CN108069180A - Robot - Google Patents
Robot Download PDFInfo
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- CN108069180A CN108069180A CN201711135812.7A CN201711135812A CN108069180A CN 108069180 A CN108069180 A CN 108069180A CN 201711135812 A CN201711135812 A CN 201711135812A CN 108069180 A CN108069180 A CN 108069180A
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- China
- Prior art keywords
- goods
- plate
- robot
- shelf
- cargo
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Present disclose provides a kind of robot, including：Shelf structure, the shelf structure include the multi-layered storage rack plate of different height；Elevating mechanism is connected with the shelf structure, for determining that a goods shelf plate is available goods shelf plate；And operating mechanism, it is connected with the elevating mechanism, for accessing cargo.
Description
Technical field
This disclosure relates to warehouse logistics field, more particularly, to a kind of robot.
Background technology
It is higher and higher to the efficiency and cost requirement of carrying and the access of cargo with the fast development of logistic industry.Example
When transporting goods such as businessman in storehouse, in order to save manpower and cost, businessman is transported goods by robot, therefore, such as
What improves the efficiency that robot transports goods and larger challenge is brought to businessman.
During present inventive concept is realized, inventor has found that at least there are the following problems in the prior art, existing to remove
Robot is transported during cargo transport, can only once carry a cargo so that the efficiency that robot transports goods is low.
The content of the invention
In view of this, present disclose provides a kind of robots for transporting goods.
Present disclose provides a kind of robot, including：Shelf structure, the shelf structure include the multilayer goods of different height
Frame plate, elevating mechanism are connected with the shelf structure, for determining that a goods shelf plate is that can use goods shelf plate and operating mechanism,
It is connected with the elevating mechanism, for accessing cargo.
In accordance with an embodiment of the present disclosure, above-mentioned shelf structure further includes at least one fixed structure, each fixed knot
Structure is used to fix corresponding goods shelf plate.
In accordance with an embodiment of the present disclosure, above-mentioned elevating mechanism be connected with the shelf structure including：The elevating mechanism with
At least one fixed structure connection, at least one fixed structure are connected with the multi-layered storage rack plate.
In accordance with an embodiment of the present disclosure, above-mentioned robot, further includes chassis, and the elevating mechanism includes：Column is fixed on
The chassis, the column are connected with the shelf structure, and can make the operating mechanism lifting moving.
In accordance with an embodiment of the present disclosure, aforesaid operations mechanism includes two goods arms.
In accordance with an embodiment of the present disclosure, above-mentioned goods arm includes：Fixed plate, movable plate and at least one operating body.It is described
Fixed plate is connected to the elevating mechanism, and the movable plate can carry out telescopic movable compared with the fixed plate, it is described at least
One operating parts is connected to the movable plate, at least one operating parts in the first condition in first state, it is described extremely
A few operating parts is in the second state under a second condition, wherein, the goods arm can pass through the flexible work of the movable plate
The action of access cargo is realized in the state switching of dynamic and described at least one operating parts.
In accordance with an embodiment of the present disclosure, above-mentioned goods arm can pass through the telescopic movable of the movable plate and described at least one
The action of access cargo is realized in the state switching of a operating parts, including：At least one operating parts is under first state, institute
It is contactless with cargo to state goods arm, at least one operating parts is under the second state, the goods arm and cargo contacts, the goods
Arm realizes access cargo under the switching of first state and the second state.
In accordance with an embodiment of the present disclosure, aforesaid operations mechanism lifting moving includes：The fixed plate of the goods arm is connected to institute
It states on the guide rail of column, the goods arm is moved along the lifting rail of the column, also, described two goods arms are synchronized with the movement.
In accordance with an embodiment of the present disclosure, above-mentioned chassis includes at least one idler wheel, and at least one idler wheel is for described
Robot is slided.
In accordance with an embodiment of the present disclosure, above-mentioned robot further includes navigation positioning module, and the navigation positioning module can
Obtain the routing information from current location to target location.
In accordance with an embodiment of the present disclosure, can solve once carry a cargo in existing robot at least partly
The technical issues of, and therefore can be realized by the multi-layered storage rack plate of robot and once carry multiple cargos, improve robot
The technique effect of handling efficiency.
