CN107555165A - A kind of AGV merchandising machines people with mechanical arm and feeding method - Google Patents
A kind of AGV merchandising machines people with mechanical arm and feeding method Download PDFInfo
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- CN107555165A CN107555165A CN201710992779.3A CN201710992779A CN107555165A CN 107555165 A CN107555165 A CN 107555165A CN 201710992779 A CN201710992779 A CN 201710992779A CN 107555165 A CN107555165 A CN 107555165A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000002994 raw material Substances 0.000 claims abstract description 21
- 239000000758 substrate Substances 0.000 claims description 41
- 239000000463 material Substances 0.000 claims description 9
- 230000002787 reinforcement Effects 0.000 claims description 9
- 238000003754 machining Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000002950 deficient Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 229910021421 monocrystalline silicon Inorganic materials 0.000 description 1
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Abstract
The present invention relates to a kind of AGV merchandising machines people with mechanical arm and feeding method, including AGV car bodies, mechanical arm, mechanical arm is by moving up and down module, movable module, move left and right module, electric hand refers to mobile module electric hand and refers to four parts composition, it is upper and lower that the motion of four modules drives electric hand to refer to, it is front and rear, move left and right and automatic propulsion and pull-out to raw material act, in MES system and the commander of AGV system, control is lower to complete feeding, feeding and feeding work, beneficial effect is, reduce the error rate of process equipment feeding, lift the yield of product, reduce manual work intensity, reduce operating personnel's quantity, reduce processing cost, lift feeding speed, lifting process equipment mobility, reduce process equipment quantity, reduce fraction defective, increase the output value.
Description
Technical field
The present invention relates to a kind of AGV merchandising machines people, more particularly to a kind of AGV merchandising machines people with mechanical arm and feeding
Method.
Background technology
The material-uploading style of conventional semiconductors monocrystalline silicon piece cutting machine largely relies on artificial carrying, artificial docking, artificial push-in,
Because silicon single crystal raw material volume is big, quality is big；Manual operation feeding is time-consuming, laborious, raw material is fragile, is prone to accidents, and removes
It is big to transport labor intensity of operating staff；Production safety risk is difficult to control.
The content of the invention
In view of the problem of prior art is present, the present invention provides a kind of AGV merchandising machine people with mechanical arm, particular technique
Scheme is a kind of AGV merchandising machine people with mechanical arm, including AGV car bodies, mechanical arm, it is characterised in that：Mechanical arm is by upper and lower
Mobile module, movable module, move left and right module, electric hand refers to mobile module electric hand and refers to four parts composition, described left and right
Mobile module includes moving left and right motor, left and right substrate, left and right rail, left and right rail sliding block, left and right leading screw, and left and right leading screw is vertical
AGV car bodies upper surface is fixed in AGV car body directions of advance, two left and right rails are fixed on its both sides parallel to left and right leading screw,
There is left and right rail sliding block on left and right rail, the screw of left and right rail sliding block and left and right leading screw is fixed, and left and right substrate is fixed on left and right
On guide rail slide block, move left and right motor and be fixed on AGV car bodies, move left and right the rotation of motor driven or so leading screw, left and right leading screw
Screw drive left and right rail sliding block or so fine motion, the also left and right fine motion simultaneously of left and right substrate；The described module that moves up and down includes
Backing strip, lifting substrate, reinforcement, lifting motor, lift rail, lifting leading screw, lift rail sliding block and flat board, reinforcement, are carried
Liter substrate, backing strip are close to according to succession and are fixed on left and right substrate, lifting substrate is anchored between reinforcement and backing strip, are lifted
Fixed lifting leading screw, the parallel lifting leading screw of two lift rails are fixed on both sides on the vertical center line of substrate front end face, are lifted
There is lift rail sliding block on guide rail, lift rail sliding block is fixed on the screw of leading screw, lifting motor is fixed on lifting substrate top
On flat board, lifting motor drives lifting leading screw to rotate, and screw drives lift rail sliding block to move up and down；Described movable mould
Block includes translation motor, triangle ledges, feeding substrate, translating rails, translating rails sliding block, translation leading screw, and triangle ledges is vertical
Be fixed on lift rail sliding block, translation leading screw be fixed on the center line of triangle ledges upper surface, two translating rails parallel to
Translation leading screw is fixed on both sides, there is translating rails sliding block on translating rails, and translating rails sliding block is fixed with translating the screw of leading screw,
Feeding substrate is fixed on translating rails sliding block, and translation motor is fixed in triangle ledges, and translation motor drives translation leading screw to turn
Dynamic, screw drives lifting translating rails sliding block to move forward and backward, and feeding substrate also moves forward and backward；Described electric hand refers to mobile module bag
Feeding motor, feeding leading screw, feeding screw, loading guide are included, feeding leading screw is fixed on the center line of feeding substrate lower surface,
Feeding leading screw has feeding screw, and electric hand, which refers to, to be fixed on feeding screw, and electric hand refers to as rotatable electric gripper, feeding motor two
Individual servomotor, it is fixed on feeding substrate, a servomotor drives feeding leading screw to rotate, before feeding screw drives electric hand to refer to
After move, another servomotor drive electric hand refer to rotation.
