CN107777624B - Material taking device suitable for industrial vehicle - Google Patents

Material taking device suitable for industrial vehicle Download PDF

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Publication number
CN107777624B
CN107777624B CN201711236920.3A CN201711236920A CN107777624B CN 107777624 B CN107777624 B CN 107777624B CN 201711236920 A CN201711236920 A CN 201711236920A CN 107777624 B CN107777624 B CN 107777624B
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CN
China
Prior art keywords
goods
clamping
height adjusting
goods taking
hold
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CN201711236920.3A
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Chinese (zh)
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CN107777624A (en
Inventor
周学军
方勇
姚金莲
余佩琪
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Shanghai Noblelift Intelligent Technology Co ltd
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Shanghai Noblelift Intelligent Technology Co ltd
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Priority to CN201711236920.3A priority Critical patent/CN107777624B/en
Publication of CN107777624A publication Critical patent/CN107777624A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/07504Accessories, e.g. for towing, charging, locking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/12Platforms; Forks; Other load supporting or gripping members

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention relates to the field of automatic mechanical equipment, in particular to a material taking device suitable for industrial vehicles. The invention is realized by the following technical scheme: the utility model provides a take out device suitable for industrial vehicle, contains gets goods device, get goods device include hold the tong and with hold the tong and be connected and drive hold the tong and stretch out the extracting actuator of withdrawal, get goods device is two sets of at least, two sets of get goods device hold the tong relative and stand. The invention aims to provide a material taking device suitable for industrial vehicles, which comprises a holding clamp, and can directly carry out access operation on goods such as a material box without a tray serving as a bearing medium.