Description of the drawings
By the description referring to the drawings to the embodiment of the present disclosure, the above-mentioned and other purposes of the disclosure, feature and
Advantage will be apparent from, in the accompanying drawings：
Fig. 1 diagrammatically illustrates the stereogram of the robot according to the embodiment of the present disclosure；
Fig. 2 diagrammatically illustrates the structure diagram of the robot according to the embodiment of the present disclosure；And
Fig. 3 diagrammatically illustrates the structure diagram of the goods arm according to the robot of the embodiment of the present disclosure.
Specific embodiment
Hereinafter, it will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are simply exemplary
, and it is not intended to limit the scope of the present disclosure.In addition, in the following description, the description to known features and technology is omitted, with
Avoid unnecessarily obscuring the concept of the disclosure.
Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.It uses herein
Term " comprising ", "comprising" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of
Or other one or more features of addition, step, operation or component.
All terms (including technical and scientific term) as used herein have what those skilled in the art were generally understood
Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification
Meaning, without should by idealization or it is excessively mechanical in a manner of explain.
It, in general should be according to this in the case where using similar to " in A, B and C etc. at least one " such statement
Field technology personnel are generally understood the meaning of the statement to make an explanation (for example, " having system at least one in A, B and C "
Should include but not limited to individually with A, individually with B, individually with C, with A and B, with A and C, with B and C, and/or
System with A, B, C etc.).In the case where using similar to " in A, B or C etc. at least one " such statement, it is general come
Say be generally understood the meaning of the statement to make an explanation (for example, " having in A, B or C at least according to those skilled in the art
The system of one " should include but not limited to individually with A, individually with B, individually with C, with A and B, with A and C, with
B and C, and/or the system etc. with A, B, C).It should also be understood by those skilled in the art that substantially arbitrarily represent two or more
The adversative conjunction and/or phrase of optional project, either in specification, claims or attached drawing, shall be construed as
It gives including one of these projects, the possibility of these projects either one or two projects.For example, phrase " A or B " should
It is understood to include the possibility of " A " or " B " or " A and B ".
Embodiment of the disclosure provides a kind of robot, which includes：Shelf structure, the shelf structure are included not
Level multi-layered storage rack plate, elevating mechanism are connected with shelf structure, for determining that a goods shelf plate is available goods shelf plate, with
And operating mechanism, it is connected with elevating mechanism, for accessing cargo.
The robot according to disclosure illustrative embodiments is described with reference to Fig. 1~Fig. 3.
Fig. 1 diagrammatically illustrates the stereogram of the robot according to the embodiment of the present disclosure.
Fig. 2 diagrammatically illustrates the structure diagram of the robot according to the embodiment of the present disclosure.
As shown in Fig. 1~Fig. 2, the robot of one embodiment of the disclosure include shelf structure 100, elevating mechanism 200 and
Operating mechanism 300.Wherein, shelf structure 100 includes the multi-layered storage rack plate 110 of different height.
In the embodiments of the present disclosure, the primary structure of cargo is stored during shelf structure 100 transports goods for robot,
Such as multi-layered storage rack plate 110 can be included, every layer of goods shelf plate 110 can arrangement of goods, different goods shelf plates 110 for example can be with
In different height, those goods shelf plates 110 for example can be detachable installation, and those skilled in the art can be according to practical application
A certain number of goods shelf plates 110 are installed, with this realize robot when transporting goods by cargo storage in multi-layered storage rack plate 110
On or robot the cargo on multi-layered storage rack plate 110 can be positioned on the common shelf of storehouse, robot is improved with this
Handling efficiency.
According to the embodiment of the present disclosure, shelf structure 100 further includes at least one fixed structure 120, each fixed structure 120
For fixing corresponding goods shelf plate 110.
According to the embodiment of the present disclosure, fixed structure 120 for example can be rod-like structure, such as can be U-shaped rod-shaped knot
Structure, wherein, each fixed structure 120 is used to fix different goods shelf plates 110.Fixed structure 120 for example can be by goods shelf plate 110
The center section of U-shaped rod-like structure is fixed on, and certain area is left on goods shelf plate 110 and the both sides of U-shaped rod-like structure.
According to the embodiment of the present disclosure, elevating mechanism 200 is connected with shelf structure 100, for determining that a goods shelf plate 110 is
Goods shelf plate 110 can be used.
