CN106898230A - Modern stereoscopic logistic dispenses sand table simulating system - Google Patents
Modern stereoscopic logistic dispenses sand table simulating system Download PDFInfo
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Abstract
The present invention relates to a kind of modern stereoscopic logistic dispatching sand table simulating system, simulation building post can select whether to rise under the drive of lowering or hoisting gear, lifting heights, to simulate road surface and the building in urban district, and by the building of lifting heights simulation different height；Universal conveying device coordinates with each simulation partition wall in partition wall room, and the position for simulating partition wall and the quantity delivered in center simulation region may be selected, and the home-delivery center of different house types, different size is surrounded in center simulation region with this；Universal conveying device coordinates with shelf room, sorting arrangement room, may be selected to be responsible for sorting and the number of devices for storing in the simulation region of center, the sorting ability of different home-delivery centers is simulated with this, in summary, key element simulation of the present invention from the capacity of home-delivery center, sorting ability and urban road, building distributed architecture aspect to logistics distribution, so that policymaker preferably suits measures to local conditions, formulation fits into the Logistics Tactics and stream line of the three-dimensional dispatching on ground.
Description
Technical field
The invention belongs to the field of logistics distribution modeling analysis, more particularly to a kind of modern stereoscopic logistic dispatching sand-table simulation
System.
Background technology
At present, with the fast development of modern logistics, logistics distribution center exists in whole logistics system and its function mode
In occupation of critical positions in whole logistics system, play a part of to form a connecting link, save logistics cost and quick logistic efficiency.It
It is the wheel shaft of whole logistics activity, the quality of its planning and designing is not only related to the operational paradigm of whole logistics system, also influences
To the entirety of production and sale system.Therefore, how planning and designing what a logistics distribution systems seems most important.
Chinese patent literature CN106384550A discloses a kind of modern logistics distribution center sand table simulating system, wherein entering
Storehouse system, storage system, ex-warehouse system, AGV induction systems, handling system, sorting system, transmission system are in a movable manner
Layout according to preconsolidation stress is placed on sand table device, and subsystems are linked together by warehouse management system, with
The working method at comprehensive dynamic demonstration modern logistics distribution center.
But there is following defect in use in above-mentioned sand table simulating system：
A, perspective deficiency
With gradually opening to closed type through cutting in the development and urban planning of modern logistics, following logistics distribution mode will
Gradually realize automation and intelligent, its logistics center will be carried out being put in storage, keep in, accepts an order, the work(with goods and outbound
Can, then by way of unmanned automobile and unmanned plane are formed a team, carry out logistics distribution, such as Chinese patent literature CN 106503954A
The movable object stream Integrated Processing System and logistics processing method of proposition, by the way of unmanned automobile carries unmanned plane, are carried out
Logistics distribution.But this logistics mode cannot be able to demonstrate and study in above-mentioned sand table simulating system.
B, practicality is not enough
It is single for the dispatching region of a logistics distribution center and its radiation, by built in each city and its district floor height,
The key element limitation such as building distribution mode, house type, volume of town road and logistics center, in sand-table simulation, policymaker more like
Intuitively it was observed that influence of the above-mentioned key element to whole logistics system, is carried out in order to the later stage to the smart machine of the logistics center
The planning of quantity, route and the frequency.But above-mentioned sand table simulating system intelligence is simple to logistics mode in logistics center, both cannot
Room parameter to logistics center sets, and more the operating mode of whole logistics distribution system cannot be simulated and be studied.
The content of the invention
The present invention is intended to provide a kind of modern stereoscopic logistic dispatching sand table simulating system, to solve sand table mould in the prior art
The problem that plan system cannot be demonstrated and studied to three-dimensional logistics distribution.
