CN106115197A - Shuttle alignment system and control method - Google Patents
Shuttle alignment system and control method Download PDFInfo
- Publication number
- CN106115197A CN106115197A CN201610513321.0A CN201610513321A CN106115197A CN 106115197 A CN106115197 A CN 106115197A CN 201610513321 A CN201610513321 A CN 201610513321A CN 106115197 A CN106115197 A CN 106115197A
- Authority
- CN
- China
- Prior art keywords
- shuttle
- data carrier
- track
- destination
- location
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
Abstract
Shuttle alignment system and control method thereof, radio frequency code reader, groove type photoelectric switch are arranged on the bottom of shuttle, data carrier, recognize location sheet and be arranged near track, a data carrier is arranged from upper load bed with unloading platform 3～4m on track, arrange data carrier and recognize location sheet at upper load bed and unloading platform, recognizing sheet position, location corresponding with grooved optoelectronic position, track is spaced 3～4m one data carrier of layout, each data carrier arranges different numbering.Shuttle is arranged on operation track.Programmable Logic Controller is by radio communication device and ground industrial control computer communication.Industrial control computer is communicated with the Programmable Logic Controller being arranged on shuttle by radio communication device, and Programmable Logic Controller is by being connected with radio frequency code reader, groove type photoelectric switch from port.The present invention uses radio frequency and grooved photoelectric combination to realize being accurately positioned, and alignment system is reliable and stable, precision is high, cheap, wide accommodation.
Description
Technical field
The invention belongs to logistics equipment automation field, be specifically related in logistics conveyer system shuttle alignment system and
Control method.
Background technology
At present, the following several ways of the general employing in shuttle location:
Laser ranging positions.Measured the absolute position of shuttle and ground return plate by laser ranging system, thus learn
Little truck position, the method positioning precision is high.
Bar code positioning.Paste barcode strip along shuttle vehicle track, shuttle is installed bar code reading device, bar code reading
Device reads bar code information and can confirm that current absolute location.
Encoder positions.Installing encoder on shuttle driven pulley, encoder meter during pure rolling made by driven pulley and track
Number, by calculating the relative position that i.e. can get shuttle.
In three of the above mode, modeAccurate positioning is reliable, and precision is high, but inapplicable for circular orbit；Mode
Accurate positioning is reliable, and precision is high, it is adaptable to straight rail and circular orbit, but cost is the highest；ModeSimple in construction, cost is relatively
Low, but when shuttle high-speed cruising, there are vibrations and skid, affect encoder to count, cause position error.
Summary of the invention
Present invention aim at providing a kind of shuttle alignment system and control method, alignment system good stability, location
Precision height, low cost of manufacture, installation and debugging are conveniently, it is possible to be applicable to rectilinear orbit and circular orbit, it is adaptable to all types of wears
Shuttle car alignment system.
The object of the present invention is achieved like this:
Shuttle alignment system, including radio frequency code reader, data carrier, groove type photoelectric switch, recognizes location sheet, Programmable Logic Controller, nothing
Line communicator, industrial control computer, shuttle.
Described radio frequency code reader, groove type photoelectric switch are arranged on the bottom at shuttle, described data carrier, recognize location sheet and install
Near track, track is arranged from upper load bed and unloading platform 3～4m a data carrier, at upper load bed and unloading platform, arranges load code
Body and recognize location sheet, recognizes sheet position, location corresponding with grooved optoelectronic position, track is spaced 3～4m and arranges data carriers, each
Data carrier arranges different numbering.Described shuttle is arranged on operation track.Described Programmable Logic Controller is filled by radio communication
Put and ground industrial control computer communication.
Described industrial control computer is carried out with the Programmable Logic Controller being arranged on shuttle by radio communication device
Communication, described Programmable Logic Controller is by being connected with radio frequency code reader, groove type photoelectric switch from port.
