CN106429148A - Storage device - Google Patents
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- CN106429148A CN106429148A CN201610969696.8A CN201610969696A CN106429148A CN 106429148 A CN106429148 A CN 106429148A CN 201610969696 A CN201610969696 A CN 201610969696A CN 106429148 A CN106429148 A CN 106429148A
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- Prior art keywords
- storage
- walking mechanism
- mechanical hand
- storage device
- platform
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a storage device. The storage device comprises a manipulator (2), a walking mechanism (1), a temporary storage platform (3), a multilayer shelf (4) and a control system; each layer of the shelf (4) at least has two rows or/and two lines of storage units (5); the manipulator (2) can extend front and back and grab objects, and is mounted on the walking mechanism (1); the walking mechanism (1) can drive the manipulator (2) to move up and down and move left and right; the temporary storage platform (3) is used for temporarily storing the objects grabbed by the manipulator (2) and temporarily shifted out from the front row of storage units (5); and the control system is used for controlling the manipulator (2) to position and to grab the objects. The storage device is multi-dimensional automatic storage equipment, can store more objects in limited space, improves the storage efficiency through the manipulator and the temporary storage platform, and is lighter in weight, lower in cost and higher in practicability.
Description
Technical field
The present invention relates to file for reference sample storage technical field, more particularly to a kind of storage device.
Background technology
At present in coal analysis industry, automatization and unmanned interfering system become the development trend of main flow, and for one
For individual use coal unit, the sample of filing for reference of coal sample is also a ring of automatization's link, in the face of the storage sample of enormous amount, unit bodies
Storage sample quantity in product decides economy.The restriction of building space size is simultaneously taken account of, does not allow automatization to file for reference sample
The big quantity space of hold facility.
In prior art, the file for reference version of sample cabinet of automatization mainly has two kinds, and the first is wall-mounted i.e. Two-Dimensional Moment
Configuration；It is for second tree.
There are some shortcomings in this both of which, wherein wall-mounted be only capable of depositing row's holding bottle because of bottle one side, single storage,
Storage efficiency is restricted；Although tree solves the problems, such as storage efficiency, but each tree-shaped unit is both needed to motor
Drive, complex structure, reliability is poor and heavy, high cost.
In sum, the problems such as filing for reference sample storage inconvenience how is efficiently solved, is current those skilled in the art's urgency
The problem that need to solve.
Content of the invention
It is an object of the invention to provide a kind of storage device, it is inconvenient that the storage device efficiently solves sample storage of filing for reference
The problems such as.
For solving above-mentioned technical problem, the present invention provides following technical scheme：
A kind of storage device, including mechanical hand, walking mechanism, temporary storage platform, many storage layers frame and control system, per layer
The storage rack at least has two rows or two row storage units, and the mechanical hand can be elastic and being capable of pick-and-place thing
Product, the mechanical hand is installed on the walking mechanism, and the walking mechanism can drive the mechanical hand to move up and down and left and right
Mobile, the temporary storage platform is used for depositing the interim thing being transferred out of from the front-seat storage unit of mechanical hand crawl temporarily
Product, the control system is used for controlling the mechanical hand to position and capture article.
Preferably, the first connecting portion of the mechanical hand is set in the vertical bar of the walking mechanism and can be along described
Vertical bar is moved up and down.
Preferably, the first connecting portion can rotate set angle around the vertical bar.
Preferably, in the first connecting portion of the mechanical hand, longitudinal rod is connected with, second connecting portion is set in the longitudinal direction
Can move left and right on bar and along the longitudinal rod.
Preferably, the walking mechanism bottom is provided with road wheel.
Preferably, also include the cabinet for fixing the storage rack and the machine walking mechanism, arrange in the cabinet
There is the storage rack, the storage rack is separately fixed at the side wall of the cabinet.
Preferably, storage rack described in two groups is provided with the cabinet, and storage rack described in two groups is separately fixed at the cabinet
Two opposing sidewalls of body, the first connecting portion can rotate 180 degree around the vertical bar.
Preferably, the temporary storage platform is fixed in the walking mechanism and moves with the walking mechanism.
Preferably, the temporary storage platform is installed on platform moving mechanism and moves with the platform moving mechanism.
Preferably, per layer of storage rack has the institute of multiple rows of transversely arranged storage unit and multiple row longitudinal arrangement
State storage unit.