In order to solve the above technical problems, the technical scheme of modern stereoscopic logistic dispatching sand table simulating system is such as in the present invention
Under：
Modern stereoscopic logistic dispenses sand table simulating system, including sand table place, and sand table place is divided into Urban Simulation area and center die
Intend area,
The ground base in Urban Simulation area is provided with the melt pit of the rectangle for excavating, and square shaped matrix dense distribution is provided with melt pit
Simulation building post, the relatively independent lifting of each simulation building post is assemblied in melt pit, be connected with below simulation building post for
Control the lowering or hoisting gear of its lifting relatively independent relative to other simulation building posts；
Center simulation region square corresponding with least one simulation building post at Urban Simulation area edge leads directly to,
Dispensing vehicle room in ground base, shelf room, sorting arrangement room and partition wall room are built in the side of center simulation region,
The universal conveying device in modular matrix dense distribution is additionally provided with the ground base of center simulation region, in universal conveying device
The relatively independent operation of each conveyor module；
The simulation partition wall of bulk is placed with partition wall room, the bottom surface for simulating partition wall is to roll the flat of cooperation with universal conveying device
Face；
Sorting conveying device, sorting mechanical arm and piler, sorting conveying device, sorting mechanical arm are placed with sorting arrangement room
The plane for being rolled with universal conveying device and being coordinated is with the bottom surface of piler；
Deep shelf again and AGV dollies are placed with shelf room, the wheel conveyor surface higher than universal conveying device high of AGV dollies is high
Degree；
Unmanned automobile and unmanned plane are placed with dispensing vehicle room, unmanned automobile is provided with carrying position and supply of material thing for UAV flight
The heap freight house of stacking.
Preferably, lowering or hoisting gear is mechanical driving device, including the screw-nut mechanism that can vertically stretch, screw-nut machine
The screw of structure is connected on simulation building post, and leading screw is connected with the first driven wheel of differential, first by the first clutch of electromagnetic type
Driven wheel of differential engagement is connected with the first drive bevel gear, same with the corresponding first drive bevel gear connection in row's simulation building post lower section
On one power transmission shaft, same one end of each power transmission shaft is connected on the first motor by tape handler；
Each first clutch is both connected on the first controller, and the first controller is provided with the display screen of touch screen type and for inciting somebody to action
Checkerboard type dot matrix process circuit corresponding with each simulation building post on display screen.
Preferably, lowering or hoisting gear is fluid pressure drive device, including is connected to the elevating ram below simulation building post, lifting oil
Cylinder connects the control valve of electromagnetic type and forms lift unit by oil circuit control, and each lift unit is connected to same by oil circuit
On pumping plant；
Each control valve is both connected on the first controller, and the first controller is provided with the display screen of touch screen type and for that will show
Checkerboard type dot matrix process circuit corresponding with each simulation building post on screen.
Preferably, lowering or hoisting gear is that the linear electric motors for setting are corresponded with simulation building post, and control is electrically connected on linear electric motors
Encoder is connected to, each encoder is both connected on the first controller, the first controller is provided with the display screen and use of touch screen type
In by the process circuit corresponding with each simulation building post of the checkerboard type dot matrix on display screen.
Preferably, the conveyor module of universal conveying device includes the disconnectable pedestal in ground base, pedestal
On be provided with equilateral triangle be distributed three conveying rollers, in three conveying rollers two in splayed, another be located at eight
On the interior angle center line of word；
Three conveying rollers are each coaxially connected with the second driven wheel of differential, and three the second driven wheel of differential engagements are connected to same
In second drive bevel gear, the actuating unit of the second drive bevel gear is any one in the following manner：
A, the second drive bevel gear is coaxially connected with worm gear, and the engagement of worm gear side is connected with the first hollow worm screw, the first worm screw
The interior second clutch by electromagnetic type is installed and is connected with transverse axis；The engagement of worm gear opposite side is connected with the second hollow worm screw, the
Two worm screws and the first worm screw spatial vertical are interlocked, and the torsional direction that the first worm screw acts on worm gear with the second worm screw is mutually reciprocal
To, being installed by the 3rd clutch of electromagnetic type in the second worm screw and be connected with the longitudinal axis, the longitudinal axis and transverse axis spatial vertical are interlocked, and
The longitudinal axis and transverse axis are both connected on the second motor by tape handler；All second clutches and the 3rd clutch connect
It is connected on second controller, second controller is provided with the screen of touch screen type and for the dot matrix on display screen to be conveyed with each
The corresponding process circuit of module；
B, the second drive bevel gear underdrive is connected with servomotor, and each servomotor electric control is connected in the second control in parallel
On device, second controller be provided with the screen of touch screen type with for by the place corresponding with each conveyor module of the dot matrix on display screen
Reason circuit.
