is located in the orienting sleeve 8 on the walking in a horizontal state frame 1, slides in the orienting sleeve of guide pillar on the walking in a horizontal state frame.Hoist cylinder 2 drives link span 6 liftings when stretching, and is led by guide pillar 7 and orienting sleeve 8, guarantees link span 6 vertical easy motions.Also comprise apparatus for controlling of lifting 9 and location sensitive mechanism, location sensitive mechanism comprises induction ruler 10 and inductor 12, and induction ruler 10 is fixed on the walking in a horizontal state frame 1, and vertical distribution has sensor block 11 on the induction ruler 10, and the quantity of sensor block 11 is identical with the number of plies that stacks bricks.Be provided with on link span 6 and induction ruler 10 cooresponding inductors 12, inductor 12 is arranged on the top of guide pillar 7.During link span 6 liftings, inductor 12 can be sensed the sensor block 11 on the induction ruler 10, and the spacing of sensor block 11 is highly identical with adobe, sensor block 11 quantity are identical with the number of plies of brick, commonly used is 10 to 16 layers, senses the number of times of sensor block 11 according to inductor 12, determines the number of plies that stacks bricks at every turn and pile up.The control of hoist cylinder 2 by apparatus for controlling of lifting 9 and location sensitive mechanism realizes link span 6 up-and-down movements go forward side by side line speed control and positioning control.
The control of realization hoist cylinder is seen shown in Figure 2: apparatus for controlling of lifting 9 links to each other with hoist cylinder 2 by pipeline, apparatus for controlling of lifting 9 comprises double pump oil supply unit 13, multistage pressure control unit 14 and control unit, balanced loop 15, double pump oil supply unit 13 and multistage pressure control unit 14 are connected by pipeline, multistage pressure control unit 14 is connected by pipeline with control unit, balanced loop 15, controls unit, balanced loop 15 and is connected with two hydraulic fluid ports of hoist cylinder 2 by pipeline.Double pump oil supply unit 13 comprises large discharge pump 132, little displacement pump 131 and motor 133, and motor 133 drags little displacement pump 131 and large discharge pump 132 by same axis in double pump oil supply unit 13.Multistage pressure control unit 14 comprises multistage pressure control cock 141 and pilot pressure control cock 142, multistage pressure control cock 141 links to each other with little displacement pump 131 outlets, pilot pressure control cock 142 links to each other with large discharge pump 132 outlets, little displacement pump 131 outlet oil pressure are by 141 controls of multistage pressure control cock, large discharge pump 132 outlet oil pressure are by pilot-operated pressure control valve 142 controls, after confluxing, two delivery side of pump transfer to control unit, balanced loop 15 by pressure duct, control unit, balanced loop 15 comprises externally controlled type balance cock 151, Double throttle check valve 152, little latus rectum 3-position 4-way solenoid directional control valve 153, big latus rectum 3-position 4-way solenoid directional control valve 154 and safety valve 155, little latus rectum 3-position 4-way solenoid directional control valve 153 is connected the back with latus rectum 3-position 4-way solenoid directional control valve 154 is in parallel greatly with Double throttle check valve 152, be connected with externally controlled type balance cock 151 after parallel connection is confluxed, externally controlled type balance cock 151 is connected with hoist cylinder 2 rod chamber hydraulic fluid ports with safety valve 155 simultaneously.
The lift control method of the lifting mechanism of automatic docking device is:
(1), lifting mechanism slows down behind the decline certain distance fast and descends at a slow speed moving to above the belt feeder back on the walking in a horizontal state frame, continue to enter the standby position and stop action behind the decline certain distance;
(2), be in treat the seat in the plane lifting mechanism enter the brick folding operation time, begin to descend at a slow speed by apparatus for controlling of lifting control hoist cylinder, hoist cylinder stops action when arriving the brick folding position, after brick folding is finished, apparatus for controlling of lifting control hoist cylinder begins to rise at a slow speed, begin fast rise behind the rising certain distance, rise at a slow speed behind the certain distance that rises again, rise to the rising stop bit after hoist cylinder stop action;
(3), lifting mechanism enters when putting the brickwork preface move to kiln car on the walking in a horizontal state frame above, apparatus for controlling of lifting control hoist cylinder begins quick decline from the rising stop bit, behind the decline certain distance, beginning descends at a slow speed, hoist cylinder stops action after arriving and putting the brick position, finish put brick after, behind the hoist cylinder elder generation fast rise certain distance, that rises at a slow speed stops to move after rising stop bit again;
(4), finish the circulation of brick folding piling next time according to the order of step (1), step (2) and step (3).