Storage device provided by the present invention, including mechanical hand, walking mechanism, temporary storage platform, many storage layers frame and control
System processed, per layer of storage rack at least has two rows or two row storage units, is such as deposited with the model split of three-dimensional matrice
Unit, can deposit an article in each storage unit, depending on concrete row and columns can be according to practical situations.Machine
Tool handss can elastic and can pick-and-place article, mechanical hand accurately reaches behind precalculated position and can achieve pick-and-place article function,
Elastic namely mechanical hand transversely can stretch, and stretching motion realizes the positioning of a dimension row.It should be noted that
Row mentioned here refers to along the longitudinal direction, and row are referred in left-right direction.Mechanical hand is installed on walking mechanism, walking mechanism
Machinery can be driven lower mobile on hand and moved left and right, mechanical hand is fixed with walking mechanism, realizes mechanical hand in short transverse
The direction of movement and positioning, i.e. row and column with left and right directions, realizes positioning of the mechanical hand in two dimensions of row, column.Temporary flat
Platform can be installed in walking mechanism, it is also possible to be not mounted in walking mechanism, and temporary storage platform is used for interim storage mechanical hand and grabs
The interim article being transferred out of from front-seat storage unit for taking.Control system is positioned for control machinery hand and captures article, is responsible for
Control Motor execution part and intelligent logical judgement etc..
Storage device provided by the present invention, is multidimensional automated storing equipment, can deposit plurality in the confined space
The article of amount, the quantity of the storage that can be multiplied in the case of increasing a small amount of space and hardly increasing cost；By machinery
Handss and temporary storage platform lifting storage efficiency, simple and reliable for structure, can under same volume with respect to the sample cabinet of filing for reference of tree
Storage quantity as much, lighter in weight, cost is relatively low, and practicality is higher.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for technology description is had to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
The structural representation of the storage device that Fig. 1 is provided by a kind of specific embodiment in the present invention；
Fig. 2 is another view of Fig. 1.
In accompanying drawing, labelling is as follows：
1- walking mechanism, 2- mechanical hand, 3- temporary storage platform, 4- storage rack, 5- storage unit, 6- cabinet.
Specific embodiment
The core of the present invention is to provide a kind of storage device, and it is inconvenient that the storage device efficiently solves sample storage of filing for reference
The problems such as.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The structure that refer to the storage device that Fig. 1 and Fig. 2, Fig. 1 are provided by a kind of specific embodiment in the present invention is shown
It is intended to；Fig. 2 is another view of Fig. 1.
In a kind of specific embodiment, storage device provided by the present invention, including mechanical hand 2, walking mechanism 1, temporarily
Platform 3, many storage layers frame 4 and control system is deposited, per layer of storage rack 4 at least has two rows or two row storage units 5,
Can be two row's multiple rows, or multiple rows of two row, multiple rows of multiple row be can also be, is such as deposited with the model split of three-dimensional matrice
Unit 5, can deposit an article in each storage unit 5, depending on concrete row and columns can be according to practical situations.
Mechanical hand 2 can elastic and can pick-and-place article, mechanical hand 2 accurately reaches behind precalculated position and can achieve pick-and-place article work(
Can, elastic namely mechanical hand 2 transversely can stretch, and stretching motion realizes the positioning of a dimension row.Need explanation
, row mentioned here refer to along the longitudinal direction, row refer in left-right direction.Mechanical hand 2 is installed on walking mechanism 1,
Walking mechanism 1 can drive mechanical hand 2 to move up and down and move left and right, and be fixed with mechanical hand 2 in walking mechanism 1, realize machinery
Handss 2 realize mechanical hand 2 in two dimensions of row, column in the direction of movement and positioning, the i.e. row and column of short transverse and left and right directions
Positioning.Temporary storage platform 3 can be installed in walking mechanism 1, it is also possible to be not mounted in walking mechanism 1, temporary storage platform 3 is used for
The interim article being transferred out of from front-seat storage unit 5 of interim storage mechanical hand 2 crawl.Control system is used for control machinery hand 2
Crawl article, is responsible for control Motor execution part and intelligent logical judgement etc..
The control method of control system includes：
Obtain the instruction that article is preset in crawl or storage；
Judge whether the front row for presetting article has deposited front-seat article, control system control machinery hand 2 executes operation,
If the front row for presetting article has has deposited front-seat article, walking mechanism 1 runs to precalculated position, mechanical hand
Front-seat article is captured and is temporarily stored in 3 setting position of temporary storage platform by 2, default article is captured or is deposited, by front row
Original position is put back in article crawl；
If front-seat article has not been deposited at the front row for presetting article, walking mechanism 1 runs to precalculated position, machinery
Default article is directly captured or is deposited by handss 2.