Preferably, the passage communicated with Urban Simulation area of center simulation region is offset to side, and dispensing vehicle room is located at and is close to
The side of the passage, shelf room, sorting arrangement room and partition wall room are located remotely from the opposite side of the passage.
Preferably, sorting arrangement room and partition wall room are single file passage bin, and the end of single file passage bin is provided with for layer
The folded support and the vertical stratiform for picking and placeing sorting arrangement or simulation partition wall from support for putting sorting arrangement or simulation partition wall
The skid-mounted conveying device of distribution.
The beneficial effects of the invention are as follows：Simulation building post can select whether to rise under the drive of lowering or hoisting gear, lifting heights,
To simulate road surface and the building in urban district, and the building of different height is simulated by lifting heights；Universal conveying device and partition wall room
In each simulation partition wall coordinate, may be selected center simulation region deliver simulation partition wall position and quantity, with this in center die
Intend the home-delivery center that area surrounds different house types, different size；Universal conveying device coordinates with shelf room, sorting arrangement room, optional
The number of devices for being responsible for sorting and storage in the simulation region of center is selected, the sorting ability of different home-delivery centers is simulated with this, to sum up may be used
Know, the present invention is in terms of the capacity of home-delivery center, sorting ability and urban road, building distributed architecture to the key element of logistics distribution
It is simulated, so that policymaker preferably suits measures to local conditions, formulation fits into the Logistics Tactics and material flow line of the three-dimensional dispatching on ground
Road, so as to solve the problems, such as that sand table simulating system cannot be demonstrated and studied to three-dimensional logistics distribution in the prior art.
Brief description of the drawings
Fig. 1 is the schematic diagram of the sand table layout of simulation system in the present invention；
Fig. 2 is the schematic layout pattern of the lowering or hoisting gear of simulation system in the present invention；
Fig. 3 is the structural representation of lowering or hoisting gear in Fig. 2；
The schematic diagram of Tu4Shi Tu1Zhong centers simulation region；
Fig. 5 is the schematic diagram of the conveyor module of simulation system in the present invention；
Fig. 6 is the drive mechanism schematic diagram of conveyor module in Fig. 5；
Fig. 7 is the schematic layout pattern of the conveying device of simulation system in the present invention；
Fig. 8 is transverse axis and the assembling schematic diagram of parts thereon in Fig. 7.
Specific embodiment
Describe the present invention in detail below with reference to accompanying drawing and in conjunction with the embodiments.It should be noted that not conflicting
In the case of, the embodiment in the present invention and the feature in embodiment can be mutually combined.
Modern stereoscopic logistic dispenses the embodiment 1 of sand table simulating system：
As shown in Figures 1 to 8, simulation system includes sand table place, and sand table place is divided into Urban Simulation area and center simulation region.
The ground base in Urban Simulation area is provided with the melt pit of the rectangle for excavating, and square shaped matrix is provided with melt pit intensive
The simulation building post 10 of distribution, the relatively independent lifting of each simulation building post 10 is assemblied in melt pit, the lower section transmission of simulation building post 10
It is connected with the lowering or hoisting gear for the lifting for controlling it relatively independent relative to other simulation building posts 10.Lowering or hoisting gear is passed for machinery
Dynamic device, including the screw-nut mechanism that can vertically stretch, the screw 11 of screw-nut mechanism are connected on simulation building post 10, silk
Thick stick 12 is connected with the first driven wheel of differential 14 by the first clutch 13 of electromagnetic type, and the engagement of the first driven wheel of differential 14 is connected with
First drive bevel gear 15, connects on same power transmission shaft 16 with corresponding first drive bevel gear 15 in the lower section of row's simulation building post 10,
Same one end of each power transmission shaft 16 is connected on the first motor 17 by tape handler；Each first clutch 13 connects
Be connected on the first controller, the first controller be provided with touch screen type display screen and for by the checkerboard type dot matrix on display screen and
Each corresponding process circuit of simulation building post 10.
