CN105500330A - Unmanned electromechanical integration transport vehicle - Google Patents
Unmanned electromechanical integration transport vehicle Download PDFInfo
- Publication number
- CN105500330A CN105500330A CN201510896078.0A CN201510896078A CN105500330A CN 105500330 A CN105500330 A CN 105500330A CN 201510896078 A CN201510896078 A CN 201510896078A CN 105500330 A CN105500330 A CN 105500330A
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- transport vehicle
- electromechanical integration
- unpiloted
- direct current
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- 230000010354 integration Effects 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 6
- 210000000707 wrist Anatomy 0.000 claims description 12
- 239000002253 acid Substances 0.000 claims description 10
- 229910000746 Structural steel Inorganic materials 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 230000000750 progressive effect Effects 0.000 claims description 4
- 230000035945 sensitivity Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- QAOWNCQODCNURD-UHFFFAOYSA-N Sulfuric acid Chemical compound OS(O)(=O)=O QAOWNCQODCNURD-UHFFFAOYSA-N 0.000 description 2
- 150000007513 acids Chemical class 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 229910002056 binary alloy Inorganic materials 0.000 description 2
- 230000005292 diamagnetic effect Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 206010043458 Thirst Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003792 electrolyte Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910000464 lead oxide Inorganic materials 0.000 description 1
- PIJPYDMVFNTHIP-UHFFFAOYSA-L lead sulfate Chemical group [PbH4+2].[O-]S([O-])(=O)=O PIJPYDMVFNTHIP-UHFFFAOYSA-L 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- YEXPOXQUZXUXJW-UHFFFAOYSA-N oxolead Chemical compound [Pb]=O YEXPOXQUZXUXJW-UHFFFAOYSA-N 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035922 thirst Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Lock And Its Accessories (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a remote-control transport vehicle, in particular to an unmanned electromechanical integration transport vehicle. Two DC motors are designed, and are mounted in the centers of rear wheels, and a DC controller is also mounted near the rear wheels, and is sealed after being connected with the DC motors, so as to prevent water inflow; storage batteries are mounted between two pairs of wheels at the lower part of the bottom plate of the transport vehicle; a bumper bar is mounted in the front of the transport vehicle; an alarm light is also mounted in the vehicle head position in the front of the transport vehicle; a control system and a driving system are mounted on the bottom plate of the transport vehicle; and the unmanned electromechanical integration transport vehicle provided by the invention has an ingenious structure, and is provided with a CCD camera in design. The CCD camera is small in volume, high in reliability and high in sensitivity, and can resist high lights, vibrations and magnetic field. According to the remote-control transport vehicle provided by the invention adopts an industrial remote controller which is superior to a civil remote controller in accuracy, sensitivity, signal consistency, anti-interference performance and remote-controlled distance.
Description
Technical field
The present invention relates to a kind of transport vehicle of remote control, be specifically related to the transport vehicle of unpiloted electromechanical integration.
Background technology
In current mechanical industry processing enterprise, particularly in the workshop of mechanic factory workers, often such problem can be encountered; after completing machine components manufacturing procedure, another one place is transported to and carry out other manufacturing procedures, if hand haulage; bother very much; should loading time, again unloading time, lose time so very much; also waste of manpower; raise enterprise's production cost, industrial products automated production processing can not have been realized, very troubling.
If the enterprise such as transport vehicle, particularly machinery plant, Electronics Factory, chemical plant, Metallurgical Factory designing a kind of unpiloted electromechanical integration can walk automatically, and energy transporting cargo, current a lot of enterprise thirsts for just.
Summary of the invention
The present invention is directed to above-mentioned existing problems, devise a kind of equipment, it comprises walking mechanism, snatch mechanism, motor-driven mechanism, command behind the scenes mechanism, and commanding behind the scenes, this establishes each automatic snatch goods, transporting cargo.Can enhance productivity significantly and automaticity like this.