Now as follows to often discharging into row A, B, C, D... mark, its specific workflow with a certain row, column position of determination：
Crawl or storage A row's article, control system is processed in the following manner：
After obtaining the instruction of crawl A row's article, walking mechanism 1 runs to precalculated position, and mechanical hand 2 is directly realized by A row's thing
The pick-and-place of product.
Crawl or storage B row's article, control system is processed by following two situations：
Obtain crawl B row article instruction after, control system is first judged, A ranking put no deposited, according to storage
Situation, control system commander's mechanical hand 2 completes following operation：
No article is put in A ranking：Walking mechanism 1 runs to precalculated position, and mechanical hand 2 is directly realized by the pick-and-place that B arranges article；
A ranking is equipped with article：Walking mechanism 1 runs to precalculated position, and A row's article is first captured and temporarily deposit by mechanical hand 2
3 specified location of temporary storage platform being placed on, then completes B row's crawl of article or storage again, mechanical hand 2 is completed after corresponding actions by A
Row's article crawl is put back to A and arranges original position.
Crawl or storage C row's article, control system is processed by following four situation：
All no articles are put in A row, B ranking：Walking mechanism 1 runs to precalculated position, and mechanical hand 2 is directly realized by C row's article
Pick-and-place；
A is arranged, B ranking is put all article：Walking mechanism 1 runs to precalculated position, mechanical hand 2 first in order by A arrange article,
B row's article is captured and is temporarily stored in 3 specified location of temporary storage platform, is then completed crawl or the storage of C row's article again, is completed phase
After answering action, A is arranged article, B row's article and captures and deposit go back to original position by mechanical hand 2 in order；
A ranking is equipped with article, B ranking and puts no article：Walking mechanism 1 runs to precalculated position, and storage mechanical hand 2 is first by A
Row's article is captured and is temporarily stored in 3 specified location of temporary storage platform, then completes crawl or the storage of C row's article again.Complete phase
After answering action, A row's article crawl is put back to original position by mechanical hand 2；
A ranking is put no article, B ranking and is equipped with article：Walking mechanism 1 runs to precalculated position, and B is first arranged thing by mechanical hand 2
Product are captured and are temporarily stored in 3 specified location of temporary storage platform, then complete crawl or the storage of C row's article again.Complete corresponding dynamic
After work, B row's article crawl is put back to original position by mechanical hand 2.
It should be noted that more rows then control machinery hand 2 can realize pick-and-place article by the above process.
Storage device provided by the present invention, is multidimensional automated storing equipment, can deposit plurality in the confined space
The article of amount, the quantity of the storage that can be multiplied in the case of increasing a small amount of space and hardly increasing cost；By machinery
Handss 2 and the lifting storage efficiency of temporary storage platform 3, control is simple, and storage efficiency is higher, simple and reliable for structure, with respect to tree
Sample cabinet of filing for reference can deposit quantity as much under same volume, lighter in weight, cost is relatively low, and practicality is higher.
Above-mentioned storage device is only a kind of preferred version, is specifically not limited thereto, on this basis can be according to actual need
Make having and targetedly adjust, so as to different embodiments are obtained, the first connecting portion of mechanical hand 2 is set in vehicle with walking machine
Can move up and down in the vertical bar of structure 1 and along vertical bar, the height of mechanical hand 2 is adjusted with this, can be with the row of control machinery hand 2
Position, simple structure, it is easy to adjust, operate more convenient.Concrete vertical bar highly can be according to practical situations depending on,
All within the scope of the present invention.
Above-mentioned storage device is only a kind of preferred version, is specifically not limited thereto, on this basis can be according to actual need
Make having and targetedly adjust, so as to different embodiments are obtained, the first connecting portion can be around the vertical bar
Set angle is rotated, mechanical hand 2 then can achieve the pick-and-place to other 5 articles of direction storage unit of cabinet 6, a set of walking after rotating
Mechanism 1, mechanical hand 2, temporary storage platform 3 can control multiple storage units 5, simplify structure, and cost is relatively low, and effectively utilizes space increases
Greatly, the quantity of storage unit 5 can be increased, improves storage efficiency.It should be noted that rotational angle mentioned here can root
According to the displacement sets itself of storage unit 5, all within the scope of the present invention
On the basis of above-mentioned specific embodiment, those skilled in the art can be according to the difference of concrete occasion, to depositing
Storage device carries out some changes, is connected with longitudinal rod in the first connecting portion of mechanical hand 2, and second connecting portion is set on longitudinal rod
And can move left and right along longitudinal rod, the right position of mechanical hand 2 is adjusted with this, can be with the column position of control machinery hand 2, structure
Simply, it is easy to adjust, operate more convenient.Concrete longitudinal rod highly can be according to practical situations depending on, all at this
In bright protection domain.