The control method of shuttle alignment system, comprises the following steps:
(1) industrial control computer sends assignment instructions, it is intended that shuttle runs to N picking platform picking, and this instruction is passed through
Radio communication device is sent to the Programmable Logic Controller on shuttle.
(2), after order received by shuttle, compare with storage location address information of recognizing in the programmable controller, thus
Obtain before destination the general of the numbering of data carrier, the numbering of destination's data carrier and current location and destination at 3～4m
Distance, controls shuttle and runs to destination.Just arrange a data carrier every 3～4m on track, shuttle can be known at any time
Approximate location in orbit.
(3) running to during from destination 3～4m when shuttle, radio frequency code reader can read data carrier letter herein herein
Breath, herein after shuttle reduce speed now operation.
(4) when shuttle runs near destination, reading destination's data carrier information, now shuttle is with more at a slow speed
Running, when groove type photoelectric switch senses and recognizes location sheet, shuttle is out of service, completes location.
This programme has the advantages that arranges a data carrier by orbit 3～4m, it is possible to knows and shuttles back and forth
Car approximate location in orbit, controls one 3～4m interval only one shuttle of operation, prevents two shuttles from mutually touching
Hit；Before destination, arrange a data carrier at 3～4m, allow shuttle run and run slowly to time herein, make shuttle start and stop
More steady；It is located in layout data carrier in purpose and recognizes location sheet, owing to radio frequency code reader can sense than load interior in a big way
Code body, uses data carrier to realize coarse positioning, represents that now shuttle is the most close from destination, and now shuttle is transported with lower speed
OK, when groove type photoelectric switch senses and recognizes location sheet, shuttle is out of service, reaches to be accurately positioned；Video code reader and grooved light
Electric switch low cost, installation and debugging are conveniently.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Fig. 2 is control system figure of the present invention.
In figure: 1-groove type photoelectric switch, 2-radio communication device, 3-recognizes location sheet, 4-radio frequency code reader, 5-data carrier.
Detailed description of the invention
The present invention is further illustrated for embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, shuttle alignment system, including radio frequency code reader 4, data carrier 5, groove type photoelectric switch 1, recognize location sheet
3, radio communication device 2, industrial control computer, Programmable Logic Controller, shuttle.Radio frequency code reader 4, groove type photoelectric switch 1
Be arranged on the bottom at shuttle, data carrier 5, recognize location sheet 3 and be arranged near track, on track from upper load bed and unloading platform 3～
Arrange a data carrier 5 at 4m, arrange data carrier 5 and recognize location sheet 3 at upper load bed and unloading platform, recognize location sheet 3 position and grooved light
Electric switch 1 position is corresponding, and track is spaced 3～4m one data carrier 5 of layout, and each data carrier 5 arranges different numbering.Shuttle back and forth
Car is arranged on operation track.Described Programmable Logic Controller is led to ground industrial control computer by radio communication device
News.Industrial control computer is communicated with the Programmable Logic Controller being arranged on shuttle by radio communication device.Described
Programmable Logic Controller is by being connected with radio frequency code reader, groove type photoelectric switch from port.
As known to Fig. 2, the control method of shuttle, comprise the following steps:
(1) industrial control computer sends assignment instructions, it is intended that shuttle runs to N picking platform picking, and this instruction is passed through
Radio communication device is sent to the Programmable Logic Controller on shuttle.
(2), after order received by shuttle, compare with storage location address information of recognizing in the programmable controller, thus
Obtain before destination the general of the numbering of data carrier, the numbering of destination's data carrier and current location and destination at 3～4m
Distance, controls shuttle and runs to destination.Just arrange a data carrier every 3～4m on track, shuttle can be known at any time
Approximate location in orbit.
(3) running to during from destination 3～4m when shuttle, radio frequency code reader can read data carrier letter herein herein
Breath, herein after shuttle reduce speed now operation.
(4) when shuttle runs near destination, reading destination's data carrier information, now shuttle is with more at a slow speed
Running, when groove type photoelectric switch senses and recognizes location sheet, shuttle is out of service, completes location.