The technical solution that the present invention relates to:
as Fig. 1shown in, the transport vehicle of unpiloted electromechanical integration, is characterized in that: this transport vehicle is made up of direct current generator 51, wheel 52, motor 53, battery 54, bumper bar 55, alarm lamp 56, control system 57, drive system 58, hydraulically extensible bar 59, arm 60, wrist 61, camera 62, palm 63, object 64, remote controller 65, hydraulic cylinder 66, rotary sleeve 67, direct current controller 68, transport vehicle base plate 69; Described direct current generator 51 is designed to two, is arranged on the center of rear wheel 52 respectively, and described direct current controller 68 also to be installed near rear wheel 52 and coupled together rear sealed direct-current electric controller 68 with direct current generator 51, to prevent into water; Between two pairs of wheels 52 below transport vehicle base plate 69, battery 54 is installed; Described bumper bar 55 is arranged on before transport vehicle; Described alarm lamp 56 is also arranged on the headstock position before transport vehicle; Described control system 57 is arranged on transport vehicle base plate 69 with drive system 58; Described hydraulically extensible bar 59 is arranged on hydraulic cylinder 66 upper end, and hydraulic cylinder 66 is arranged on rotary sleeve 67 simultaneously, and be matched in clearance between described rotary sleeve 67 and column, rotary sleeve 67 freely can rotate around column; Described arm 60 is interconnected with wrist 61; Described camera 62 is arranged on above wrist 61, and the alignment lens object 64 of camera 62; Inside described control system 57, modular Programmable Logic Controller is installed, connects after wire connects and modular Programmable Logic Controller is sealed in strongbox.
as Fig. 2shown in, described palm 63 points 41 by single fluted body, many fluted bodies point 42, self-adaptation type points 43, angle iron 44, long connecting rod 45, short connecting rod 46, flexible fast 47 form, and wherein single fluted body finger 41, many fluted bodies finger 42, self-adaptation type point that 43 threes can one of them be arranged on the finger position of handgrip according to the type different choice of the object 64 of snatch; Described angle iron 44 and the long connecting rod 45 described in two are connected through the hinge, and stretch respectively by hinge and fast 47 to be connected with long connecting rod 45 in the two ends of short connecting rod 46; Described single fluted body finger 41 and long connecting rod 45 are coupled together by four screws.
The further technical solution of the present invention is:
Described battery 54 is the direct current lead-acid battery of 72 volts.Lead-acid battery price is low, maintenance is simple.Lead-acid battery (VRLA), be that a kind of electrode is made primarily of plumbous and oxide, electrolyte is the battery of sulfuric acid solution.Under lead-acid battery discharge condition, positive pole main component is brown lead oxide, and negative pole main component is plumbous; Under charged state, the main component of both positive and negative polarity is lead sulfate.
francepeople Pulan is special in invention lead-acid accumulator in 1859, experienced by the development course of nearly 150 years, lead-acid accumulator is in theoretical research, significant progress is obtained in product category and kind, product electric property etc., no matter be in traffic, communication, electric power, military affairs or in navigation, each economic field of aviation, lead-acid accumulator all serves indispensable important function.
Described direct current generator 51 is DC brushless motor, and the power of direct current generator 51 is 600 watts.
Described transport vehicle base plate 69 is 70 ~ 90 millimeters apart from ground distance.If transport vehicle base plate distance ground is too high, easily tumble when snatch goods, if transport vehicle base plate distance ground is too low, just can not adapt to the out-of-flatness on ground.
Within described remote controller 65 is arranged on distance transport vehicle 50 meters.
Described remote controller 65 surface is provided with button and is: stop in emergency 1, character digital display screen 2, instrument key 3, it is/true key 4, no/false key 5, continuous key 6, key 7 backward, key 8 forward, joint key 9, mechanical interface coordinate motion key 10, pedestal coordinate motion key 11, the progressive strong and numerical key 12 of forward/backward, warning clear key 13, circulation stop key 14, key 15 is restarted in circulation, exact position key 16, path point key 17, joint coordinates key 18, cartesian coordinate key 19, amendment key 20, record key 21, digital input key 22, leave out key 23, speed key 24, cloth number key 25, subprogram key 26, I/O enter key 27, I/O run-out key 28, power switch 29, safety switch 30.
as Fig. 2shown in,
described manipulator finger has single fluted body finger 41, many fluted bodies finger 42, self-adaptation type to point 43 3 kinds.Can according to object 64 profile and weight select above-mentioned three kinds finger in one.