Center simulation region 200 leads directly to the corresponding square of a simulation building post 10 at Urban Simulation area edge, center simulation region
200 passage communicated with Urban Simulation area is offset to side.Build in ground base the side of center simulation region 200
Dispensing vehicle room 20, shelf room 21, sorting arrangement room 22 and partition wall room 23, dispensing vehicle room 20 is located near the side of the passage,
Shelf room 21, sorting arrangement room 22 and partition wall room 23 are located remotely from the opposite side of the passage.The ground base of center simulation region 200
On be additionally provided with universal conveying device in modular matrix dense distribution, each conveyor module is relatively independent in universal conveying device
Operation.Conveyor module includes the disconnectable pedestal 24 in ground base, is provided with pedestal 24 in equilateral triangle point
Three conveying rollers 25 of cloth, in three conveying rollers 25 two in splayed, another be located at eight words interior angle center line on；
Three conveying rollers 25 are each coaxially connected with the second driven wheel of differential 26, and three engagements of the second driven wheel of differential 26 are connected to together
In one second drive bevel gear 27, the second drive bevel gear 27 is coaxially connected with worm gear 28, and the engagement connection of the side of worm gear 28 is free
First worm screw 291 of the heart, is installed by the second clutch 201 of electromagnetic type in the first worm screw 291 and is connected with transverse axis 211；Worm gear
The engagement of 28 opposite sides is connected with the second hollow worm screw 292, and the second worm screw 292 and the spatial vertical of the first worm screw 291 are interlocked, and the
The torsional direction that one worm screw 291 and the second worm screw 292 are acted on worm gear 28 is mutually opposing, and electromagnetism is passed through in the second worm screw 292
3rd clutch of formula is installed and is connected with the longitudinal axis 212, and the longitudinal axis 212 and the spatial vertical of transverse axis 211 are interlocked, and the longitudinal axis 212 and horizontal stroke
Axle 211 is both connected on the second motor by tape handler；The clutch of all second clutches 201 and the 3rd is all connected with
On second controller, second controller is provided with the screen of touch screen type and for dot matrix on display screen to be conveyed into mould with each
The corresponding process circuit of block.
The simulation partition wall of bulk is placed with partition wall room 23, the bottom surface for simulating partition wall is to roll to coordinate with universal conveying device
Plane.Sorting conveying device, sorting mechanical arm and piler, sorting conveying device, sorting are placed with sorting arrangement room 22
The bottom surface of mechanical arm and piler is the plane for being rolled with universal conveying device and being coordinated.Sorting arrangement room 22 and partition wall room 23 are
Single file passage bin, the end of single file passage bin is provided with and put the support of sorting arrangement or simulation partition wall for being laminated and be used for
The skid-mounted conveying device of the vertical layered distribution of sorting arrangement or simulation partition wall is picked and placeed from support.
Deep shelf again and AGV dollies, the wheel conveying higher than universal conveying device high of AGV dollies are placed with shelf room 21
Face is highly.Be placed with unmanned automobile and unmanned plane in dispensing vehicle room 20, unmanned automobile be provided with for UAV flight carrying position and
The heap freight house that supply of material thing is stacked.
In the present embodiment simulation building post 10 can select whether to rise under the drive of lowering or hoisting gear, lifting heights, to simulate
The road surface in urban district and building, and the building of different height is simulated by lifting heights；Universal conveying device is each with partition wall room 23
Individual simulation partition wall coordinates, and the position for simulating partition wall and the quantity delivered in center simulation region 200 may be selected, and is simulated at center with this
Area 200 surrounds the home-delivery center of different house types, different size；Universal conveying device coordinates with shelf room 21, sorting arrangement room 22,
May be selected to be responsible for sorting and the number of devices for storing in center simulation region 200, the sorting ability of different home-delivery centers simulated with this,
In summary, the present invention in terms of the capacity of home-delivery center, sorting ability and urban road, building distributed architecture to logistics distribution
Key element be simulated, so that policymaker preferably suits measures to local conditions, formulation fit into the three-dimensional dispatching on ground Logistics Tactics and
Stream line.