Feeding method comprises the following steps, Step 1: the AGV car bodies of the AGV merchandising machine people with mechanical arm are according to instruction
Reach and specify storing area：1. the tipper at storing sends raw material by MES can transport the information of processing, MES system is received
Feeding information is sent to AGV system after to information, the band machinery of idle executable task is 2. whether there is in AGV system detecting system
The AGV merchandising machine people of arm, exception is reported if not to MES system, if the available free AGV merchandising machines with mechanical arm
People, then notify MES system task to perform, while task is distributed to the idle AGV merchandising machine people with mechanical arm, 3. should
AGV merchandising machines people with mechanical arm reaches and reports information in place to AGV system after tipper at feeding, and AGV system will be in place
AGV merchandising machine people information in place with mechanical arm is handed down to tipper by information reporting to MES system, MES, and asking whether can
It to be docked, can be docked, then be carried out in next step；Step 2: AGV system commander carries the AGV logistics machines of mechanical arm
Device people is docked with tipper, raw material grasping movement：1. according to the raw material putting position of tipper, AGV system manipulates machinery
Moving up and down module, movable module, moving left and right module for arm, above and below mechanical arm progress, moves, makes AGV around
Electric hand on the mechanical arm of merchandising machine people refers to（11）The raw material of face tipper（13）Putting position, meanwhile, electric hand refers to（11）
Automatic propulsion and the pull-out action of bar are carried out in the case where electric hand refers to the manipulation of mobile module, completes material from tipper to AGV
The transfer of merchandising machine people, 2. the reduction of mechanical arm posture, AGV merchandising machines people report feeding successful information, AGV to AGV system
System reports feeding successful information to MES system, and a feeding flow is completed to this AGV system；Step 3: with mechanical arm
The AGV car bodies of AGV merchandising machine people（1）Reached according to instruction and specify processing district：1. the processing machine at processing is sent to MES system
Machine information to be processed, MES system receive and machining information are sent into AGV system after information, and 2. AGV system, which is selected and appointed, has loaded original
The AGV merchandising machines people of the carrying mechanical arm of material sends machining information by MES system and goes to processing machine at processing, 3. backward in place
AGV system reports information in place, and information reporting in place will be carried the AGV logistics machines of mechanical arm by AGV system to MES system, MES
Device people information in place is handed down to processing machine, asks whether to be docked, can be docked, then carries out in next step；Step
4th, the AGV merchandising machine people of AGV system commander carrying mechanical arm are docked with processing machine, feeding acts：1. according to processing machine
Raw material putting position, AGV system manipulates moving up and down module, movable module, moving left and right module for mechanical arm, makes machine
Above and below the progress of tool arm, move around, refer to the electric hand of the mechanical arm of the AGV merchandising machine people of carrying mechanical arm（11）On
Laser positioning module perceive the exact center position of feeding port and pass through two servomotors and drive turn-screws to adjust electric hands
Refer to X, Z axis position, make itself and central coaxial in feeding port, meanwhile, electric hand refers to be pressed from both sides in the case where electric hand refers to the manipulation of mobile module
Tight dovetail seat both sides and feeding action, material are completed from the AGV merchandising machines people of carrying mechanical arm to the transfer of processing machine, 2.
Mechanical arm posture reduces, and carries the AGV merchandising machines people of mechanical arm and reports feeding successful information to system, and AGV system is to MES systems
System reports feeding successful information, completes a feeding flow to this AGV system, order mechanical arm resets AGV system simultaneously, machine
Tool arm posture reduces；Step 5: AGV system sends inquiry " whether there is and is connected to feeding times to the AGV merchandising machines people for carrying mechanical arm
Business ", such as answer, "None", then AGV system sends "None" information to MES system, and MES system commander carries the AGV logistics of mechanical arm
Robot goes to Accreditation Waiting Area；Step 6: such as answering, " having ", then AGV system sends " having " information, MES system commander to MES system
The AGV merchandising machine people for carrying mechanical arm are gone at feeding, perform next instruction.
