CN107499803A - One kind can avoidance rope driving automatic stereowarehouse access device and method - Google Patents
One kind can avoidance rope driving automatic stereowarehouse access device and method Download PDFInfo
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- CN107499803A CN107499803A CN201710695030.2A CN201710695030A CN107499803A CN 107499803 A CN107499803 A CN 107499803A CN 201710695030 A CN201710695030 A CN 201710695030A CN 107499803 A CN107499803 A CN 107499803A
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- rope
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- guide rail
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
One kind can avoidance rope driving automatic stereowarehouse access device and method, be included in the high-altitude guide rail set on the symmetrically arranged column group of the right and left, the shelf that can put goods be provided between column group；High-altitude guide rail is parallel to each other, high-altitude mobile platform is provided with the guide rail of high-altitude, rope driven Parallel Kinematic Manipulator is fixed with the mobile platform of high-altitude, the rope reel that goes out of rope driven Parallel Kinematic Manipulator respectively draws two flexible cables, traction end moving platform realizes the quick motion in plummet face, and telescopic goods push rod is provided with the moving platform of end；The device by goods be stored in shelf goods lattice by fast positioning with hanging oneself, two-dimentional fast positioning and quickly transfer accorded with regular rules with delivery, it is of the invention with raising transporting equipment reconfigurability and the characteristics of operating efficiency.
Description
Technical field
The present invention relates to automatic stereowarehouse technical field, and more particularly to one kind can avoidance rope driving automated three-dimensional storehouse
Stock takes device and method.
Background technology
Since 21 century, the development of internet economy causes logistics capacity that explosive growth is presented.Goods is in transfer house
Access be an important step in logistics.In bulk storage plant, removing for manpower or traditional track column and knee type is relied on
Not only time-consuming for shipping unit, efficiency is low, and is easily limited by the layout of warehouse, shelf.The automatic trailer wagons of AGV, sorting are known
The development of the correlative technology fields such as other technology, computer technology facilitates the birth of automatic stereowarehouse technology.
In current most of tiered warehouse facility, the main body for transporting goods is lane stacker, and equipment cost is high, in order to suitable
The shelf of numerous and complicated in large stereo warehouse are answered to be laid out, transportation route is sufficiently complex, and equipment is heavy.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, can the driving automation of avoidance rope it is an object of the invention to provide one kind
Tiered warehouse facility access device and method, rope driven Parallel Kinematic Manipulator are introduced as intermediate transmission level, the quick traction characteristic of rope is significantly
The efficiency that goods goes out storage is improved, and the connecting rod in warehouse shelf can be avoided, it is confused in large stereo warehouse so as to adapt to
Complicated miscellaneous shelf layout；The present invention greatly reduces transporting equipment quality and complexity in Automatic Warehouse, has and improves
The characteristics of transporting equipment flexibility, reconfigurability and operating efficiency.
In order to achieve the above object, the technical solution adopted by the present invention is：
One kind can avoidance rope driving automatic stereowarehouse access device, be included in the right and left and be symmetricly set in column group
On high-altitude guide rail 1, the shelf for goods can be put are provided between column group；
Described high-altitude guide rail 1 is parallel to each other, and high-altitude mobile platform 2, high-altitude mobile platform are provided with high-altitude guide rail 1
Rope driven Parallel Kinematic Manipulator 3 is fixed with 2, the rope reel that goes out of rope driven Parallel Kinematic Manipulator 3 respectively draws two flexible cables, each flexible cable
End traction moving platform 12 realizes the quick motion in plummet face, and telescopic goods push rod 4 is provided with moving platform 12.
Described high-altitude mobile platform 2 includes the base 5 being arranged on high-altitude guide rail 1, and being provided with base 5 to drive
Its driver element 1 moved and transmission, conversion unit 7.
Described rope driven Parallel Kinematic Manipulator 3 includes the pedestal 8 being arranged on high-altitude mobile platform 2, is provided with pedestal 8
Driver element 29 and rolling reel 10, rolling reel 10 is paralleling two beds mechanism, and each roll is wound with rope 11 on reel 10, described
Driver element 29 driving rolling reel 10 drive rope 11 carry out folding and unfolding；
Described rope 11 is connected on moving platform 12.