Description

Material taking device suitable for industrial vehicle
Technical Field
The invention relates to the field of automatic mechanical equipment, in particular to a material taking device suitable for industrial vehicles.
Background
Industrial vehicles refer to powered motor vehicles used to carry, push, pull, lift, stack, or stack various cargo. Common industrial vehicles are forklifts, side forklifts, tractors, trucks, fork lifts, and the like. Reclaimer is one of industrial vehicles, and along with the development of electronics business industry and intelligent manufacturing, reclaimer has been widely used in logistics storage field.
In actual work, a goods shelf is arranged in the storage environment, and goods are placed on the goods shelf. The material taking machine uses a mechanical arm to take the goods and put the goods on a tray of the material taking machine, then the goods are moved from a goods shelf to a sorting place to be unloaded, and then the next material taking task is continued. The operation mode reduces the links of manual participation and improves the degree of automation, but has certain technical defects, the self tray area of the reclaimer is small, only one piece of goods can be taken at each time, the goods in the task list are taken out and need to be circulated and moved for many times according to a designated route in a storage environment, the driving energy consumption is high, the time is long, and the efficiency is low.
The industrial vehicle can use the goods taking device when getting the material, and current goods taking device often relies on such structure as fork as getting the goods device, and such structure has certain defect, on the one hand, the fork needs to match the third party bearing part such as tray, can't directly fork and get such goods of case, on the other hand, in many storage environment, the size and the size of workbin are not the same, and the size of fork often can't be adjusted, and difficult high-efficient accurate gets the piece to the not unidimensional article.
Disclosure of Invention
The invention aims to provide a material taking device suitable for industrial vehicles, which comprises a holding clamp, and can directly carry out access operation on goods such as a material box without a tray serving as a bearing medium.
The technical aim of the invention is realized by the following technical scheme: the utility model provides a take out device suitable for industrial vehicle, contains gets goods device, get goods device include hold the tong and with hold the tong and be connected and drive hold the tong and stretch out the extracting actuator of withdrawal, get goods device is two sets of at least, two sets of get goods device hold the tong relative and stand.
Preferably, the picking device is connected to a bracket, the bracket comprises a cantilever beam extending in the horizontal direction and a cantilever column connected with the cantilever beam, and the cantilever beam is connected with a clamp holding interval adjusting device for adjusting the interval between the two cantilever beams.
Preferably, the holding gap adjusting device comprises a holding actuating mechanism connected with the cantilever beam and a holding sliding block sliding in the horizontal direction under the driving of the holding actuating mechanism, and the holding sliding block is connected with the goods taking device.
Preferably, when two groups of the goods taking devices pull goods to the material box transfer assembly, the two groups of the goods taking devices are located at different height positions.
Preferably, the invention further comprises a clamp height adjusting device for adjusting the height position of the goods taking device.
Preferably, the holding and clamping height adjusting device comprises a height adjusting motor, a gear connected with the height adjusting motor and a height adjusting rack meshed with the gear and extending in the vertical direction, and the height adjusting rack is connected with the goods taking device.
Preferably, each group of the goods taking devices comprises a clamping transverse tube, two sides of the clamping transverse tube are respectively connected with clamping hands, and the two clamping hands are opposite in a C shape.
Preferably, the picking device is connected to the bracket, and further comprises a traversing device for driving the bracket and the picking device.
Preferably, the traversing device comprises a traversing rail connected with the tray transfer assembly, a traversing actuating mechanism and a moving block driven by the traversing actuating mechanism to slide on the traversing rail, wherein the moving block is connected with the bracket.
In summary, the invention has the following beneficial effects:
1. according to the technical scheme, a plurality of cargoes can be stored on the storage device, and the plurality of cargoes can be acquired and transported by a single task.
2. The technical aspect can bidirectionally pick up goods, and improves the goods picking efficiency in the roadway.
3. The material box transfer assembly is particularly arranged, and can move the goods clamped by the material taking device to the corresponding storage rack.
4. The holding clamp interval adjusting device can adjust the distance between the two holding clamps, so that the device is suitable for cargoes with different sizes.
5. The clamping hand can flexibly adjust the vertical position of the clamping hand through the clamping height adjusting device.
6. The transverse moving device is specially arranged, the transverse travel of the goods taking device for taking the goods is enlarged and made up, and the specific position of the vehicle is not required to be adjusted through the travelling device when the goods are taken in a two-way mode, so that the efficiency is further improved.
7. The in-situ steering can be achieved by differential adjustment of the running conditions of the two driving wheels.
8. By using the technical scheme, a tray is not required, and the cargo or the material box can be directly operated.
Description of the drawings:
FIG. 1 is a schematic view of example 1 located in a warehouse facility;
FIG. 2 is a schematic diagram of example 1;
FIG. 3 is a schematic view of another angle of FIG. 2;
fig. 4 is a schematic view of embodiment 1 with the bin and running gear hidden;
FIG. 5 is a schematic view of another angle of FIG. 4;
fig. 6 is a schematic view of the warehouse apparatus, the bin transfer apparatus and the pick-up apparatus of example 2.
In the figure:
1. the device comprises a walking device, 11, walking wheels, 12, driving wheels, 2, a storage device, 21, a storage frame, 211, a storage conveying device, 22, a vertical executing mechanism, 3, a material box transfer assembly, 31, a material box conveying device I, 32, a material box conveying device II, 4, a goods taking device, 41, a clamping hand, 42, a material taking executing mechanism, 43, a clamping transverse tube, 5, a clamping height adjusting device, 51, a height adjusting motor, 52, a gear, 53, a height adjusting rack, 6, a clamping interval adjusting device, 61, a clamping executing mechanism, 62, a clamping slider, 7, a bracket, 71, a cantilever upright post, 72, a cantilever beam, 8, a traversing device, 81, a traversing rail, 82, a traversing executing mechanism, 83, a moving block, 9 and a goods shelf.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Embodiment 1 as shown in fig. 1, a reclaimer device suitable for industrial vehicles operates in a warehouse. The warehouse workshop comprises a plurality of shelves 9, the shelves 9 can be of a multi-layer structure, and goods packages with different sizes are placed on each layer. A roadway for the automatic warehouse reclaimer to pass through is arranged between the adjacent shelves 9.
As shown in fig. 2 and 3, the automatic storage reclaimer comprises a traveling device 1, a storage device 2 connected with the traveling device 1, a goods taking device 4 capable of extending and retracting, and a material box transfer assembly 3 for transferring goods taken by the goods taking device 4 onto the storage device 2, wherein the storage device 2 comprises at least two layers of storage frames 21 positioned at different height positions, and the storage frames 21 comprise storage conveying devices 211.
The walking device 1 comprises walking wheels 11 and driving wheels 12, wherein the number of the driving wheels 12 is two, and each driving wheel 12 is independently controlled by a driving motor. In this case, the travelling wheels 11 are universal wheels and are arranged around. The drive wheels 12 are individually controlled by drive motors so that angular variation and even in-situ steering can be achieved by differential adjustment of the two drive wheels 12, further reducing the turning radius of the overall device.
As shown in fig. 1, 2 and 3, the pick device 4 is configured to report the goods from the shelf 9, move to the bin transfer assembly 3, and the bin transfer assembly 3 is configured to continue to transfer the goods to the warehouse device 2.
Specifically, as shown in fig. 5, the bin transferring assembly 3 includes a first bin transferring device 31, a second bin transferring device 32, and a switching device for switching a transferring direction of the goods on the bin transferring assembly 3, where the transferring direction of the first bin transferring device 31 is consistent with the extending direction of the goods taking device 4, and the second bin transferring device 32 is used for transferring the goods on the bin transferring assembly 3 to the storage device 2. The first bin conveyor 31 comprises a plurality of conveying rollers, the second bin conveyor 32 comprises a plurality of conveying belts, the conveying rollers and the conveying belts are arranged at intervals, and the switching device is connected with the second bin conveyor 32 to drive the second bin conveyor 32 to move in the vertical direction.
When the goods are moved to the bin transfer assembly 3 by the pick device 4, the transfer device lowers the bin transfer device two 32, at which point the goods are transferred in by the bin transfer device one 31, the transfer roller. After transfer into place, the switching device lifts the bin conveyor 32, even if the goods are transferred onto the warehouse 2 by the conveyor belt 32. In this case, the conveying directions of the first bin conveying device 31 and the second bin conveying device 32 are both in the horizontal direction and are perpendicular to each other. The switching device can adopt a cylinder, an electric cylinder, a hydraulic device and other conventional components in the prior art, and the lifting of the second material box conveying device 32 can be realized.
Furthermore, the entire magazine transfer assembly 3 can be lifted in the vertical direction, on the one hand, so that the goods stored at different heights on the pallet 9 can be retrieved. Alternatively, the goods may be transferred to storage racks 21 of different heights. The storage rack 21 comprises a storage conveying device 211, the storage conveying device 211 can be a roller or a conveying belt, and when the material box transfer assembly 3 conveys the materials, the storage conveying device 211 can continuously convey the materials, so that the materials are guaranteed to be conveyed in place. The lifting of the feed box transfer assembly 3 can also be realized in various manners, for example, a guide rail rack is vertically arranged on the storage device 2, and a corresponding motor and a gear matched with the rack are arranged on the feed box transfer assembly 3 to realize vertical lifting.
The mechanical mechanism of the pick device 4 of the present invention is described in detail below. As shown in figures 4 and 5 of the drawings,
the goods taking device 4 comprises clamping hands 41 and a material taking executing mechanism 42 which is connected with the clamping hands 41 and drives the clamping hands 41 to extend and retract, at least two groups of goods taking devices 4 are arranged, and the clamping hands 41 of the two groups of goods taking devices 4 are opposite and vertical. When the picking motion is carried out, the picking actuating mechanism 42 starts to operate, the picking actuating mechanism 42 can be an electric cylinder, the holding clamp 41 is pushed to stretch out to the right position, and then the holding clamp is vertically lowered through the holding clamp height adjusting device 5, so that the holding clamp 41 holds the goods to wrap, and then the picking actuating mechanism 42 starts to retract, and the two groups of holding clamp 41 move the goods to the feed box transfer assembly 3.
In actual use, the size of the package of goods is often not only the same, but also needs to be adjusted on site. To accommodate packages of different sizes, the horizontal spacing between the two clasping handles 41 also needs to be adjusted. Specifically, the pick device 4 is connected to the bracket 7, and the bracket 7 includes a cantilever beam 72 extending in a horizontal direction and a cantilever column 71 connected to the cantilever beam 72, and the cantilever beam 72 is connected with a clamp space adjusting device 6 for adjusting two spaces. The bracket 7 comprises a cantilever beam 72 extending in the horizontal direction and a cantilever column 71 connected with the cantilever beam 72, and the cantilever beam 72 is connected with a holding and clamping interval adjusting device 6 for adjusting two intervals. The holding gap adjusting device 6 comprises a holding executing mechanism 61 connected with the cantilever beam 72 and a holding sliding block 62 sliding in the horizontal direction under the driving of the holding executing mechanism 61, and the holding sliding block 62 is connected with the goods taking device 4.