According to the embodiment of the present disclosure, elevating mechanism 200 is connected with shelf structure 100, and elevating mechanism 200 can for example be realized
The function of moving up and down, such as when cargo is placed on the goods shelf plate 110 of different height by robot, elevating mechanism 200 can
Different 110 corresponding height of goods shelf plate are moved to above, realize that cargo is positioned over different goods shelf plates 110 by robot with this
On.
According to the embodiment of the present disclosure, elevating mechanism 200 is connected with shelf structure 100 including elevating mechanism 200 and at least one
A fixed structure 120 connects, and at least one fixed structure 120 is connected with multi-layered storage rack plate 110.
In the embodiments of the present disclosure, elevating mechanism 200 is connected with shelf structure 100 for example can be elevating mechanism 200 with
Multiple fixed structures 120 connect, such as can be that the both ends of fixed structure 120 are connected (i.e. U-shaped rod-shaped knot with elevating mechanism 200
The both ends of structure are connected with elevating mechanism 200), connection mode for example can be detachably connected.Fixed structure 120 and multilayer goods
Frame plate 110 connects, such as a fixed structure 120 connects a goods shelf plate 110, will be corresponding by multiple fixed structures 120
Multiple goods shelf plates 110 are connected on elevating mechanism 200.Those skilled in the art can will be a certain number of solid according to practical application
Determine structure 120 to be connected on elevating mechanism 200, realize that multiple goods shelf plates 110 are connected on elevating mechanism 200 with this.
According to the embodiment of the present disclosure, operating mechanism 300 is connected with elevating mechanism 200, for accessing cargo.
In the embodiments of the present disclosure, what operating mechanism 300 can for example carry out cargo picks and places action.Wherein, operating mechanism
300 can move up and down along elevating mechanism 200, and then cargo is placed on the goods shelf plate 110 of different height.
In the embodiments of the present disclosure, operating mechanism 300 can be towed structure, tray-like structure, hold formula structure, with
And mechanical arm etc..Wherein, towed structure, such as can be by the way that cargo is dragged on shelf structure 100；Pellet type knot
Structure, such as can be that cargo is placed on pallet and is placed on together on common shelf, robot will be held in the palm by operating mechanism 300
Disk and cargo are lifted from common shelf and are placed on the shelf structure 100 of robot together；Hold formula structure, such as can be with
Cargo is lifted by gripping cargo and pressed from both sides to shelf structure 100；Mechanical arm, such as can be incited somebody to action by arm Grasp Modes
Cargo is placed on shelf structure 100.The embodiment of the present disclosure does not limit the concrete structure of operating mechanism, and those skilled in the art can
It is configured according to practical situations.
According to the robot of the embodiment of the present disclosure, chassis 400 is further included.
In the embodiments of the present disclosure, robot for example further includes chassis 400, and chassis 400 carries the elevator of robot
Structure 200 and operating mechanism 300.
According to the robot of the embodiment of the present disclosure, chassis 400 includes at least one idler wheel, and at least one idler wheel is used to make machine
Device people can be moved.
Robot can for example be moved by idler wheel, such as different places that can be in storehouse access cargos.
According to the embodiment of the present disclosure, elevating mechanism 200 includes column 210.Wherein, column 210 is fixed on chassis 400, stands
Column 210 is connected with shelf structure 100, and can make 300 lifting moving of operating mechanism.
In the embodiments of the present disclosure, elevating mechanism 200 is for example including two columns 210, wherein, two columns 210 are fixed
On chassis 400, such as two columns 210 are perpendicularly fixed on chassis 400.Wherein, column 210 and shelf structure 100
Connection, such as column 210 are connected with fixed structure 120, and specifically, such as the both ends of U-shaped rod-like structure are connected with column 210.
In the embodiments of the present disclosure, shelf structure 100 can be for example connected on column 210, and shelf structure 100 is for example also
It can be fixed in the other structures of robot, such as can be fixed on the main body frame of robot, the embodiment of the present disclosure is not
The fixed form of shelf structure 100 is limited, those skilled in the art can specifically set according to practical situations.
In the embodiments of the present disclosure, 300 lifting moving of operating mechanism, for example, can be operating mechanism 300 movably with
Column 210 connects, such as operating mechanism 300 can make lifting moving along column 210, and operating mechanism 300 is by along column
210 carry out lifting moving, can be placed on cargo on the goods shelf plate 110 of different height.