Described rope driven Parallel Kinematic Manipulator 3 is fixed on high-altitude mobile platform 2 by going out the pedestal of rope reel.
Described goods push rod 4 is arranged on the lower section of moving platform 12, goods push rod 4 include driving stretching structure 14 with
Hook lock 13 at the top of it.
One kind can avoidance rope driving automatic stereowarehouse access method, including three steps：
The first step --- fast positioning is with hanging oneself：
The retraction cables 11 of rolling reel 10 of the both sides of rope driven Parallel Kinematic Manipulator 3, quickly the moving platform 12 of zero load is drawn high paramount
In the two dimensional motion plane 15 of shelf, quickly direction along ng a path 16 moves latter two right high-altitude mobile platform 2 on high-altitude guide rail 1
It is dynamic, it is moved to moving platform 12 and is located at goods to be handled in same plummet face 17；The left and right sides of rope driven Parallel Kinematic Manipulator 3 afterwards
Rolling reel 10 distinguish retractable rope 11, in the case where ensureing that moving platform 12 is highly constant quickly by it along perpendicular to high-altitude
The direction 18 of guide rail 1 is adjusted, and final moving platform 12 is adjusted to the target location 19 for the surface for treating picking thing, afterwards,
The two rolling quick release ropes 11 of reel 10 of rope driven Parallel Kinematic Manipulator 3 make moving platform 12 quickly vertically decline, and catch goods
Two dimensional motion plane 15 is quickly risen to vertically again after thing；
Second step --- two-dimentional fast positioning：
Goods rapidly moved to together with moving platform 12 in two dimensional motion plane 15 target shelf goods lattice guiding bar just on
The target location 19 of side, its motion mode is orbital direction 16 of the Fast synchronization first of high-altitude mobile platform 2 along high-altitude guide rail 1
Motion, the plummet face 17 for making the moving platform 12 for being loaded with goods be moved in two dimensional motion plane 15 where target location 19, so
Two sets of rolling reels 10 of the left and right sides of rope driven Parallel Kinematic Manipulator 3 distinguish retractable rope 11 afterwards, moving platform 12 is being kept height not
Along the surface that target location 19 is moved to perpendicular to the direction 18 of high-altitude guide rail in the case of change；
3rd step, quick decentralization accord with regular rules with delivery：
The two rolling quick release ropes 11 of reel 10 of rope driven Parallel Kinematic Manipulator 3, make being loaded with positioned at two dimensional motion plane 15
The moving platform 12 of goods is quick to transfer and makes goods bottom surface to the place plane of goods lattice diaphragm plate 20 of slightly above shelf vertically, now
Shelf guiding bar 21 can play a part of fast positioning and take to put rope to improve the robust motion of moving platform 12, and finally, rope is simultaneously
The driving stretching structure 14 of goods push rod 4 on online structure moving platform 12 is extended rapidly, and goods is sent into goods lattice and discharged.By
Understood above with respect to the explanation of operation principle of the present invention, during conveying articles, by first lifting goods to higher than goods
One two dimensional motion plane 15 of frame, then the fast positioning in the two dimensional motion plane 15, makes goods be located at target shelf goods
Position 19 above lattice, the working method of last quick decentralization goods, the device can flexibly avoid crisscross shelf connection in length and breadth
Bar, realize barrier avoiding function.
The beneficial effects of the invention are as follows：
(1) and traditional lane stacker and AGV from walking dolly as goods conveying equipment in automatic stereowarehouse
Mode compare, the present invention using light weight rope replace rigid member as mediation member, greatly reduce automated three-dimensional
The quality of transporting equipment in warehouse system, while the high speed traction mode of rope improves the speed and efficiency of goods access；
(2) and traditional lane stacker and AGV from walking dolly as goods conveying equipment in automatic stereowarehouse
Mode compare, the present invention using high-altitude mobile platform series connection one-level rope driven Parallel Kinematic Manipulator composition form, by first drawing
The mode that goods is quickly transferred again in certain plane fast positioning higher than shelf, can flexibly avoid the connection in warehouse shelf
Bar, so as to adapt to the shelf of numerous and complicated in large stereo warehouse layout, the arrangement and use for making transporting equipment are not only restricted to storehouse
Storehouse and the layout of shelf, substantially reduce equipment complexity, and the arrangement cycle greatly shortens, flexible high, and logistics can be greatly reduced
The cost of access system is transported, improves competitiveness；
(3) and traditional lane stacker and AGV from walking dolly as goods conveying equipment in automatic stereowarehouse
Mode compare, material object of the invention composition it is simple in construction, be easy to use in maintenance maintenance and follow-up device upgrade.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the high-altitude mobile platform structural representation of the present invention.