The simulation system is based on the increasing spy using AGV dollies, industrial robot and unmanned plane in modern logistics
Point, proposes using the comprehensive modern stereoscopic logistic simulation of AGV dollies, industrial robot, pilotless automobile and unmanned plane hereby
System.Wherein, AGC dollies and industrial robot coordinate ripe automatic scan code system in modern logistics, Automated Sorting System,
RFID identification system, piler, shuttle, AGV induction systems and deep formula shelf again, goods sorting, storage to home-delivery center
It is simulated with outbound.Pilotless automobile carries unmanned plane and means of distribution is simulated, and is also carried on pilotless automobile
There are GPS navigation system, remote control system and WIFI conveyers.In addition, in terms of sand table, using house type between storage in home-delivery center
With storage the changeable structure of specification, to simulate the storage center of different capabilities；Target block uses building height, situation of building
With building the changeable structure of arrangement mode, to simulate different urban environments.So changing influence storage mode, dispatching speed
Degree, distribution route etc. are dispensed under conditions of condition and storage capacity, urban environment, and actual stereoscopic logistic can be comprehensively simulated as far as possible
Common variety of problems in dispatching, in the hope of selecting means of distribution as well as possible, improves customer experience.
Modern stereoscopic logistic dispenses the embodiment 2 of sand table simulating system in the present invention：
Lowering or hoisting gear is fluid pressure drive device, including is connected to the elevating ram below simulation building post, and elevating ram is by control
Oil circuit connects the control valve of electromagnetic type and forms lift unit, and each lift unit is connected on same pumping plant by oil circuit.Respectively
Individual control valve is both connected on the first controller, and the first controller is provided with the display screen of touch screen type and for by display screen
Checkerboard type dot matrix process circuit corresponding with each simulation building post.
Modern stereoscopic logistic dispenses the embodiment 3 of sand table simulating system in the present invention：
Lowering or hoisting gear is that the linear electric motors for setting are corresponded with simulation building post, and control is electrically connected with encoder on linear electric motors,
Each encoder is both connected on the first controller, and the first controller is provided with the display screen of touch screen type and for by display screen
Checkerboard type dot matrix process circuit corresponding with each simulation building post.
Modern stereoscopic logistic dispenses the embodiment 4 of sand table simulating system in the present invention：Second drive bevel gear underdrive connects
Servomotor is connected to, each servomotor electric control is connected in parallel on second controller, and second controller is provided with touch screen type
Screen with for by the process circuit corresponding with each conveyor module of the dot matrix on display screen.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
Modified with to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (7)
1. modern stereoscopic logistic dispenses sand table simulating system, it is characterised in that：Including sand table place, sand table place is divided into city mould
Intend area and center simulation region,
The ground base in Urban Simulation area is provided with the melt pit of the rectangle for excavating, and square shaped matrix dense distribution is provided with melt pit
Simulation building post, the relatively independent lifting of each simulation building post is assemblied in melt pit, be connected with below simulation building post for
Control the lowering or hoisting gear of its lifting relatively independent relative to other simulation building posts；
Center simulation region square corresponding with least one simulation building post at Urban Simulation area edge leads directly to,
Dispensing vehicle room in ground base, shelf room, sorting arrangement room and partition wall room are built in the side of center simulation region,
The universal conveying device in modular matrix dense distribution is additionally provided with the ground base of center simulation region, in universal conveying device
The relatively independent operation of each conveyor module；
The simulation partition wall of bulk is placed with partition wall room, the bottom surface for simulating partition wall is to roll the flat of cooperation with universal conveying device
Face；
Sorting conveying device, sorting mechanical arm and piler, sorting conveying device, sorting mechanical arm are placed with sorting arrangement room
The plane for being rolled with universal conveying device and being coordinated is with the bottom surface of piler；
Deep shelf again and AGV dollies are placed with shelf room, the wheel conveyor surface higher than universal conveying device high of AGV dollies is high
Degree；
Unmanned automobile and unmanned plane are placed with dispensing vehicle room, unmanned automobile is provided with carrying position and supply of material thing for UAV flight
The heap freight house of stacking.
2. modern stereoscopic logistic according to claim 1 dispenses sand table simulating system, it is characterised in that：Lowering or hoisting gear is machine
Tool transmission device, including the screw-nut mechanism that can vertically stretch, the screw of screw-nut mechanism are connected on simulation building post, silk
Thick stick is connected with the first driven wheel of differential by the first clutch of electromagnetic type, and the engagement of the first driven wheel of differential is connected with first actively
Bevel gear, connects on same power transmission shaft with corresponding first drive bevel gear in row's simulation building post lower section, each power transmission shaft it is same
End is connected on the first motor by tape handler；
Each first clutch is both connected on the first controller, and the first controller is provided with the display screen of touch screen type and for inciting somebody to action
Checkerboard type dot matrix process circuit corresponding with each simulation building post on display screen.