Obviously, those skilled in the art can carry out some according to the difference of concrete occasion to above-mentioned specific embodiment
Change, mechanical hand 2 is moved along vertical bar and longitudinal rod, the position of mechanical hand 2 can be adjusted with small range, for adjusting on a large scale,
1 bottom of walking mechanism can be provided with road wheel, can also be that ground arranges track, the bottom of walking mechanism 1 is arranged and rail
The chute that road matches, depending on concrete form can be according to practical situations, the distance range of walking is larger, can be with larger amplitude
Degree adjusts the position of walking mechanism 1 and mechanical hand 2, using convenient.
It is important to note that storage device provided by the present invention is not intended to be limited to this kind of situation, also include cabinet
Body 6, for fixing storage rack 4 and machine walking mechanism 1, storage rack 4 and machine walking mechanism 1 fixedly mount more convenient, acceptable
Protection built-in system.The storage rack 4 is provided with the cabinet 6, the storage rack 4 is separately fixed at the side of the cabinet 1
Wall, can place more storage rack, marshalling, easy-to-look-up, crawl article, more attractive in appearance.
Preferably, two groups of storage racks 4 are provided with cabinet 6, and two groups of storage racks 4 be separately fixed at cabinet 6 two are relative
Side wall, the first connecting portion can rotate 180 degree around the vertical bar, and mechanical hand 2 is then can achieve to cabinet 6 after rotating 180 °
The pick-and-place of 5 article of other side storage unit, a set of walking mechanism 1, mechanical hand 2, temporary storage platform 3 can control the storage of both sides
Unit 5, simplifies structure, and cost is relatively low, and effectively utilizes space increases, and can increase the quantity of storage unit 5, improves storage effect
Rate.It should be noted that rotational angle mentioned here can be according to the displacement sets itself of storage unit 5, all in the present invention
Protection domain in.
For the storage device in each embodiment above-mentioned, temporary storage platform 3 is fixed in walking mechanism 1 and with walking mechanism
1 moves together, is trailing type platform, and the position of temporary storage platform 3 and walking mechanism 1, mechanical hand 2 is fixed, it is easy to which mechanical hand 2 will be temporary
Storage product are positioned over temporary storage platform 3；Temporary storage platform 3 can also temporary storage platform 3 do not move with walking mechanism 1, be fixed platform,
Simplify the structure of walking mechanism 1, fabrication and processing is simple.
In order to optimize technique scheme further, temporary storage platform 3 is installed on platform moving mechanism and moves with platform
Mechanism kinematic, that is, temporary storage platform 3 oneself band platform moving mechanism, automatic moving, can need voluntarily to control according to position
Position, conveniently moving.
On the basis of each specific embodiment above-mentioned, per layer of storage rack 4 is with multiple rows of transversely arranged 5 He of storage unit
The storage unit 5 of multiple row longitudinal arrangement, now deposits for multi-dimensional matrix, and more side is whole.Continue to optimize upper embodiment, per layer is deposited
The storage unit 5 that puts on frame 4 is identical in the projection of horizontal plane, marshalling, is easy to adjust the position of mechanical hand 2, it is easy to operate,
The adjustment process of mechanical hand 2 can be reduced.Certainly, simply one kind preferred embodiment, is not unique for multi-dimensional matrix storage
, can also be Variation Matrix, such as the irregular matrix such as trapezoidal matrix, triangular matrices, fan-shaped matrix, all in the guarantor of the present invention
In the range of shield.
In describing the invention, it should be noted that the orientation of the instruction such as term column and row, row or position relationship are base
In orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicate or imply
The device of indication or element must be with specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
The restriction of invention.
In this specification, each embodiment is described by the way of going forward one by one, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the present invention.
Multiple modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (10)
1. a kind of storage device, it is characterised in that including mechanical hand (2), walking mechanism (1), temporary storage platform (3), many storage layers
Frame (4) and control system, per layer storage rack (4) at least have two rows or two row storage units (5), the machine
Tool handss (2) can elastic and can pick-and-place article, mechanical hand (2) are installed on the walking mechanism (1), the walking
Mechanism (1) can drive the mechanical hand (2) to move up and down and move left and right, and described temporary storage platform (3) are used for interim storage institute
The interim article being transferred out of from front-seat storage unit (5) that mechanical hand (2) is captured is stated, the control system is used for controlling institute
State mechanical hand (2) to position and capture article.