Fig. 3 is rope driven Parallel Kinematic Manipulator schematic diagram of the present invention.
Fig. 4 is the structural representation of goods push rod of the present invention.
Fig. 5 is operating diagram top view one of the present invention.
Fig. 6 is operating diagram perspective view one of the present invention.
Fig. 7 is operating diagram top view two of the present invention.
Fig. 8 is operating diagram perspective view two of the present invention.
Fig. 9 is the operating diagram of goods push rod 4 of the present invention.
Embodiment
The structural principle to the present invention and operation principle make narration in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the obstacleable rope driving quick access device of automatic stereowarehouse of the present invention, by high-altitude guide rail
1, high-altitude mobile platform 2, rope driven Parallel Kinematic Manipulator 3 and goods push rod 4 form.Two high-altitude guide rails 1 are parallel, symmetrical fixation
On the column group of the right and left, two high-altitude mobile platforms 2 synchronously move along left and right high-altitude guide rail 1 respectively in high-altitude, are whole
Individual device provides an one-movement-freedom-degree along guide rail direction.Two pedestals for going out rope reel of rope driven Parallel Kinematic Manipulator 3 are fixed
On two high-altitude mobile platforms 2, two ropes traction end moving platforms of each extraction of two rollers realize the quick fortune in plummet face
It is dynamic, provide two one-movement-freedom-degrees in plummet face for moving platform 12.Telescopic goods push rod is installed on moving platform 12
4, goods can be finally pushed into goods lattice.
As shown in Fig. 2 the structure of high-altitude mobile platform of the present invention is discussed in detail.As figure shows, it is by base 5,
Driver element 1, transmission, conversion unit 7 form.The rotation of driver element 1 can be converted into base 5 by transmission, conversion unit 7
Relative to the movement of high-altitude guide rail.Wherein, the concrete form of transmission, conversion unit 7 both can be the gear-tooth bar shown in figure
Mechanism or other it is common will be converted into mobile mechanism, such as ball-screw mechanism.
As shown in Figure 3, the structure of reel-rope unit of the rope driven Parallel Kinematic Manipulator of the present invention is discussed in detail.Such as figure
Understand, it is by pedestal 8, and driver element 29, rolls reel 10 and rope 11 forms.Wherein, pedestal 8 is fixed on high-altitude mobile platform
Base on (base 5 in Fig. 2), driver element 29 and rolling reel 10 are arranged on pedestal 8, the folding and unfolding rope 11 of roller 10
By the folding and unfolding campaign for being converted into rope 11 of driver element 29.Driver element 29 is typically by motor, decelerator and shaft coupling
Device forms.Rope driven Parallel Kinematic Manipulator has two reels-rope unit, each to draw two rope connection end moving platforms, draws it
Realize the quick motion in plummet face.It can prevent end moving platform from overturning using duplex type Cable Structure, improve steady in its motion
Property.
As shown in figure 4, illustrate goods push rod of the present invention.Goods push rod 4 is fixed on the dynamic flat of rope driven Parallel Kinematic Manipulator
On platform 12, it can be stretched along the direction for entering shelf goods lattice, and goods is sent into shelf goods lattice or takes out goods from shelf goods lattice.
Described goods push rod 4 is arranged on the lower section of moving platform 12, goods push rod 4 include driving stretching structure 14 with the top of it
Hook lock 13；
The drive form of stretching structure 14 can be pneumatic, hydraulic drive, ball-lead screw pair driving etc..