The clamping actuator 61 may also be a conventional driving member such as an electric cylinder, an air cylinder, a hydraulic device, etc., and one end, such as a cylinder body, is fixed to the cantilever beam 72, and the other end, such as one end of a piston rod, is connected to the clamping slider 62. The clasping slide 62 may be provided on a rail on the cantilever beam 72 and the clasping slide 62 is connected to the pick device 4. When the holding clamp executing mechanism 61 works, the holding clamp sliding block 62 slides, so that the goods taking device 4 is driven to be connected. As shown in fig. 4, the two goods taking devices 4 are provided, and each set of goods taking devices can be connected with a set of independent clamping interval adjusting devices 6, so that the goods taking devices 4 can horizontally slide through the sliding of the clamping sliding blocks 62, and the horizontal and transverse interval between the two clamping hands 41 is adjusted to adapt to the packages of goods with different sizes.
The two sets of pick devices 4 are located at different height positions. The arrangement makes the two groups of holding handles 41 hook different height positions of the goods package respectively, so that the load points of the goods are more stable in the process of being pulled to the feed box transfer assembly 3, and the situation of tipping is not easy to happen.
As mentioned above, in the process of pulling the goods by the goods taking device 4, the height of the goods taking device 4 in the vertical direction needs to be adjusted, and this lifting adjustment process mainly depends on the holding and clamping height adjusting device 5.
As shown in fig. 4, the holding and gripping height adjusting device 5 includes a height adjusting motor 51, a gear 52 connected to the height adjusting motor 52, and a height adjusting rack 53 meshed with the gear and extending in the vertical direction, the height adjusting rack 53 being connected to the pickup device 4.
The height adjusting motor 51 can be fixedly connected to the cantilever upright 71, the motor operates to drive the gear 52 to rotate, the gear 52 is meshed with the height adjusting rack 53, so that the rotating gear 52 drives the height adjusting rack 53 to lift, and the height adjusting rack 53 is connected with the goods taking device 4 to drive the goods taking device 4 to lift.
As shown in fig. 1, the automatic warehouse reclaimer runs in a roadway, and shelves 9 are arranged on two sides of the automatic warehouse reclaimer. In order to improve efficiency, the invention can upgrade single-side material taking into bidirectional material taking, thereby obtaining goods on the shelves 9 at two sides. Specifically, as shown in fig. 4, each group of pickup devices 4 includes a clamping horizontal tube 43, two sides of the clamping horizontal tube 43 are respectively connected with clamping hands 41, and the extending directions of the two clamping hands 41 are opposite. A separate pick-up actuator 42 is connected to each arm 41 to allow for bi-directional pick-up without a 180 degree turn.
Furthermore, in practice, the position of the load on the pallet 9 is often spaced further apart in the horizontal transverse direction from the position of the magazine transfer assembly 3. This distance is sometimes insufficient depending on the extension of the take-off actuator 42 alone and has a negative impact on efficiency and cost control. On the other hand, in some cases where two sides are required to take goods, the whole automatic warehouse reclaimer needs to be close to the goods shelf 9 by virtue of the travelling device 1, so that the automatic warehouse reclaimer moves left and right in a roadway, which is very inconvenient.
In the present embodiment, in order to solve the above two problems, a traversing device 8 is further added. As shown in fig. 5, the picking device 4 is connected to the bracket 7, and further comprises a traversing device 8 for driving the bracket 7 and the picking device 4, wherein the moving direction of the bracket 7 driven by the traversing device 8 is parallel to the extending and contracting direction of the picking device 4. The traversing device 8 comprises a traversing rail 81 connected with the feed box transfer assembly 3, a traversing actuating mechanism 82 and a moving block 83 which slides on the traversing rail 81 under the driving of the traversing actuating mechanism 82, wherein the moving block 83 is connected with the bracket 7. The extending direction of the transverse moving rail 81 and the extending and contracting direction of the goods taking device 4 are in the same direction, the transverse moving executing mechanism 82 can be a combination of a motor and a spiral screw rod, when the motor operates, the driving moving block 83 slides relative to the transverse moving rail 81, and the bracket 7 and the goods taking device 4 are connected with the moving block 83, so that the extension of the transverse moving stroke is realized, and the driving of the traveling device 1 is not needed.
As shown in fig. 6, fig. 6 is a schematic diagram of the second embodiment, and differs from the first embodiment mainly in that the structure of the transfer assembly 3 in the tank is changed.
In this embodiment, instead of using two types of conveying devices for switching, the bin transfer assembly 3 is first pushed onto the bin transfer assembly 3 by the pick-up device 4, i.e. onto the seat plate 34, and then the cargo bin is pushed onto the warehouse device 2 from the seat plate 34 by another pushing method.
In the pushing process, in order to reduce friction force and enable pushing to be smoother, a plurality of universal balls 35 can be additionally arranged on the seat plate 34.
There are two ways to push the cargo box from the seat 34 onto the warehouse 2, one way is that the pick device 4 comprises two sets, including a front pick device 44 and a rear pick device 45, as shown in fig. 6, and the specific mechanical structure of these two sets of pick devices may be unchanged from the embodiment. When the load bin reaches the seat plate 34, the rear pick device 45 is controlled to rise, so that interference is avoided, the front pick device 44 is pushed out, namely, in the left direction in the drawing, and the load bin is pushed onto the storage device 2.
In a second method, as also shown in fig. 6, instead of pushing the pick device 4, a pushing plate 36 is added, and the pushing plate 36 is driven by a driving component, such as a rack-and-pinion motor, to slide along the seat board groove 341, so as to push the cargo box to the storage device 2.