Its concrete working process is as follows:
As Fig. 2 and Fig. 3, when hoist cylinder is in when treating the brick folding position, large discharge pump 132 and 131 off-loads simultaneously of little displacement pump in the multistage pressure control unit 14 control double pump oil supply units 13, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valves 153, big latus rectum 3-position 4-way solenoid directional control valve 154 all is in the meta locking states, hoist cylinder 2 slack wait brick foldings, when entering the brick folding operation, beginning descends at a slow speed, large discharge pump 132 off-loads and little displacement pump 131 low pressure in the multistage pressure control unit 14 control double pump oil supply units 13 load, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valves 153, big latus rectum 3-position 4-way solenoid directional control valve 154 all is in the oil-filled position of rodless cavity, hoist cylinder arrives the brick folding position, after brick folding is finished, beginning is risen at a slow speed, large discharge pump 132 off-loads and little displacement pump 131 high pressure in the multistage pressure control unit 14 control double pump oil supply units 13 load, control Unit 15, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve 153, big latus rectum 3-position 4-way solenoid directional control valve 154 all is in the oil-filled position of rod chamber, after arriving the acceleration position of rising, the beginning fast rise, large discharge pump 132 high pressure in the multistage pressure control unit 14 control double pump oil supply units 13 load and little displacement pump 131 high pressure load, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valves 153, big latus rectum 3-position 4-way solenoid directional control valve 154 all is in the oil-filled position of rod chamber, after hoist cylinder 2 arrives the deceleration position of rising, beginning is risen at a slow speed, large discharge pump 132 off-loads and little displacement pump 131 high pressure when rising at a slow speed in the multistage pressure control unit 14 control double pump oil supply units 13 load control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valves 153, big latus rectum 3-position 4-way solenoid directional control valve 154 all is in the oil-filled position of rod chamber; After rising to the rising stop bit, rising stops, large discharge pump 132 and 131 off-loads simultaneously of little displacement pump in the multistage pressure control unit 14 control double pump oil supply units 13, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valves 153, big latus rectum 3-position 4-way solenoid directional control valve 154 all is in the meta locking states, enter when putting the brickwork preface, begin quick decline from the rising stop bit, large discharge pump 132 and little displacement pump 131 low pressure in the multistage pressure control unit 14 control double pump oil supply units 13 load, control Unit 15, balanced loop medium and small latus rectum 3-position 4-way solenoid directional control valve 153, big latus rectum 3-position 4-way solenoid directional control valve 154 all is in the oil-filled position of rodless cavity, after dropping to the deceleration position that descends, beginning descends at a slow speed, large discharge pump 132 off-loads and little displacement pump 131 low pressure in the multistage pressure control unit 14 control double pump oil supply units 13 load, control unit, balanced loop 15 medium and small latus rectum 3-position 4-way solenoid directional control valves 153, big latus rectum 3-position 4-way solenoid directional control valve 154 all is in the oil-filled position of rodless cavity, arrival is put to descend behind the brick position and is stopped, finish to put behind the brick to return in proper order and treat the brick folding position, finish the rise and fall circulation of a brick folding piling by the speed control that rises and descend.
It is same as the prior art that the present invention does not state part.
Claims (6)
1. the lifting mechanism of an automatic docking device, be arranged on the walking in a horizontal state frame (1), vertical lifting mechanism comprises hoist cylinder (2) and link span (6), the cylinder body of hoist cylinder (2) is fixed on the walking in a horizontal state frame (1), the piston rod of hoist cylinder (2) and link span (6) are hinged, link span (6) is gone up in the orienting sleeve (8) of guide pillar (7) on walking in a horizontal state frame (1) that is provided with and is slided, it is characterized in that: also comprise apparatus for controlling of lifting (9) and location sensitive mechanism, apparatus for controlling of lifting (9) comprises double pump oil supply unit (13), multistage pressure control unit (14) and control unit, balanced loop (15), control unit, balanced loop (15) links to each other with hoist cylinder (2) oil inlet and outlet by pipeline, location sensitive mechanism comprises induction ruler (10) and inductor (12), induction ruler (10) is fixed on the walking in a horizontal state frame (1), and inductor (12) is fixed on the link span (6).
2. the lifting mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: described double pump oil supply unit (13) comprises large discharge pump (132), little displacement pump (131) and motor (133), and motor (133) is connected with the common coaxial of large discharge pump (132) with little displacement pump (131).
3. the lifting mechanism of a kind of automatic docking device as claimed in claim 2, it is characterized in that: described multistage pressure control unit (14) comprises multistage pressure control cock (141) and pilot pressure control cock (142), multistage pressure control cock (141) links to each other with little displacement pump (131) outlet, and pilot pressure control cock (142) links to each other with large discharge pump (132) outlet.
4. the lifting mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: unit, described control balanced loop (15) comprises externally controlled type balance cock (151), Double throttle check valve (152), little latus rectum 3-position 4-way solenoid directional control valve (153), big latus rectum 3-position 4-way solenoid directional control valve (154) and safety valve (155), little latus rectum 3-position 4-way solenoid directional control valve (153) is connected the back with latus rectum 3-position 4-way solenoid directional control valve (154) is in parallel greatly with Double throttle check valve (152), be connected with externally controlled type balance cock (151) after parallel connection is confluxed, externally controlled type balance cock (151) is connected with the rod chamber hydraulic fluid port of hoist cylinder (2) with safety valve (155) simultaneously.