As described above, operating mechanism 300 for example can be towed structure, tray-like structure, hold formula structure, Yi Jiji
Tool arm etc., the embodiment of the present disclosure do not limit the concrete structure of operating mechanism, in order to make it easy to understand, the embodiment of the present disclosure will be with
The operating mechanism of towed structure is described in detail.
According to the embodiment of the present disclosure, operating mechanism 300 includes two goods arms 310.
According to the embodiment of the present disclosure, two goods arms 310 are for example respectively arranged on different columns 210, operating mechanism
300 for example can access cargo by two goods arms 310.
Fig. 3 diagrammatically illustrates the structure diagram of the goods arm according to the robot of the embodiment of the present disclosure.
As shown in figure 3, goods arm 310 includes fixed plate 311, movable plate 312 and at least one operating parts 313.Wherein, Gu
Fixed board 311 is connected to elevating mechanism 200.
According to the embodiment of the present disclosure, fixed plate 311 is connected on elevating mechanism 200, and specifically, fixed plate 311 can connect
It is connected on column 210, such as fixed plate 311 can only be moved up and down with respect to column 210, it is impossible to it is moved horizontally with respect to column 210,
Fixed plate 311 play by goods arm 310 support on column 210.
According to the embodiment of the present disclosure, 300 lifting moving of operating mechanism includes：The fixed plate 311 of goods arm 310 is connected to column
On 210 guide rail, goods arm 310 is moved along the lifting rail of column 210, also, two goods arms 310 are synchronized with the movement.
According to the embodiment of the present disclosure, operating mechanism 300 for example can carry out lifting moving along column 210, specifically, often
A column 210 for example can include sliding equipment, wherein sliding equipment for example can include two lifting sprockets, a chain,
One secondary guide rail slide block, fixed plate 311 can be for example connected by guide rail slide block on the guide rail with column 210, by lifting sprocket,
Chain realizes that goods arm 310 is moved along the lifting rail of column 210.
It is appreciated that the embodiment of the present disclosure does not limit the mode that goods arm carries out lifting moving compared with column, i.e., do not limit
Specific sliding equipment, sliding equipment can include lifting sprocket, chain and guide rail slide block, can also be other slips
Mechanism, those skilled in the art can specifically set according to practical application.
In the embodiments of the present disclosure, (goods shelf plate 110 in the U-shaped structure of shelf structure can be located at when goods arm 310 is shunk
Within the both sides certain area of U-shaped rod-like structure), ensure with shelf structure 100 to interfere during goods 310 lifting moving of arm,
It realizes that robot architecture is compact, saves space-efficient effect.
According to the embodiment of the present disclosure, two goods arms 310, which are synchronized with the movement, for example can be, two goods arms are driven by a motor
It moves and is synchronized with the movement to realize, saving space is achieved the effect that with this, reduce cost and improves the precision that goods arm transports goods.
According to the embodiment of the present disclosure, movable plate 312 can carry out telescopic movable compared with fixed plate 311.
According to the embodiment of the present disclosure, movable plate 312 can for example include the first plate 312a and the second plate 312b, the first plate
312a for example can carry out telescopic movable compared with fixed plate 311, and the second plate 312b can for example be carried out with respect to the first plate 312a
Telescopic movable.Similarly, the movable plate 312 of the embodiment of the present disclosure can also include the 3rd plate, the 4th plate ..., and the disclosure is implemented
Example is not construed as limiting its quantity.
According to the embodiment of the present disclosure, at least one operating parts 313 is connected to movable plate 312, and at least one operating parts 313 exists
The second state is under a second condition in first state, at least one operating parts 313 under first condition.
According to the embodiment of the present disclosure, at least one operating parts 313 is connected to movable plate 312, such as can be operating parts 313
The second plate 312b of movable plate 312 is connected to, such as the both ends of a second plate 312b can connect at least one operating parts
313。
According to the embodiment of the present disclosure, first condition for example can be that robot is under off position or is preparing
Access the not process with cargo contacts during cargo, second condition for example can be during robot access cargo and cargo
The process of contact, first state for example can be that operating parts 313 is in vertical state, and the second state for example can be operating parts
313 are in horizontality.
According to the embodiment of the present disclosure, telescopic movable and at least one operating parts that goods arm 310 can be by movable plate 312
The action of access cargo is realized in 313 state switching.Wherein, at least one operating parts 313 is under first state, goods arm 310
Contactless with cargo, at least one operating parts 313 is under the second state, and goods arm 310 and cargo contacts, goods arm is in first state
Access cargo is realized under switching with the second state.