By the way of the present invention draws goods using being connected rope driven Parallel Kinematic Manipulator on the mobile platform of high-altitude, and traditional lane
Road piler is compared, and replaces rigid member to substantially reduce the weight of equipment as mediation member by the use of rope.Rope driving has
Big Work Space Range and the quick traction operating type of " frank and outspoken ", and the connecting rod in warehouse shelf can be avoided,
So as to adapt to the shelf of numerous and complicated in large stereo warehouse layout, the efficiency that material is carried is set to obtain the lifting of matter.To sum up, originally
Inventing how to reduce the quality, cost and complexity of freight transportation apparatus in automatic stereowarehouse technology, improving transport and setting
Standby flexibility and operating efficiency provide a kind of effective solution.
The operation principle of the present invention：
The course of work that goods is stored in shelf goods lattice by the device is divided into three steps：The first step --- fast positioning with it is upper
Hang：Such as Fig. 5, the retraction cables 11 of rolling reel 10 of the both sides of rope driven Parallel Kinematic Manipulator 3, quickly the moving platform 12 of zero load is drawn high paramount
In the two dimensional motion plane 15 of shelf.Quickly direction along ng a path 16 moves latter two right high-altitude mobile platform 2 on high-altitude guide rail 1
It is dynamic, it is moved to moving platform 12 and is located in same plummet face 17 that (the plummet face is expressed as one in top view 5 with goods to be handled
Bar imaginary point setting-out 17).The rolling reel 10 of the left and right sides of rope driven Parallel Kinematic Manipulator 3 distinguishes retractable rope 11 afterwards, is ensureing moving platform
12 it is highly constant in the case of quickly it is adjusted along perpendicular to the direction 18 of high-altitude guide rail 1.Final moving platform 12 is adjusted
The whole target location 19 to the surface for treating picking thing.Afterwards, such as Fig. 6, the two rolling release ropes of reel 10 of rope driven Parallel Kinematic Manipulator
Rope 11, moving platform 12 is quickly vertically declined, quickly two dimensional motion plane 15 is risen to vertically again after catching goods；The
Two steps --- two-dimentional fast positioning：Such as Fig. 7, goods rapidly moves to target goods together with moving platform 12 in two dimensional motion plane 15
The target location 19 of the surface of frame goods lattice guiding bar, its motion mode be, the Fast synchronization first of high-altitude mobile platform 2 is along high-altitude
The orbital direction 16 of guide rail 1 is moved, and the moving platform 12 for being loaded with goods is moved to target location 19 in two dimensional motion plane 15
The plummet face 17 at place, then two sets of the left and right of the rope driven Parallel Kinematic Manipulator rolling difference retractable of reel 10 rope 11, makes moving platform 12
In the case where holding is highly constant along the surface that target location 19 is moved to perpendicular to the direction 18 of high-altitude guide rail；3rd
Step, quick decentralization accord with regular rules with delivery：Such as Fig. 8, the two rolling quick release ropes 11 of reel 10 of rope driven Parallel Kinematic Manipulator, make to be located at two
The moving platform 12 for being loaded with goods for tieing up plane of movement 15 is quickly transferred and makes the goods lattice of goods bottom surface to slightly above shelf horizontal vertically
The place plane of dividing plate 20, now shelf guiding bar 21, which can play fast positioning and take, puts rope to improve the stable movement of moving platform 12
The effect of property, finally, as shown in figure 9, the driving stretching structure 14 of the goods push rod 4 on cable parallel mechanism moving platform 12 is rapid
Elongation, goods is sent into goods lattice and discharged.From the explanation above with respect to operation principle of the present invention, in the process of conveying articles
In, it is then quickly fixed in the two dimensional motion plane by first lifting goods to a two dimensional motion plane higher than shelf
Position, goods is set to be located above target shelf goods lattice, the working method of last quick decentralization goods, the device can flexibly be avoided crisscross
Shelf connecting rod in length and breadth, realizes barrier avoiding function.Process that process that goods is taken out from goods lattice accords with regular rules with goods on the contrary, this
In repeat no more.