Claims (2)
1. shuttle alignment system, it is characterised in that: include radio frequency code reader, data carrier, groove type photoelectric switch, recognize location sheet, can
Programmable controller, radio communication device, industrial control computer, shuttle, state radio frequency code reader, groove type photoelectric switch is arranged on
In the bottom of shuttle, code body, recognize location sheet and be arranged in the middle of track, track arranges one from upper load bed with unloading platform 3～4m
Data carrier, arranges data carrier and recognizes location sheet at upper load bed and unloading platform, recognize sheet position, location corresponding with grooved optoelectronic position, track
A data carrier is arranged at upper interval 3～4m, and each data carrier arranges different numbering；Shuttle is arranged on operation track；Can compile
Range controller is by radio communication device and ground industrial control computer communication；Industrial control computer passes through channel radio
T unit communicates with the Programmable Logic Controller being arranged on shuttle；Programmable Logic Controller is by reading with radio frequency from port
Code device, groove type photoelectric switch are connected.
2. the control method of shuttle, it is characterised in that comprise the following steps:
(1) industrial control computer sends assignment instructions, it is intended that shuttle runs to N picking platform picking, and this instruction is passed through
Radio communication device is sent to the Programmable Logic Controller on shuttle；
(2), after order received by shuttle, compare with storage location address information of recognizing in the programmable controller, thus obtain
The numbering of data carrier, the numbering of destination's data carrier and current location and the distance of destination at 3～4m before destination, control
Shuttle runs to destination；Just arrange a data carrier every 3～4m on track, can know that shuttle is in orbit at any time
Position；
(3) running to during from destination 3～4m when shuttle, radio frequency code reader can read data carrier information herein herein, this
Behind place, shuttle reduces speed now operation；
(4) when shuttle runs near destination, reading destination's data carrier information, now shuttle is to transport more at a slow speed
OK, when groove type photoelectric switch senses and recognizes location sheet, shuttle is out of service, completes location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610513321.0A CN106115197A (en) | 2016-07-04 | 2016-07-04 | Shuttle alignment system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610513321.0A CN106115197A (en) | 2016-07-04 | 2016-07-04 | Shuttle alignment system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106115197A true CN106115197A (en) | 2016-11-16 |
Family
ID=57468814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610513321.0A Pending CN106115197A (en) | 2016-07-04 | 2016-07-04 | Shuttle alignment system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106115197A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106241241A (en) * | 2016-09-23 | 2016-12-21 | 苏州沃伦韦尔高新技术股份有限公司 | A kind of medical Rail logistics system and using method thereof |
| CN106527447A (en) * | 2016-12-15 | 2017-03-22 | 合肥捷曼信息科技有限公司 | Rail guide vehicle control method based on laser sensor |
| CN106628791A (en) * | 2017-03-08 | 2017-05-10 | 江苏华章物流科技股份有限公司 | Traveling positioning method for rail guided vehicle |