The invention has the advantages that reducing the error rate of process equipment feeding, the yield of product is lifted, is reduced
Manual work intensity, operating personnel's quantity is reduced, reduce processing cost, lifted feeding speed, lifting process equipment mobility, subtract
Few process equipment quantity, increases the output value.
Brief description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the top view of the present invention；
Fig. 3 is the side view of the present invention；
Fig. 4 is the movable modular structure stereogram of the present invention；
The electric hand that Fig. 5 is the present invention refers to mobile module structural perspective；
Fig. 6 is the feeding workflow diagram of the present invention；
Fig. 7 is the feeding workflow diagram of the present invention.
Embodiment
As shown in Fig. 1,2,3,4,5, a kind of AGV merchandising machine people with mechanical arm, including AGV car bodies 1, mechanical arm, machine
Tool arm by move up and down module, movable module, move left and right module, electric hand refers to mobile module electric hand and refers to four parts and forms,
The described module that moves left and right includes moving left and right motor 22, left and right substrate 23, left and right rail 24, left and right rail sliding block 25, a left side
Right leading screw, left and right leading screw are fixed on the upper surface of AGV car bodies 1 perpendicular to the direction of advance of AGV car bodies 1, and two left and right rails 24 are parallel
In left and right, leading screw is fixed on its both sides, there is left and right rail sliding block 25, left and right rail sliding block 25 and left and right leading screw on left and right rail 24
Screw fix, left and right substrate 23 is fixed on left and right rail sliding block 25, is moved left and right motor 22 and is fixed on AGV car bodies 1, left
Moving right motor 22 drives left and right leading screw to rotate, and the screw of left and right leading screw drives the fine motion of left and right rail sliding block 25 or so, left and right base
The also left and right fine motion simultaneously of plate 23.
It is described move up and down module include backing strip 3, lifting substrate 4, reinforcement 5, lifting motor 12, lift rail 15,
Leading screw 16, lift rail sliding block 17 and flat board 21 are lifted, reinforcement 5, lifting substrate 4, backing strip 3 are close to according to succession and be fixed on
Left and right substrate 23, lifting substrate 4 is set to be anchored between reinforcement 5 and backing strip 3, on the vertical center line for lifting the front end face of substrate 4
The fixed parallel lifting leading screw 16 of 16, two lift rails 15 of leading screw that lifted is fixed on both sides, has lift rail in lift rail 15
Sliding block 17, lift rail sliding block 17 is fixed on the screw of leading screw 16, lifting motor 12 is fixed on the lifting top flat board of substrate 4,
Lifting motor 12 drives lifting leading screw 16 to rotate, and screw drives lift rail sliding block 17 to move up and down.
Described movable module includes translation motor 2, triangle ledges 9, feeding substrate 10, translating rails 18, translation
Guide rail slide block 19, translation leading screw 20, triangle ledges 9 are perpendicularly fixed on lift rail sliding block 17, and translation leading screw 20 is fixed on three
On the upper surface center line of angle ledges 9, two translating rails 18 are fixed on both sides parallel to translation leading screw 20, have on translating rails 18
Translating rails sliding block 19, translating rails sliding block 19 are fixed with translating the screw of leading screw 20, and feeding substrate 10 is fixed on translating rails
On sliding block 19, translation motor 2 is fixed in triangle ledges 9, and translation motor 2 drives translation leading screw 20 to rotate, and screw drives lifting
Translating rails sliding block 19 is movable, and feeding substrate 10 also moves forward and backward.
Described electric hand, which refers to mobile module, includes feeding motor 6, feeding leading screw 7, feeding screw 8, loading guide 11, upper
Feeding leading screw 7 is fixed on the center line of material substrate 10 lower surface, feeding leading screw 7 has feeding screw 8, and electric hand, which refers to, is fixed on feeding silk
On mother 8, it is rotatable electric gripper that electric hand, which refers to 11, and feeding motor 6 is two servomotors, is fixed on feeding substrate 10, one
Individual servomotor drives feeding leading screw 7 to rotate, and feeding screw 8 drives electric hand to refer to 11 movable, another servomotor drives
Electric hand refers to 11 rotations.