3. modern stereoscopic logistic according to claim 1 dispenses sand table simulating system, it is characterised in that：Lowering or hoisting gear is liquid
Hydraulic driver, including the elevating ram below simulation building post is connected to, elevating ram connects electromagnetic type by oil circuit control
Control valve and form lift unit, each lift unit is connected on same pumping plant by oil circuit；
Each control valve is both connected on the first controller, and the first controller is provided with the display screen of touch screen type and for that will show
Checkerboard type dot matrix process circuit corresponding with each simulation building post on screen.
4. modern stereoscopic logistic according to claim 1 dispenses sand table simulating system, it is characterised in that：Lowering or hoisting gear be with
Simulation building post corresponds the linear electric motors for setting, and control is electrically connected with encoder on linear electric motors, and each encoder is all connected with
On the first controller, the first controller is provided with the display screen of touch screen type and for by the checkerboard type dot matrix on display screen and respectively
The corresponding process circuit of individual simulation building post.
5. modern stereoscopic logistic as claimed in any of claims 1 to 4 dispenses sand table simulating system, and its feature exists
In：The conveyor module of universal conveying device includes the disconnectable pedestal in ground base, is provided with pedestal in just
Three conveying rollers of Triangle-Profile, in three conveying rollers two in splayed, another be located at eight words interior angle center
On line；
Three conveying rollers are each coaxially connected with the second driven wheel of differential, and three the second driven wheel of differential engagements are connected to same
In second drive bevel gear, the actuating unit of the second drive bevel gear is any one in the following manner：
Second drive bevel gear is coaxially connected with worm gear, and the engagement of worm gear side is connected with the first hollow worm screw, in the first worm screw
Installed by the second clutch of electromagnetic type and be connected with transverse axis；The engagement of worm gear opposite side is connected with the second hollow worm screw, second
Worm screw and the first worm screw spatial vertical are interlocked, and the torsional direction that the first worm screw acts on worm gear with the second worm screw is mutually reciprocal
To, being installed by the 3rd clutch of electromagnetic type in the second worm screw and be connected with the longitudinal axis, the longitudinal axis and transverse axis spatial vertical are interlocked, and
The longitudinal axis and transverse axis are both connected on the second motor by tape handler；All second clutches and the 3rd clutch connect
It is connected on second controller, second controller is provided with the screen of touch screen type and for the dot matrix on display screen to be conveyed with each
The corresponding process circuit of module；
Second drive bevel gear underdrive is connected with servomotor, and each servomotor electric control is connected in second controller in parallel
On, second controller be provided with the screen of touch screen type with for by the treatment corresponding with each conveyor module of the dot matrix on display screen
Circuit.
6. modern stereoscopic logistic according to claim 5 dispenses sand table simulating system, it is characterised in that：Center simulation region
The passage communicated with Urban Simulation area is offset to side, and dispensing vehicle room is located near the side of the passage, shelf room, sorting arrangement
Room and partition wall room are located remotely from the opposite side of the passage.
7. modern stereoscopic logistic according to claim 5 dispenses sand table simulating system, it is characterised in that：Sorting arrangement room and
Partition wall room is single file passage bin, and the end of single file passage bin is provided with for being laminated the branch for putting sorting arrangement or simulation partition wall
Frame and the skid-mounted conveying device for picking and placeing the vertical layered distribution of sorting arrangement or simulation partition wall from support.
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| CN201710256546.7A CN106898230B (en) | 2017-04-17 | 2017-04-17 | Modern stereoscopic logistic dispenses sand table simulating system |
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| CN201710256546.7A CN106898230B (en) | 2017-04-17 | 2017-04-17 | Modern stereoscopic logistic dispenses sand table simulating system |
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| CN107945589B (en) * | 2018-01-09 | 2023-12-05 | 浙江理工大学 | Dot matrix forming device based on linear stepping motor |
| CN109967362A (en) * | 2019-02-11 | 2019-07-05 | 掌握主动科技（北京）有限公司 | The combination of Internet of Things matrix, artificial intelligence system and readable storage medium storing program for executing |
| CN113066334A (en) * | 2021-03-29 | 2021-07-02 | 上海机器人产业技术研究院有限公司 | Automatic sorting and delivering simulation system for residential quarter express |
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