| CN106697695A (en) * | 2016-12-15 | 2017-05-24 | 合肥捷曼信息科技有限公司 | Shuttle vehicle speed control system |
| CN106743040A (en) * | 2016-12-15 | 2017-05-31 | 合肥捷曼信息科技有限公司 | A kind of scheduling system based on handling and conveying equipment |
| CN106994987A (en) * | 2017-04-21 | 2017-08-01 | 北京首钢国际工程技术有限公司 | A kind of long range method for detecting position for rail mounted heavy-load transport vehicle |
| CN107416400A (en) * | 2017-07-04 | 2017-12-01 | 山东大学 | Model and its optimization method based on the intensive automatic storage system of cross-layer shuttle |
| CN107966991A (en) * | 2017-12-27 | 2018-04-27 | 广州番禺职业技术学院 | A kind of addressable device and method of loading and unloading robot |
| WO2018126967A1 (en) * | 2017-01-03 | 2018-07-12 | 北京京东尚科信息技术有限公司 | Method and device for planning and controlling velocity of shuttle, and shuttle |
| CN108750566A (en) * | 2018-06-27 | 2018-11-06 | 广东溢达纺织有限公司 | Beam of a loom collecting mechanism |
| CN109775382A (en) * | 2019-03-17 | 2019-05-21 | 长沙长泰智能装备有限公司 | Unpiler positioning system and control method |
| CN110255188A (en) * | 2019-06-17 | 2019-09-20 | 常州海登赛思涂装设备有限公司 | It is intellectual turn over leaching conveying device and vehicle body pre-processing electrophoresis turn over soaking system and test |
| CN110294276A (en) * | 2019-08-01 | 2019-10-01 | 湘潭远大住宅工业有限公司 | Multi-transportation vehicle automatic positioning equipment and localization method |
| CN110568813A (en) * | 2019-09-10 | 2019-12-13 | 江苏兴达钢帘线股份有限公司 | Automatic fixed-point parking railcar equipment based on MODBUS communication |
| CN111332712A (en) * | 2020-02-28 | 2020-06-26 | 湖州锐格物流科技有限公司 | Control system and method for annular shuttle |
| CN111792249A (en) * | 2019-09-17 | 2020-10-20 | 北京京东乾石科技有限公司 | Warehouse management method, device, system and computer readable storage medium |
| CN112429481A (en) * | 2020-11-26 | 2021-03-02 | 江西雾上春茶业有限公司 | Tea conveying line |
| CN112777196A (en) * | 2020-12-18 | 2021-05-11 | 世仓智能仓储设备（上海）股份有限公司 | Logistics shuttle positioning method and logistics shuttle |
| CN113682751A (en) * | 2021-08-11 | 2021-11-23 | 弥费实业(上海)有限公司 | Air carrying device and carrying system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2542620Y (en) * | 2002-02-06 | 2003-04-02 | 云南昆船第一机械有限公司 | Single-track endless shuttle conveyer |
| JP2006160388A (en) * | 2004-12-02 | 2006-06-22 | Murata Mach Ltd | Picking system |
| CN201971376U (en) * | 2010-12-16 | 2011-09-14 | 贵阳铝镁设计研究院有限公司 | Automatic positioner for working position of carbon block stacking crane |
| CN102390651A (en) * | 2011-07-04 | 2012-03-28 | 上海精星物流设备工程有限公司 | Orbital distribution trolley used for positioning automatic warehouse bar code |
| CN102807083A (en) * | 2012-07-18 | 2012-12-05 | 红云红河烟草(集团)有限责任公司 | Accurate positioning device for shuttle vehicle |
| CN102902990A (en) * | 2011-07-29 | 2013-01-30 | 宝山钢铁股份有限公司 | Driving positioning device and driving positioning method based on radio frequency identification technology |
| CN204124719U (en) * | 2014-09-25 | 2015-01-28 | 广运机电(苏州)有限公司 | The position fixing system of Shuttling trolley |
| CN105608401A (en) * | 2015-11-09 | 2016-05-25 | 长沙开元仪器股份有限公司 | Track determination method and device |
| CN205802295U (en) * | 2016-07-04 | 2016-12-14 | 长沙长泰智能装备有限公司 | Shuttle alignment system |
-
2016
- 2016-07-04 CN CN201610513321.0A patent/CN106115197A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2542620Y (en) * | 2002-02-06 | 2003-04-02 | 云南昆船第一机械有限公司 | Single-track endless shuttle conveyer |
| JP2006160388A (en) * | 2004-12-02 | 2006-06-22 | Murata Mach Ltd | Picking system |