5. the lifting mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: described induction ruler (10) is gone up vertical distribution sensor block (11), the spacing of sensor block (11) is highly identical with adobe, and sensor block (11) quantity is identical with the number of plies of brick.
6. the control method of the lifting mechanism of a kind of automatic docking device as claimed in claim 1, it is characterized in that: lift control method is:
(1), lifting mechanism slows down behind the decline certain distance fast and descends at a slow speed moving to above the belt feeder back on the walking in a horizontal state frame, continue to enter the standby position and stop action behind the decline certain distance;
(2), be in treat the seat in the plane lifting mechanism enter the brick folding operation time, begin to descend at a slow speed by apparatus for controlling of lifting control hoist cylinder, hoist cylinder stops action when arriving the brick folding position, after brick folding is finished, apparatus for controlling of lifting control hoist cylinder begins to rise at a slow speed, begin fast rise behind the rising certain distance, rise at a slow speed behind the certain distance that rises again, rise to the rising stop bit after hoist cylinder stop action;
(3), lifting mechanism enters when putting the brickwork preface move to kiln car on the walking in a horizontal state frame above, apparatus for controlling of lifting control hoist cylinder begins quick decline from the rising stop bit, behind the decline certain distance, beginning descends at a slow speed, hoist cylinder stops action after arriving and putting the brick position, finish put brick after, behind the hoist cylinder elder generation fast rise certain distance, that rises at a slow speed stops to move behind the rising stop bit again;
(4), finish the circulation of brick folding piling next time according to the order of step (1), step (2) and step (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010604977.6A CN102030288B (en) | 2010-12-25 | 2010-12-25 | Elevator mechanism of automatic stacking device and control method |
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| CN201010604977.6A CN102030288B (en) | 2010-12-25 | 2010-12-25 | Elevator mechanism of automatic stacking device and control method |
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| CN102030288B CN102030288B (en) | 2014-03-12 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102431936A (en) * | 2011-12-19 | 2012-05-02 | 苏州先锋物流装备科技有限公司 | Piling car with limiting function |
| CN102442622A (en) * | 2011-12-17 | 2012-05-09 | 苏州先锋物流装备科技有限公司 | Stacking car with lifting and speed-limiting device |
| CN102515059A (en) * | 2011-12-17 | 2012-06-27 | 苏州先锋物流装备科技有限公司 | Electric piling car |
| CN104176679A (en) * | 2014-08-08 | 2014-12-03 | 信阳雄狮建材设备制造有限公司 | Rotating mechanism for automatic piling up device |
| CN104295542A (en) * | 2014-09-15 | 2015-01-21 | 南通凯迪自动机械有限公司 | Pneumatic circuit used for stacking yarn balls |
| CN104858756A (en) * | 2015-05-28 | 2015-08-26 | 河北新兴铸管有限公司 | Nodular cast iron pipe ring cutting device |
| CN106429995A (en) * | 2016-12-16 | 2017-02-22 | 宁波力达物流设备有限公司 | Fork lowering device and fork descent method of electric forklift |
| CN109822566A (en) * | 2019-01-15 | 2019-05-31 | 北京镁伽机器人科技有限公司 | Robot control method, system and storage medium |
| CN110817765A (en) * | 2019-10-16 | 2020-02-21 | 金华深联网络科技有限公司 | Safety protection system for personnel at forklift working site |
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| CN104176679A (en) * | 2014-08-08 | 2014-12-03 | 信阳雄狮建材设备制造有限公司 | Rotating mechanism for automatic piling up device |
| CN104295542A (en) * | 2014-09-15 | 2015-01-21 | 南通凯迪自动机械有限公司 | Pneumatic circuit used for stacking yarn balls |
| CN104858756A (en) * | 2015-05-28 | 2015-08-26 | 河北新兴铸管有限公司 | Nodular cast iron pipe ring cutting device |
| CN106429995A (en) * | 2016-12-16 | 2017-02-22 | 宁波力达物流设备有限公司 | Fork lowering device and fork descent method of electric forklift |
| CN106429995B (en) * | 2016-12-16 | 2019-03-29 | 宁波力达物流设备有限公司 | The pallet fork descending method of the pallet fork lowering means of electri forklift |
| CN109822566A (en) * | 2019-01-15 | 2019-05-31 | 北京镁伽机器人科技有限公司 | Robot control method, system and storage medium |
| CN110817765A (en) * | 2019-10-16 | 2020-02-21 | 金华深联网络科技有限公司 | Safety protection system for personnel at forklift working site |
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|---|---|
| CN102030288B (en) | 2014-03-12 |
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