Described camera 62 is CCD camera, and the minimum resolution of camera 62 is 0.04 ~ 0.05 square millimeter, and the pixel of camera 62 is 2048.Adopt CCD camera, CCD camera has powerful self-scanning function, image definition is good, image can be caught at any time, support multiple merging voxel model, the sensing technique of innovation, fully can reduce noise, reach a higher sensitivity and changing effect, make image have high signal to noise ratio.In addition CCD camera has powerful video image logger software function and working language interface, make researcher after observing ultra microstructure, experimental result can be taken away by direct USB flash disk, eliminate loaded down with trivial details scotography, fixing, step such as flushing egative film and glazing etc., improve the operating efficiency of experiment and the clear quality of picture, the impact of the factor such as safety lamp, water temperature, reagent concentration when overcoming manual operation.Compare with traditional cameras, CCD camera have that volume is little, reliability is high, highly sensitive, anti-high light, anti-vibration, diamagnetic field, distort little, life-span length, clear picture, the advantage such as easy and simple to handle.The larger CCD camera quality of Pixel Dimensions is also better.Pixel Dimensions reflects the responding ability of chip to light to a certain extent, and Pixel Dimensions is larger, and the photon numbers that can receive is more, same illumination condition and the amount of charge that produces in the time for exposure more, image information more by force, more clear.When resolution ratio allows, select the CCD camera that Pixel Dimensions is large, have larger dynamic range; Larger Pixel Dimensions, also can improve the speed (when how dark speed refer to, video camera can work) of video camera simultaneously.The CCD camera image quality that Pixel Dimensions is larger is better.
Described remote controller 65 is amplitude-shift keying formula industrial remote controller.Amplitude-shift keying (AmplitudeShiftKeying is abbreviated as ASK) is the digital modulation that the amplitude of carrier wave changes along with digital baseband signal.When digital baseband signal is binary system, be then binary system amplitude-shift keying (2ASK).Industrial remote controller is different from civilian remote controller, industrial remote controller utilizes wireless radio transmission to carry out a kind of device of remote-controlled operation control or Long-distance Control to industrial machinery, and industrial remote controller is that the emitter be made up of radio transmitter plate is to control the running of industrial machinery.Industrial remote controller claimed accuracy, sensitivity, signal continuity, anti-interference, remote control distance, water proof and dust proof, high-low temperature resistant, the technical parameters such as resistance to acids and bases, all high than civilian remote controller, industrial remote controller can adapt to various adverse circumstances; These are reasons that civilian remote controller can not replace industrial remote controller.
Described motor 53 is direct current brushless servo motor, and its torque is 30 ~ 35 Newton meters.Adopt servomotor so that command with remote control device, and servomotor achieves position, the closed-loop control of speed and moment, overcome the problem of step out of stepping motor, servomotor anti-overload ability is strong, can bear the load being three times in nominal torque, fluctuate to there being momentary load and require the occasion particularly suitable of fast starting, the dynamic corresponding time of motor acceleration and deceleration is short.
Beneficial effect of the present invention:
One, the present invention is adopted can to compare cumbersome apparatus in the workshop such as machinery, electronics, chemical industry, instrument, instrument automatically between snatch with transport vehicle.Can command behind the scenes easy to operate, freely can walk in workshop, save a large amount of manpower and materials.
Two, delicate structure of the present invention, CCD camera designed by this transport vehicle.CCD camera has that volume is little, reliability is high, highly sensitive, anti-high light, anti-vibration, diamagnetic field, distort little, life-span length, clear picture, the advantage such as easy and simple to handle.The accuracy of industrial remote controller, sensitivity, signal continuity, anti-interference, remote control distance, water proof and dust proof, high-low temperature resistant, the technical parameters such as resistance to acids and bases are all high than civilian remote controller.
Three, the present invention has wide popularizing application prospect, and can be widely used in the enterprises such as machinery plant, Electronics Factory, chemical plant, Metallurgical Factory, the automaticity of carrying the Workshop remote control transport vehicle of manipulator is high, can command behind the scenes flexibly.
Accompanying drawing explanation
accompanying drawing 1for general structure of the present invention is illustrated
figure;
fig. 1in: direct current generator 51, wheel 52, motor 53, battery 54, bumper bar 55, alarm lamp 56, control system 57, drive system 58, hydraulically extensible bar 59, arm 60, wrist 61, camera 62, palm 63, object 64, remote controller 65, hydraulic cylinder 66, rotary sleeve 67, direct current controller 68, transport vehicle base plate 69.
accompanying drawing 2for palm 63 of the present invention structural representation
figure;
Single fluted body finger 41, many fluted bodies finger 42, self-adaptation type finger 43, angle iron 44, long connecting rod 45, short connecting rod 46, flexible fast 47, wrist 61.
The keyboard of remote controller 65 of the present invention is as follows;
Stop in emergency 1, character digital display screen 2, instrument key 3, it is/true key 4, no/false key 5, continuous key 6, key 7 backward, key 8 forward, joint key 9, mechanical interface coordinate motion key 10, pedestal coordinate motion key 11, the progressive strong and numerical key 12 of forward/backward, warning clear key 13, circulation stop key 14, key 15 is restarted in circulation, exact position key 16, path point key 17, joint coordinates key 18, cartesian coordinate key 19, amendment key 20, record key 21, digital input key 22, leave out key 23, speed key 24, cloth number key 25, subprogram key 26, I/O enter key 27, I/O run-out key 28, power switch 29, safety switch 30.