| CN201971376U (en) * | 2010-12-16 | 2011-09-14 | 贵阳铝镁设计研究院有限公司 | Automatic positioner for working position of carbon block stacking crane |
| CN102390651A (en) * | 2011-07-04 | 2012-03-28 | 上海精星物流设备工程有限公司 | Orbital distribution trolley used for positioning automatic warehouse bar code |
| CN102902990A (en) * | 2011-07-29 | 2013-01-30 | 宝山钢铁股份有限公司 | Driving positioning device and driving positioning method based on radio frequency identification technology |
| CN102807083A (en) * | 2012-07-18 | 2012-12-05 | 红云红河烟草(集团)有限责任公司 | Accurate positioning device for shuttle vehicle |
| CN204124719U (en) * | 2014-09-25 | 2015-01-28 | 广运机电(苏州)有限公司 | The position fixing system of Shuttling trolley |
| CN105608401A (en) * | 2015-11-09 | 2016-05-25 | 长沙开元仪器股份有限公司 | Track determination method and device |
| CN205802295U (en) * | 2016-07-04 | 2016-12-14 | 长沙长泰智能装备有限公司 | Shuttle alignment system |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106241241A (en) * | 2016-09-23 | 2016-12-21 | 苏州沃伦韦尔高新技术股份有限公司 | A kind of medical Rail logistics system and using method thereof |
| CN106743040B (en) * | 2016-12-15 | 2019-01-15 | 合肥捷曼信息科技有限公司 | A kind of scheduling system based on logistics delivery equipment |
| CN106697695A (en) * | 2016-12-15 | 2017-05-24 | 合肥捷曼信息科技有限公司 | Shuttle vehicle speed control system |
| CN106743040A (en) * | 2016-12-15 | 2017-05-31 | 合肥捷曼信息科技有限公司 | A kind of scheduling system based on handling and conveying equipment |
| CN106527447A (en) * | 2016-12-15 | 2017-03-22 | 合肥捷曼信息科技有限公司 | Rail guide vehicle control method based on laser sensor |
| WO2018126967A1 (en) * | 2017-01-03 | 2018-07-12 | 北京京东尚科信息技术有限公司 | Method and device for planning and controlling velocity of shuttle, and shuttle |
| US11226631B2 (en) | 2017-01-03 | 2022-01-18 | Beijing Jingdong Qianshi Technology Co., Ltd. | Shuttle vehicle speed control method and apparatus, and shuttle vehicle |
| CN106628791A (en) * | 2017-03-08 | 2017-05-10 | 江苏华章物流科技股份有限公司 | Traveling positioning method for rail guided vehicle |
| CN106628791B (en) * | 2017-03-08 | 2018-11-20 | 江苏华章物流科技股份有限公司 | A kind of shuttle walking positioning method |
| CN106994987A (en) * | 2017-04-21 | 2017-08-01 | 北京首钢国际工程技术有限公司 | A kind of long range method for detecting position for rail mounted heavy-load transport vehicle |
| CN107416400B (en) * | 2017-07-04 | 2018-03-23 | 山东大学 | Model and its optimization method based on the intensive automatic storage system of cross-layer shuttle |
| CN107416400A (en) * | 2017-07-04 | 2017-12-01 | 山东大学 | Model and its optimization method based on the intensive automatic storage system of cross-layer shuttle |
| CN107966991A (en) * | 2017-12-27 | 2018-04-27 | 广州番禺职业技术学院 | A kind of addressable device and method of loading and unloading robot |
| CN107966991B (en) * | 2017-12-27 | 2024-02-27 | 广州番禺职业技术学院 | Addressable device and method for feeding and discharging robot |
| CN108750566A (en) * | 2018-06-27 | 2018-11-06 | 广东溢达纺织有限公司 | Beam of a loom collecting mechanism |
| CN108750566B (en) * | 2018-06-27 | 2024-03-19 | 广东溢达纺织有限公司 | Loom beam collecting mechanism |
| CN109775382A (en) * | 2019-03-17 | 2019-05-21 | 长沙长泰智能装备有限公司 | Unpiler positioning system and control method |
| CN109775382B (en) * | 2019-03-17 | 2024-01-30 | 中轻长泰(长沙)智能科技股份有限公司 | Unpiler positioning system and control method |
| CN110255188A (en) * | 2019-06-17 | 2019-09-20 | 常州海登赛思涂装设备有限公司 | It is intellectual turn over leaching conveying device and vehicle body pre-processing electrophoresis turn over soaking system and test |