According to the embodiment of the present disclosure, the movable plate 312 of goods arm 310 for example freely can be stretched out and retracted from both ends, be realized
Two-way stretching is retracted, and operating parts 313 is in vertically and horizontally two states.When picking, it is operated first part 313 and is in vertical
State, goods arm 310 stretches out movable plate 312 until the end of movable plate 312 (i.e. the second plate 312b) is more than cargo back, operating parts
313 are switched to horizontality from vertical state, and then goods arm 310 is retracted, and operating parts 313 keeps horizontality that can just drag at this time
Cargo is dragged to the goods shelf plate 110 of robot.When goods putting, operating parts 313 is in horizontality, and then goods arm 310 stretches out
Movable plate 312 until cargo be pushed into from robot goods shelf plate 110 by operating parts 313 on the common shelf of storehouse, operating parts 313 from
Horizontality is switched to vertical state, and then goods arm 310 is retracted.
According to the robot of the embodiment of the present disclosure, navigation positioning module is further included, navigation positioning module can be obtained from working as
Front position is to the routing information of target location.
In the embodiments of the present disclosure, navigation positioning module for example can be that laser navigation, two-dimension code navigation, indoor positioning are used to
Property navigation or tape navigation etc. modes, navigation positioning module robot is caused to obtain current location automatically to target location
Routing information realizes robot according to routing information into line access cargo.The unlimited navigation positioning module processed of the embodiment of the present disclosure is adopted
Specific navigation mode, as long as robot autonomous navigation can be realized, those skilled in the art can be according to practical application
The specific setting navigation mode of situation.
In accordance with an embodiment of the present disclosure, robot includes multi-layered storage rack plate, the side moved by robot goods arm liftable
Formula so that a variety of cargos can be placed on different goods shelf plates by robot, realized that multiple cargos are once carried by robot, improved
The handling efficiency of robot.
Embodiment of the disclosure is described above.But the purpose that these embodiments are merely to illustrate that, and
It is not intended to limitation the scope of the present disclosure.Although respectively describing each embodiment above, but it is not intended that each reality
Use cannot be advantageously combined by applying the measure in example.The scope of the present disclosure is defined by the appended claims and the equivalents thereof.It does not take off
From the scope of the present disclosure, those skilled in the art can make a variety of alternatives and modifications, these alternatives and modifications should all fall at this
Within scope of disclosure.
Claims (10)
1. a kind of robot, including：
Shelf structure, the multi-layered storage rack plate including different height；
Elevating mechanism is connected with the shelf structure, for determining that a goods shelf plate is available goods shelf plate；And
Operating mechanism is connected with the elevating mechanism, for accessing cargo.
2. robot according to claim 1, wherein, the shelf structure further includes at least one fixed structure, each
The fixed structure is used to fix corresponding goods shelf plate.
3. robot according to claim 2, wherein, the elevating mechanism be connected with the shelf structure including：
The elevating mechanism is connected at least one fixed structure；
At least one fixed structure is connected with the multi-layered storage rack plate.
4. robot according to claim 1, further includes chassis, the elevating mechanism includes：
Column is fixed on the chassis, and the column is connected with the shelf structure, and can move the operating mechanism lifting
It is dynamic.
5. robot according to claim 1, wherein, the operating mechanism includes two goods arms.
6. robot according to claim 5, wherein, the goods arm includes：
Fixed plate, the fixed plate are connected to the elevating mechanism；
Movable plate, the movable plate can carry out telescopic movable compared with the fixed plate；And
At least one operating parts, at least one operating parts are connected to the movable plate, and at least one operating parts is
The second state is under a second condition in first state, at least one operating parts under the conditions of one,
Wherein, the goods arm can be switched by the telescopic movable of the movable plate and the state of at least one operating parts
Realize the action of access cargo.
7. robot according to claim 6, wherein, the goods arm can by the telescopic movable of the movable plate and
The action of access cargo is realized in the state switching of at least one operating parts, including：
At least one operating parts is under first state, and the goods arm and cargo are contactless, at least one operating parts
Under the second state, the goods arm and cargo contacts, the goods arm are realized under the switching of first state and the second state and deposited
Picking object.