Detailed description of the invention
as Fig. 1shown in, opening remote control device 65 power source switch 29, press key 8 forward again, modular Programmable Logic Controller is installed by " notice " drive system 58 inside the control system 57 of transport vehicle, drive system 58 just drives the direct current controller 68 of transport vehicle, and direct current controller 68 drives direct current generator 51 to operate again further.Because direct current generator 51 is arranged on wheel 52 center, now transport vehicle rear wheel 52 just gets into smooth, and drives transport vehicle to advance.Because the article such as Workshop foreign material, machinery equipment are many, break to prevent transport vehicle, just installation insurance bar 55 before transport vehicle, again because plant operations workman is many, fill to prevent transport vehicle and hinder workman, remind workman to dodge in time so install the alarm lamp rotating flicker before transport vehicle.Operative employee presses forward while key 8, when finding that there is the object 64 needing to transport on ground, drive system 58 drives rotary sleeve 67 (because be matched in clearance between described rotary sleeve 67 and column, rotary sleeve 67 freely can rotate around column), wrist 61 will rotate to directly over object 64 under arm 60 drives, now drive system 58 drive flexible fast 47 to pull-up (see
accompanying drawing 2), flexible fast 47 pull short connecting rod 46, short connecting rod 46 pulls long connecting rod 45, due to the triangle that angle iron 44 is fixing, such long connecting rod 45 just pull single fluted body point 41 (or many fluted bodies finger 42 or self-adaptation type finger 43, which kind of finger of concrete selection will be seen is determined by object 64 profile of snatch and weight), because single fluted body finger 41 and long connecting rod 45 are coupled together by four screws.Long connecting rod 45 is once be subject to short connecting rod 46 and draw high, obvious two single fluted bodies finger 41 institute is formed palm just change prepare greatly crawl object 64, after being caught on object 64, because camera 62 is arranged on above wrist 61, and the alignment lens object 64 of camera 62, when camera 62 photographed photographic intelligence when object 64 " is caught " by manipulator, camera 62 is CCD camera, camera 62 " will be caught " information and pass to control system 57, control system 57 is " notice " drive system 58 immediately after treatment, drive system 58 makes single fluted body finger 41 will catch object 64 " holding with a firm grip " with regard to driving flexible fast 47 to move down.Then arm 60 and wrist 61 are under the driving effect of drive system 58, arm 60 and wrist 61 horizontally rotate above transport vehicle base plate 69, now hydraulic cylinder 66 under the driving effect of drive system 58 inside hydraulic cylinder 66 hydraulic oil be back in fuel tank, hydraulically extensible bar 59 slowly shortens, be placed on transport vehicle base plate 69 lentamente by the object 64 of grabbing, this completes goods entrucking work, and the action that goods is unloaded down is lucky contrary with above-mentioned action.Described remote controller 65 surface is provided with button and is: stop in emergency 1, character digital display screen 2, instrument key 3, it is/true key 4, no/false key 5, continuous key 6, key 7 backward, key 8 forward, joint key 9, mechanical interface coordinate motion key 10, pedestal coordinate motion key 11, the progressive strong and numerical key 12 of forward/backward, warning clear key 13, circulation stop key 14, key 15 is restarted in circulation, exact position key 16, path point key 17, joint coordinates key 18, cartesian coordinate key 19, amendment key 20, record key 21, digital input key 22, leave out key 23, speed key 24, cloth number key 25, subprogram key 26, I/O enter key 27, I/O run-out key 28, power switch 29, safety switch 30.Can the direction of travel of remote control transport vehicle, all many-sided control such as the speed of travel.
To sum up, the transport vehicle of the unpiloted electromechanical integration designed by the present invention, can reach the object of expection.