| CN110294276A (en) * | 2019-08-01 | 2019-10-01 | 湘潭远大住宅工业有限公司 | Multi-transportation vehicle automatic positioning equipment and localization method |
| CN110294276B (en) * | 2019-08-01 | 2024-04-09 | 湘潭远大住宅工业有限公司 | Automatic positioning device and positioning method for comprehensive transport vehicle |
| CN110568813A (en) * | 2019-09-10 | 2019-12-13 | 江苏兴达钢帘线股份有限公司 | Automatic fixed-point parking railcar equipment based on MODBUS communication |
| CN111792249A (en) * | 2019-09-17 | 2020-10-20 | 北京京东乾石科技有限公司 | Warehouse management method, device, system and computer readable storage medium |
| CN111332712B (en) * | 2020-02-28 | 2021-11-19 | 湖州锐格物流科技有限公司 | Control system and method for annular shuttle |
| CN111332712A (en) * | 2020-02-28 | 2020-06-26 | 湖州锐格物流科技有限公司 | Control system and method for annular shuttle |
| CN112429481A (en) * | 2020-11-26 | 2021-03-02 | 江西雾上春茶业有限公司 | Tea conveying line |
| CN112777196A (en) * | 2020-12-18 | 2021-05-11 | 世仓智能仓储设备（上海）股份有限公司 | Logistics shuttle positioning method and logistics shuttle |
| CN113682751A (en) * | 2021-08-11 | 2021-11-23 | 弥费实业(上海)有限公司 | Air carrying device and carrying system |
| CN113682751B (en) * | 2021-08-11 | 2023-12-15 | 弥费实业(上海)有限公司 | Overhead conveying device and conveying system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106115197A (en) | Shuttle alignment system and control method | |
| CN108860174B (en) | Article transport vehicle | |
| CN109351643B (en) | Goods sorting system and method | |
| EP1619100B1 (en) | Carriage system | |
| CN103832759B (en) | Combination bar-code identification and laser ranging shuttle localizing faults diagnostic system and method | |
| CN104648879B (en) | A kind of Intelligent logistics support based on number bus carries delivery unit | |
| CN104071570B (en) | The autoloader of coupling electric logging device equipment | |
| CN103466249B (en) | A kind of Three-dimensional warehouse system | |
| CN202138827U (en) | Straight-line reciprocating type shuttle vehicle and guide rail device of straight-line reciprocating type shuttle vehicle | |
| US20070016341A1 (en) | Traveling vehicle system and stop control method for traveling vehicle | |
| CN203620965U (en) | Device for sorting piece cigarettes | |
| CN205802295U (en) | Shuttle alignment system | |
| CN103268119A (en) | Automatic guided vehicle navigation control system and navigation control method thereof | |
| TWI554456B (en) | Transport apparatus for circumferentially transporting objects | |
| CN208783117U (en) | A kind of small rail car positioning system | |
| CN100999221A (en) | Multipoint location system for rail vehicle go and back running | |
| CN201993114U (en) | Magnetic navigation sensor | |
| CN205873032U (en) | Electron plate cutting saw buffer memory storehouse have a rail shuttle control system | |
| ES2802577T3 (en) | Procedure for operating a production plant and production plant | |
| CN107097813A (en) | One kind reorganizes and outfit a locomotive alignment system | |
| CN203227996U (en) | Carrying apparatus for bogie production line | |
| CN105807771A (en) | Station identification system based on AGV and control method thereof | |
| CN105717921A (en) | Automated guided vehicle (AGV) system | |
| CN105858350A (en) | Positioning system and method for bobbin winding trolley of automatic bobbin winder | |
| CN210776962U (en) | A automatic transport mechanism and intelligent express delivery cabinet for express delivery cabinet |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161116 |
|
| WD01 | Invention patent application deemed withdrawn after publication |