As shown in Figure 6, Figure 7, feeding method comprises the following steps,
Step 1: the AGV car bodies of the AGV merchandising machine people with mechanical arm（1）Reached according to instruction and specify storing area：
1. the tipper at storing sends raw material by MES can transport the information of processing, MES system will take after receiving information
Material information is sent to AGV system,
2. the AGV merchandising machine people of idle executable task are whether there is in AGV system detecting system, to MES system if not
Exception is reported, if available free AGV merchandising machines people, notice MES system task can be performed, while task is distributed into sky
Not busy AGV merchandising machines people,
3. AGV merchandising machines people reaches and reports information in place to AGV system after tipper at feeding, AGV system will be believed in place
Breath reports MES system, and AGV merchandising machine people information in place is handed down to tipper, asks whether to be docked by MES,
It can be docked, then be carried out in next step；
Step 2: the AGV merchandising machine people that AGV system commander carries mechanical arm are docked with tipper, raw material（13）Crawl
Deng action：
1. according to the raw material putting position of tipper, AGV system manipulate mechanical arm move up and down module, movable module,
Module is moved left and right, mechanical arm progress is upper and lower, moves around, on the mechanical arm for making the AGV merchandising machine people with mechanical arm
Electric hand refer to（11）The raw material of face tipper（13）Putting position, meanwhile, electric hand refers to（11）Refer to the behaviour of mobile module in electric hand
Vertical lower automatic propulsion and the pull-out action for carrying out raw material, material is completed from tipper to the AGV merchandising machine people with mechanical arm
Transfer,
2. mechanical arm posture reduces, the AGV merchandising machines people with mechanical arm reports feeding successful information, AGV systems to AGV system
Unite and report feeding successful information to MES system, a feeding flow is completed to this AGV system；
Step 3: the AGV car bodies of the AGV merchandising machine people with mechanical arm（1）Reached according to instruction and specify processing district：
1. processing machine at processing sends machine information to be processed to MES system, MES system is received machining information after information
It is sent to AGV system,
Before 2. AGV system selects and appoints the AGV merchandising machine people for the carrying mechanical arm for having loaded raw material to send machining information by MES system
Processing machine at toward processing,
3. backward AGV system reports information in place in place, AGV system is by information reporting in place to MES system, and MES is by portable machine
The AGV merchandising machine people information in place of tool arm is handed down to processing machine, asks whether to be docked, can be docked, then
Carry out in next step；
Step 4: the AGV merchandising machine people that AGV system commander carries mechanical arm are docked with processing machine, feeding action：
1. according to the raw material putting position of processing machine, AGV system manipulate mechanical arm move up and down module, movable module,
Module is moved left and right, makes above and below mechanical arm progress, move around, make the machinery of the AGV merchandising machine people of carrying mechanical arm
The electric hand of arm refers to（11）On laser positioning module perceive the exact center position of feeding port and pass through two servomotors and drive
Turn-screw adjustment electric hand refers to X, Z axis position, makes itself and central coaxial in feeding port,
Meanwhile electric hand refer to be clamped in the case where electric hand refers to the manipulation of mobile module dovetail seat both sides and feeding action, complete thing
Expect the transfer from AGV merchandising machines people to processing machine,
2. mechanical arm posture reduces, AGV merchandising machines people reports feeding successful information to system, and AGV system reports to MES system
Feeding successful information, a feeding flow is completed to this AGV system, order mechanical arm resets AGV system simultaneously, mechanical arm appearance
State reduces；
Step 5: AGV system sends inquiry " whether there is and be connected to feeding task " to AGV merchandising machines people, such as answer, "None", then AGV
System sends "None" information to MES system, and MES system commander AGV merchandising machine people go to Accreditation Waiting Area；
Step 6: such as answering, " having ", then AGV system sends " having " information, MES system commander's AGV merchandising machines to MES system
People is gone at feeding, performs next instruction.