8. the robot according to claim 4 or 6, wherein, the operating mechanism lifting moving includes：
The fixed plate of the goods arm is connected on the guide rail of the column, and the goods arm is moved along the lifting rail of the column
It is dynamic, also, described two goods arms are synchronized with the movement.
9. robot according to claim 4, wherein, the chassis includes at least one idler wheel, at least one rolling
Wheel is slided for the robot.
10. robot according to claim 1, further includes navigation positioning module, the navigation positioning module can obtain
Routing information from current location to target location.
Priority Applications (61)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711135812.7A CN108069180A (en) | 2017-11-14 | 2017-11-14 | Robot |
| KR1020217038361A KR102439052B1 (en) | 2017-11-14 | 2018-09-07 | Automated guided vehicle designed for warehouse |
| DE202018006723.7U DE202018006723U1 (en) | 2017-11-14 | 2018-09-07 | handling robot |
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| PCT/CN2018/104654 WO2019095804A1 (en) | 2017-11-14 | 2018-09-07 | Transport robot and transport robot-based pickup method |
| SG11202004492WA SG11202004492WA (en) | 2017-11-14 | 2018-09-07 | Automated guided vehicle designed for warehouse |
| CN202111449841.7A CN114021680B (en) | 2017-11-14 | 2018-09-07 | Transfer robot and goods taking method based on transfer robot |
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| AU2018368406A AU2018368406B2 (en) | 2017-11-14 | 2018-09-07 | Automated guided vehicle designed for warehouse |
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| MYPI2020002359A MY188417A (en) | 2017-11-14 | 2018-09-07 | Automated guided vehicle designed for warehouse |
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| DE202018006724.5U DE202018006724U1 (en) | 2017-11-14 | 2018-09-07 | handling robot |
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| SG11202004495PA SG11202004495PA (en) | 2017-11-14 | 2018-09-07 | Handling robot and method for retrieving inventory item based on handling robot |
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| US17/385,811 US20210354915A1 (en) | 2017-11-14 | 2021-07-26 | Handling robot |
| JP2021177325A JP7223099B2 (en) | 2017-11-14 | 2021-10-29 | warehouse automatic guide vehicle |
| AU2021266330A AU2021266330B2 (en) | 2017-11-14 | 2021-11-12 | Handling robot and method for retrieving inventory item based on handling robot |
| US17/585,828 US20220153522A1 (en) | 2017-11-14 | 2022-01-27 | Method for controlling warehouse robot to store and fetch inventory materials |
| US17/651,317 US11396424B2 (en) | 2017-11-14 | 2022-02-16 | Handling robot |
| US17/651,328 US11465840B2 (en) | 2017-11-14 | 2022-02-16 | Handling robot |
| AU2022203237A AU2022203237B2 (en) | 2017-11-14 | 2022-05-13 | Automated guided vehicle designed for warehouse |
| US17/862,579 US11794995B2 (en) | 2017-11-14 | 2022-07-12 | Handling robot |
| US17/882,119 US20220371821A1 (en) | 2017-11-14 | 2022-08-05 | Handling robot |
| US17/898,935 US11794996B2 (en) | 2017-11-14 | 2022-08-30 | Handling robot |
| US17/944,671 US11655099B2 (en) | 2017-11-14 | 2022-09-14 | Handling robot |
| JP2022185896A JP7446394B2 (en) | 2017-11-14 | 2022-11-21 | Transfer robot |
| JP2023014611A JP2023041865A (en) | 2017-11-14 | 2023-02-02 | Automatic guide vehicle for warehouse |
| AU2023214308A AU2023214308A1 (en) | 2017-11-14 | 2023-08-10 | Handling robot and method for retrieving inventory item based on handling robot |
| US18/367,581 US20240043207A1 (en) | 2017-11-14 | 2023-09-13 | Handling robot |
| JP2024027422A JP2024055927A (en) | 2017-11-14 | 2024-02-27 | Transport robot |
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| CN201711135812.7A CN108069180A (en) | 2017-11-14 | 2017-11-14 | Robot |
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| CN109375626A (en) * | 2018-11-20 | 2019-02-22 | 深圳市海柔创新科技有限公司 | Alignment code is sticked method, apparatus, computer equipment and storage medium |
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| WO2016151505A1 (en) * | 2015-03-23 | 2016-09-29 | Manpat Rajesh | Robotic drive unit with robotic inventory elevator |
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