Claims (6)
1. one kind can avoidance rope driving automatic stereowarehouse access device, it is characterised in that be included in the right and left and symmetrically set
The high-altitude guide rail (1) being placed on column group, is provided with the shelf for putting goods between column group；
Described high-altitude guide rail (1) is parallel to each other, and high-altitude mobile platform (2) is provided with high-altitude guide rail (1), and high-altitude movement is flat
Rope driven Parallel Kinematic Manipulator (3) is fixed with platform (2), the rope reel that goes out of rope driven Parallel Kinematic Manipulator (3) respectively draws two flexible cables, respectively
The end traction moving platform (12) of flexible cable realizes the quick motion in plummet face, and moving platform is provided with telescopic goods on (12)
Thing push rod (4).
2. one kind according to claim 1 can avoidance rope driving automatic stereowarehouse access device, it is characterised in that institute
The high-altitude mobile platform (2) stated includes the base (5) being arranged on high-altitude guide rail (1), and it can be driven by being provided with base (5)
The driver element one (6) of motion and transmission, conversion unit (7).
3. one kind according to claim 1 can avoidance rope driving automatic stereowarehouse access device, it is characterised in that institute
The rope driven Parallel Kinematic Manipulator (3) stated includes the pedestal (8) being arranged on high-altitude mobile platform (2), and drive is provided with pedestal (8)
Moving cell two (9) and rolling reel (10), rolling reel (10) is paralleling two beds mechanism, each rolls and is wound with rope on reel (10)
(11), described driver element two (9) driving rolling reel (10) drives rope (11) to carry out folding and unfolding；
Described rope (11) is connected on moving platform (12).
4. one kind according to claim 1 can avoidance rope driving automatic stereowarehouse access device, it is characterised in that institute
The rope driven Parallel Kinematic Manipulator (3) stated is fixed on high-altitude mobile platform (2) by going out the pedestal of rope reel.
5. one kind according to claim 1 can avoidance rope driving automatic stereowarehouse access device, it is characterised in that institute
The goods push rod (4) stated is arranged on below moving platform (12), and goods push rod (4) includes driving stretching structure (14) and at it
The hook lock (13) at top.
6. one kind can avoidance rope driving automatic stereowarehouse access method, it is characterised in that including three steps：
The first step --- fast positioning is with hanging oneself：
Rolling reel (10) retraction cables (11) of rope driven Parallel Kinematic Manipulator (3) both sides, quickly unloaded moving platform (12) is drawn high
To the two dimensional motion plane (15) for being higher than shelf, latter two right high-altitude mobile platform (2) is quickly on high-altitude guide rail (1) along track
Direction (16) is mobile, is moved to moving platform (12) and is located at goods to be handled in same plummet face (17)；Rope driving afterwards is simultaneously
Rolling reel (10) difference retractable rope (11) at left and right sides of online structure (3), ensureing the highly constant situation of moving platform (12)
Down quickly by it along being adjusted perpendicular to the direction of high-altitude guide rail (1) (18), final moving platform (12), which is adjusted to, treats picking
The target location (19) of the surface of thing, two rolling reel (10) release ropes (11) of rope driven Parallel Kinematic Manipulator (3) make moving platform
(12) quickly vertically decline, quickly two dimensional motion plane (15) is risen to vertically again after catching goods；
Second step --- two-dimentional fast positioning：
Goods rapidly moved to together with moving platform (12) in the two dimensional motion plane (15) target shelf goods lattice guiding bar just on
The target location (19) of side, its motion mode is high-altitude mobile platform (2) track of the Fast synchronization along high-altitude guide rail (1) first
Direction (16) is moved, and the moving platform (12) for being loaded with goods is moved in two dimensional motion plane (15) where target location (19)
Plummet face (17), then two sets of the left and right of rope driven Parallel Kinematic Manipulator (3) rolling reel (10) retractable rope (11) respectively, makes