Claims (2)
1. a kind of AGV merchandising machine people with mechanical arm, including AGV car bodies（1）, mechanical arm, it is characterised in that：Mechanical arm is by upper
Lower mobile module, movable module, move left and right module, electric hand refers to mobile module electric hand and refers to four parts composition, a described left side
Moving right module includes moving left and right motor（22）, left and right substrate（23）, left and right rail（24）, left and right rail sliding block（25）, it is left
Right leading screw, left and right leading screw is perpendicular to AGV car bodies（1）Direction of advance is fixed on AGV car bodies（1）Upper surface, two left and right rails
（24）Its both sides, left and right rail are fixed on parallel to left and right leading screw（24）On have left and right rail sliding block（25）, left and right rail sliding block
（25）Fixed with the screw of left and right leading screw, left and right substrate（23）It is fixed on left and right rail sliding block（25）On, move left and right motor
（22）It is fixed on AGV car bodies（1）On, move left and right motor（22）Left and right leading screw is driven to rotate, the screw of left and right leading screw drives a left side
Right guide rail slide block（25）Left and right fine motion, left and right substrate（23）Also left and right fine motion simultaneously；The described module that moves up and down includes backing strip
（3）, lifting substrate（4）, reinforcement（5）, lifting motor（12）, lift rail（15）, lifting leading screw（16）, lift rail sliding block
（17）And flat board（21）, reinforcement（5）, lifting substrate（4）, backing strip（3）It is close to according to succession and is fixed on left and right substrate（23）,
Make lifting substrate（4）It is anchored on reinforcement（5）And backing strip（3）Between, lift substrate（4）It is fixed on the vertical center line of front end face
Lift leading screw（16）, two pieces lift rails（15）Parallel lifting leading screw（16）It is fixed on both sides, lift rail（15）On have lifting
Guide rail slide block（17）, leading screw（16）Screw on fix lift rail sliding block（17）, lifting motor（12）It is fixed on lifting substrate
（4）On the flat board of top, lifting motor（12）Drive lifting leading screw（16）Rotate, screw drives lift rail sliding block（17）On move down
It is dynamic；
Described movable module includes translation motor（2）, triangle ledges（9）, feeding substrate（10）, translating rails（18）、
Translating rails sliding block（19）, translation leading screw（20）, triangle ledges（9）It is perpendicularly fixed at lift rail sliding block（17）On, translate silk
Thick stick（20）It is fixed on triangle ledges（9）On the center line of upper surface, two translating rails（18）Parallel to translation leading screw（20）It is fixed
In both sides, translating rails（18）On have translating rails sliding block（19）, translating rails sliding block（19）With translating leading screw（20）Screw
It is fixed, feeding substrate（10）It is fixed on translating rails sliding block（19）On, translation motor（2）It is fixed on triangle ledges（9）On, translation
Motor（2）Drive translation leading screw（20）Rotate, screw drives lifting translating rails sliding block（19）It is movable, feeding substrate（10）
Also move forward and backward；Described electric hand, which refers to mobile module, includes feeding motor（6）, feeding leading screw（7）, feeding screw（8）, feeding leads
Rail（11）, in feeding substrate（10）Feeding leading screw is fixed on the center line of lower surface（7）, feeding leading screw（7）There is feeding screw
（8）, electric hand, which refers to, is fixed on feeding screw（8）On, electric hand refers to（11）For rotatable electric gripper, feeding motor（6）Watched for two
Motor is taken, is fixed on feeding substrate（10）On, a servomotor drives feeding leading screw（7）Rotate, feeding screw（8）Drive electricity
Finger (11) is movable, and another servomotor drives electric hand to refer to (11) rotation.