2. storage device according to claim 1, it is characterised in that the first connecting portion of mechanical hand (2) is set in
Can move up and down in the vertical bar of walking mechanism (1) and along the vertical bar.
3. storage device according to claim 2, it is characterised in that the first connecting portion can turn around the vertical bar
Dynamic set angle.
4. storage device according to claim 3, it is characterised in that connect in the first connecting portion of mechanical hand (2)
There is longitudinal rod, second connecting portion is set on the longitudinal rod and can move left and right along the longitudinal rod.
5. storage device according to claim 4, it is characterised in that walking mechanism (1) bottom is provided with road wheel.
6. storage device according to claim 5, it is characterised in that also include for fixing the storage rack (4) and institute
The cabinet (6) of machine walking mechanism (1) is stated, in cabinet (6), the storage rack (4) is provided with, storage rack (4) are solid respectively
It is scheduled on the side wall of the cabinet (6).
7. storage device according to claim 6, it is characterised in that is provided with cabinet (6) described in two groups and deposits
Frame (4), storage rack (4) described in two groups is separately fixed at two opposing sidewalls of the cabinet (6), and the first connecting portion can
180 degree is rotated around the vertical bar.
8. the storage device according to any one of claim 1-7, it is characterised in that temporary storage platform (3) are fixed on institute
State walking mechanism (1) above and move with the walking mechanism (1).
9. the storage device according to any one of claim 1-7, it is characterised in that temporary storage platform (3) are installed on flat
Move on platform motion and with the platform moving mechanism.
10. the storage device according to any one of claim 1-7, it is characterised in that per layer described storage rack (4) have many
The transversely arranged storage unit (5) of row and the storage unit (5) of multiple row longitudinal arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610969696.8A CN106429148A (en) | 2016-10-26 | 2016-10-26 | Storage device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610969696.8A CN106429148A (en) | 2016-10-26 | 2016-10-26 | Storage device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106429148A true CN106429148A (en) | 2017-02-22 |
Family
ID=58179925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610969696.8A Pending CN106429148A (en) | 2016-10-26 | 2016-10-26 | Storage device |
Country Status (1)
| Country | Link |
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| CN (1) | CN106429148A (en) |
Cited By (18)
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| CN107334290A (en) * | 2017-06-29 | 2017-11-10 | 傅峰峰 | A kind of storage cabinet |
| CN108393854A (en) * | 2018-03-26 | 2018-08-14 | 嘉兴博途物流设备有限公司 | A kind of cutter cabinet convenient for access cutter |
| CN109383974A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of storage robot and its control method |
| CN110092052A (en) * | 2019-03-28 | 2019-08-06 | 合肥富芯元半导体有限公司 | A kind of semiconductor packaging device Nuo Yun mechanism and its working method |
| CN110395517A (en) * | 2019-07-30 | 2019-11-01 | 湖南中南智能工业技术有限公司 | A kind of access sampling device, storage sample space and access quadrat method |
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| CN111746993A (en) * | 2020-05-27 | 2020-10-09 | 北京京东乾石科技有限公司 | Warehousing method, multi-depth three-dimensional warehouse, storage medium and electronic equipment |
| CN112027472A (en) * | 2020-09-08 | 2020-12-04 | 北京极智嘉科技有限公司 | Warehouse carrying and scheduling system and control method |
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| CN113911606A (en) * | 2020-07-08 | 2022-01-11 | 南京药石科技股份有限公司 | Article warehouse entry device and storage equipment |
| CN114379969A (en) * | 2020-10-16 | 2022-04-22 | 北京极智嘉科技股份有限公司 | Inventory container handling system and method |
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| US11465840B2 (en) | 2017-11-14 | 2022-10-11 | Hai Robotics Co., Ltd. | Handling robot |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| US11655099B2 (en) | 2017-11-14 | 2023-05-23 | Hai Robotics Co., Ltd. | Handling robot |
| TWI810674B (en) * | 2020-11-20 | 2023-08-01 | 大陸商深圳市海柔創新科技有限公司 | Material fetching-out method and apparatus, robot, warehousing system, and storage medium |
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Effective date of registration: 20190516 Address after: No. 1259 Liangtang East Road, Xingsha Industrial Base, Changlong Street, Changsha Economic and Technological Development Zone, Hunan Province Applicant after: Kaiyuan Instrument Co., Ltd., Changsha Address before: 410100 No. 172 Kaiyuan Road, Changsha economic and Technological Development Zone, Hunan Applicant before: Changsha Kaiyuan Instruments Co., Ltd. |
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