Platform (12) is moved to target location (19) in the case where holding is highly constant along perpendicular to the direction of high-altitude guide rail (18)
Surface；
3rd step, quick decentralization accord with regular rules with delivery：
Two rolling reel (10) quick release ropes (11) of rope driven Parallel Kinematic Manipulator (3), make positioned at two dimensional motion plane (15)
The moving platform (12) for being loaded with goods is quickly transferred and makes goods bottom surface to goods lattice diaphragm plate (20) place of slightly above shelf vertically
Plane, now the guiding bar on shelf (21) fast positioning can be played a part of and take and put rope to improve moving platform stationarity, most
Afterwards, the driving stretching structure (14) of the goods push rod (4) on cable parallel mechanism moving platform (12) is extended rapidly, and goods is sent into
Goods lattice simultaneously discharges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710695030.2A CN107499803B (en) | 2017-08-15 | 2017-08-15 | Obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710695030.2A CN107499803B (en) | 2017-08-15 | 2017-08-15 | Obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107499803A true CN107499803A (en) | 2017-12-22 |
| CN107499803B CN107499803B (en) | 2020-06-09 |
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ID=60691089
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710695030.2A Active CN107499803B (en) | 2017-08-15 | 2017-08-15 | Obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method |
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| Country | Link |
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| CN (1) | CN107499803B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341231A (en) * | 2018-02-08 | 2018-07-31 | 中国民航大学 | A kind of hard and soft mixing parallel institution carried for airdrome luggage |
| CN108861403A (en) * | 2018-08-05 | 2018-11-23 | 严忠耀 | A kind of intelligent track passes ordering system and its working method |
| CN109625732A (en) * | 2018-12-20 | 2019-04-16 | 西安赛尔电子材料科技有限公司 | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system |
| CN109911706A (en) * | 2018-12-09 | 2019-06-21 | 江苏一澜智能科技有限公司 | A kind of paper tube automatic transfer system |
| CN110293105A (en) * | 2019-05-24 | 2019-10-01 | 同济大学 | A kind of silo inner wall cleaning machine people of Wire driven robot |
| WO2020025289A1 (en) * | 2018-08-02 | 2020-02-06 | Dematic Gmbh | Cable driven storage and retrieval machine for warehouses |
| CN112777216A (en) * | 2021-01-15 | 2021-05-11 | 国网新疆电力有限公司营销服务中心(资金集约中心、计量中心) | Full-automatic electric energy metering appliance dense cabinet with built-in truss |
| CN112830142A (en) * | 2021-01-06 | 2021-05-25 | 山东大学 | Storage robot |
| CN114454152A (en) * | 2022-02-21 | 2022-05-10 | 清华大学 | Rope-driven stacking robot |
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| JPH06171712A (en) * | 1992-12-10 | 1994-06-21 | Daifuku Co Ltd | Rack facility |
| DE4325446C2 (en) * | 1993-07-29 | 1996-01-11 | Stopa Anlagenbau Gmbh & Co Kg | Storage and retrieval machine with counterweight arrangement and a single drive means for lifting and lowering movements |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341231A (en) * | 2018-02-08 | 2018-07-31 | 中国民航大学 | A kind of hard and soft mixing parallel institution carried for airdrome luggage |
| CN108341231B (en) * | 2018-02-08 | 2019-06-14 | 中国民航大学 | A kind of hard and soft mixing parallel institution carried for airdrome luggage |
| WO2020025289A1 (en) * | 2018-08-02 | 2020-02-06 | Dematic Gmbh | Cable driven storage and retrieval machine for warehouses |
| CN108861403A (en) * | 2018-08-05 | 2018-11-23 | 严忠耀 | A kind of intelligent track passes ordering system and its working method |
| CN109911706A (en) * | 2018-12-09 | 2019-06-21 | 江苏一澜智能科技有限公司 | A kind of paper tube automatic transfer system |
| CN109625732A (en) * | 2018-12-20 | 2019-04-16 | 西安赛尔电子材料科技有限公司 | A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system |
| CN110293105A (en) * | 2019-05-24 | 2019-10-01 | 同济大学 | A kind of silo inner wall cleaning machine people of Wire driven robot |
| CN112830142A (en) * | 2021-01-06 | 2021-05-25 | 山东大学 | Storage robot |
| CN112777216A (en) * | 2021-01-15 | 2021-05-11 | 国网新疆电力有限公司营销服务中心(资金集约中心、计量中心) | Full-automatic electric energy metering appliance dense cabinet with built-in truss |
| CN114454152A (en) * | 2022-02-21 | 2022-05-10 | 清华大学 | Rope-driven stacking robot |
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| CN107499803B (en) | 2020-06-09 |
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