2. using the feeding method of AGV merchandising machine people with mechanical arm described in claim 1 a kind of, it is characterised in that：Send
Material method comprises the following steps,
Step 1: the AGV car bodies of the AGV merchandising machine people with mechanical arm（1）Reached according to instruction and specify storing area：
1. the tipper at storing sends raw material by MES can transport the information of processing, MES system will take after receiving information
Material information is sent to AGV system,
2. the AGV merchandising machine people of idle executable task are whether there is in AGV system detecting system, to MES system if not
Exception is reported, if available free AGV merchandising machines people, notice MES system task can be performed, while task is distributed into sky
Not busy AGV merchandising machines people,
3. AGV merchandising machines people reaches and reports information in place to AGV system after tipper at feeding, AGV system will be believed in place
Breath reports MES system, and AGV merchandising machine people information in place is handed down to tipper, asks whether to be docked by MES,
It can be docked, then be carried out in next step；
Step 2: the AGV merchandising machine people that AGV system commander carries mechanical arm are docked with tipper, raw material（13）Crawl
Action：
1. according to the raw material putting position of tipper, AGV system manipulate mechanical arm move up and down module, movable module,
Module is moved left and right, mechanical arm progress is upper and lower, moves around, refers to the electric hand on the mechanical arm of AGV merchandising machine people
（11）The raw material of face tipper（13）Putting position, meanwhile, electric hand refers to（11）Carried out in the case where electric hand refers to the manipulation of mobile module
Automatic propulsion and the pull-out action of bar, material is completed from tipper to the transfer of AGV merchandising machine people,
2. mechanical arm posture reduces, AGV merchandising machines people reports feeding successful information to AGV system, and AGV system is to MES system
Feeding successful information is reported, a feeding flow is completed to this AGV system；
Step 3: the AGV car bodies of the AGV merchandising machine people with mechanical arm（1）Reached according to instruction and specify processing district：
1. the processing machine at processing sends machine information to be processed to MES system, MES system sends out machining information after receiving information
Give AGV system,
2. AGV system selects and appoints the AGV merchandising machine people for the carrying mechanical arm for having loaded raw material to send machining information by MES system
Processing machine at processing is gone to,
3. backward AGV system reports information in place in place, AGV system is by information reporting in place to MES system, and MES is by portable machine
The AGV merchandising machine people information in place of tool arm is handed down to processing machine, asks whether to be docked, can be docked, then
Carry out in next step；
Step 4: the AGV merchandising machine people that AGV system commander carries mechanical arm are docked with processing machine, feeding action：
1. according to the raw material putting position of processing machine, AGV system manipulate mechanical arm move up and down module, movable module,
Module is moved left and right, makes above and below mechanical arm progress, move around, make the machinery of the AGV merchandising machine people of carrying mechanical arm
The electric hand of arm refers to（11）On laser positioning module perceive the exact center position of feeding port and pass through two servomotors and drive
Turn-screw adjustment electric hand refers to X, Z axis position, makes itself and central coaxial in feeding port,
Meanwhile electric hand refer to be clamped in the case where electric hand refers to the manipulation of mobile module dovetail seat both sides and feeding action, complete thing
Expect the transfer from AGV merchandising machines people to processing machine,
2. mechanical arm posture reduces, AGV merchandising machines people reports feeding successful information to system, and AGV system reports to MES system
Feeding successful information, a feeding flow is completed to this AGV system, order mechanical arm resets AGV system simultaneously, mechanical arm appearance
State reduces；
Step 5: AGV system sends inquiry " whether there is and be connected to feeding task " to AGV merchandising machines people, such as answer, "None", then AGV
System sends "None" information to MES system, and MES system commander AGV merchandising machine people go to Accreditation Waiting Area；
Step 6: such as answering, " having ", then AGV system sends " having " information, MES system commander's AGV merchandising machines to MES system
People is gone at feeding, performs next instruction.
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| CN109051857A (en) * | 2018-07-02 | 2018-12-21 | 华北理工大学 | A kind of automatic Steelmaking pig iron feeding device |
| CN109178748A (en) * | 2018-09-21 | 2019-01-11 | 国网山东省电力公司烟台供电公司 | The automatic loading device of Power Material |
| CN109204605A (en) * | 2018-10-15 | 2019-01-15 | 上海交大智邦科技有限公司 | Using AGV as the fixture automatic clearing apparatus of delivery vehicle |
| CN111413934A (en) * | 2020-03-30 | 2020-07-14 | 厦门奇达电子有限公司 | AGV logistics feeding method and system for 3C industry |
| CN112722737A (en) * | 2020-12-31 | 2021-04-30 | 友上智能科技(苏州)有限公司 | Intelligent mobile robot and intelligent carrying robot cooperation method |
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| CN109051857A (en) * | 2018-07-02 | 2018-12-21 | 华北理工大学 | A kind of automatic Steelmaking pig iron feeding device |
| CN109178748A (en) * | 2018-09-21 | 2019-01-11 | 国网山东省电力公司烟台供电公司 | The automatic loading device of Power Material |
| CN109204605A (en) * | 2018-10-15 | 2019-01-15 | 上海交大智邦科技有限公司 | Using AGV as the fixture automatic clearing apparatus of delivery vehicle |
| CN111413934A (en) * | 2020-03-30 | 2020-07-14 | 厦门奇达电子有限公司 | AGV logistics feeding method and system for 3C industry |
| CN112722737A (en) * | 2020-12-31 | 2021-04-30 | 友上智能科技(苏州)有限公司 | Intelligent mobile robot and intelligent carrying robot cooperation method |
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Application publication date: 20180109 |