Claims (10)
1. the transport vehicle of unpiloted electromechanical integration, it is characterized in that: this transport vehicle is by direct current generator (51), wheel (52), motor (53), battery (54), bumper bar (55), alarm lamp (56), control system (57), drive system (58), hydraulically extensible bar (59), arm (60), wrist (61), camera (62), palm (63), object (64), remote controller (65), hydraulic cylinder (66), rotary sleeve (67), direct current controller (68), transport vehicle base plate (69) forms, described direct current generator (51) is designed to two, be arranged on the center of rear wheel (52) respectively, described direct current controller (68) also to be installed near rear wheel (52) and is coupled together rear sealed direct-current electric controller (68) with direct current generator (51), to prevent into water, between two pairs of wheels (52) below transport vehicle base plate (69), battery (54) is installed, described bumper bar (55) is arranged on before transport vehicle, described alarm lamp (56) is also arranged on the headstock position before transport vehicle, described control system (57) and drive system (58) are arranged on transport vehicle base plate (69), described hydraulically extensible bar (59) is arranged on hydraulic cylinder (66) upper end, hydraulic cylinder (66) is arranged on rotary sleeve (67) simultaneously, be matched in clearance between described rotary sleeve (67) and column, rotary sleeve (67) freely can rotate around column, described arm (60) and wrist (61) are interconnected, described camera (62) is arranged on wrist (61) top, and the alignment lens object (64) of camera (62), described control system (57) the inside is provided with modular Programmable Logic Controller, connects after wire connects and is sealed in strongbox by modular Programmable Logic Controller, described palm (63) points (41) by single fluted body, many fluted bodies point (42), self-adaptation type points (43), angle iron (44), long connecting rod (45), short connecting rod (46), flexible fast (47) forms, and wherein single fluted body finger (41), many fluted bodies finger (42), self-adaptation type point that (43) three can one of them be arranged on the finger position of handgrip according to the type different choice of the object of snatch (64), described angle iron (44) is connected through the hinge with the long connecting rod (45) described in two, and the two ends of short connecting rod (46) are connected with long connecting rod (45) respectively by hinge flexible fast (47), described single fluted body finger (41) and long connecting rod (45) are coupled together by four screws.
2. the transport vehicle of unpiloted electromechanical integration according to claim 1, is characterized in that: described battery (54) is the direct current lead-acid battery of 72 volts.
3. the transport vehicle of unpiloted electromechanical integration according to claim 1, is characterized in that: described direct current generator (51) is DC brushless motor, and the power of direct current generator (51) is 600 watts.
4. the transport vehicle of unpiloted electromechanical integration according to claim 1, is characterized in that: described transport vehicle base plate (69) distance ground distance is 70 ~ 90 millimeters.
5. the transport vehicle of unpiloted electromechanical integration according to claim 1, is characterized in that: within described remote controller (65) is arranged on distance transport vehicle 50 meters.
6. the transport vehicle of unpiloted electromechanical integration according to claim 1 or 5, is characterized in that: described remote controller (65) surface is provided with button and is: stop in emergency (1), character digital display screen (2), instrument key (3), it is/true key (4), no/false key (5), continuous key (6), key (7) backward, key (8) forward, joint key (9), mechanical interface coordinate motion key (10), pedestal coordinate motion key (11), the progressive strong and numerical key (12) of forward/backward, warning clear key (13), circulation stop key (14, key (15) is restarted in circulation, exact position key (16), path point key (17), joint coordinates key (18), cartesian coordinate key (19), amendment key (20), record key (21), digital input key (22), leave out key (23), speed key (24), cloth number key (25), subprogram key (26), I/O enter key (27), I/O run-out key (28), power switch (29), safety switch (30).
7. the transport vehicle of unpiloted electromechanical integration according to claim 1, is characterized in that: described manipulator finger has single fluted body to point (41), many fluted bodies finger (42), (43) three kinds, self-adaptation type finger.
8. the transport vehicle of unpiloted electromechanical integration according to claim 1, it is characterized in that: described camera (62) is CCD camera, and the minimum resolution of camera (62) is 0.04 ~ 0.05 square millimeter, the pixel of camera (62) is 2048.
9. the transport vehicle of unpiloted electromechanical integration according to claim 1, is characterized in that: described remote controller (65) is amplitude-shift keying formula industrial remote controller.
10. the transport vehicle of unpiloted electromechanical integration according to claim 1, is characterized in that: described motor (53) is direct current brushless servo motor, and its torque is 30 ~ 35 Newton meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510896078.0A CN105500330B (en) | 2015-12-01 | 2015-12-01 | The transport vehicle of unpiloted electromechanical integration |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510896078.0A CN105500330B (en) | 2015-12-01 | 2015-12-01 | The transport vehicle of unpiloted electromechanical integration |
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| Publication Number | Publication Date |
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| CN105500330A true CN105500330A (en) | 2016-04-20 |
| CN105500330B CN105500330B (en) | 2018-01-12 |
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| CN201510896078.0A Expired - Fee Related CN105500330B (en) | 2015-12-01 | 2015-12-01 | The transport vehicle of unpiloted electromechanical integration |
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| CN105500330B (en) | 2018-01-12 |
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