Claims (6)

1. A pick-up device suitable for industrial vehicles, comprising a pick-up device (4), characterized in that: the goods taking device (4) comprises clamping hands (41) and a material taking executing mechanism (42) which is connected with the clamping hands (41) and drives the clamping hands (41) to extend and retract, the goods taking device (4) comprises at least two groups, and the clamping hands (41) of the two groups of goods taking devices (4) are opposite and stand up and extend in the same direction; still contain workbin transfer assembly (3) and storage device (2), storage device (2) contain at least two-layer storage frame (21) that are located different high positions, workbin transfer assembly (3) be used for with the goods that get goods device (4) are got are shifted to storage device (2) on, get goods device (4) connect on support (7), support (7) contain cantilever beam (72) and with cantilever stand (71) that cantilever beam (72) are connected that extend in the horizontal direction, be connected with on cantilever beam (72) and be used for adjusting two hold clamp interval adjusting device (6) that hold clamp hand (41) interval, hold clamp interval adjusting device (6) contain with hold clamp actuating mechanism (61) that cantilever beam (72) are connected with hold clamp actuating mechanism (61) under the drive in the gliding clamp slider of horizontal direction, hold clamp slider with get goods device (4) and be connected, when two sets of goods device (4) will be pulled goods assembly to hold clamp position (3), two sets of goods device are located on the different high positions.
2. A reclaimer device suitable for use in an industrial vehicle as defined in claim 1, wherein: the device also comprises a holding and clamping height adjusting device (5) for adjusting the height position of the goods taking device (4).
3. A reclaimer device suitable for use in an industrial vehicle as defined in claim 1, wherein: the holding and clamping height adjusting device (5) comprises a height adjusting motor (51), a gear (52) connected with the height adjusting motor (52) and a height adjusting rack (53) meshed with the gear and extending in the vertical direction, and the height adjusting rack (53) is connected with the goods taking device (4).
4. A reclaimer device suitable for use in an industrial vehicle as defined in claim 1, wherein: each group of goods taking device (4) comprises a clamping transverse pipe (43), two sides of the clamping transverse pipe (43) are respectively connected with clamping hands (41), and the two clamping hands (41) are opposite in C shape.
5. A reclaimer device suitable for use in an industrial vehicle as defined in claim 1, wherein: the goods taking device (4) is connected to the support (7), and the device also comprises a traversing device (8) for driving the support (7) and the goods taking device (4).
6. The reclaimer device adapted for use with industrial vehicles of claim 5, wherein: the transverse moving device (8) comprises a transverse moving rail (81) connected with the feed box transfer assembly (3), a transverse moving executing mechanism (82) and a moving block (83) which slides on the transverse moving rail (81) under the driving of the transverse moving executing mechanism (82), and the moving block (83) is connected with the support (7).
CN201711236920.3A 2017-11-30 2017-11-30 Material taking device suitable for industrial vehicle Active CN107777624B (en)

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Publication number Priority date Publication date Assignee Title
CN111746993B (en) * 2020-05-27 2022-06-07 北京京东乾石科技有限公司 Warehousing method, multi-depth three-dimensional warehouse, storage medium and electronic equipment
CN112173616B (en) * 2020-10-30 2023-08-15 佛山市同远供应链管理有限公司 Logistics carrying device based on artificial intelligence

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JPH04256613A (en) * 1991-02-08 1992-09-11 Matsushita Electric Ind Co Ltd Intermittent lifting device
CN101330159A (en) * 2008-02-01 2008-12-24 浙江省电力公司 Forwarding system for charging battery module
CN103043356A (en) * 2011-10-14 2013-04-17 克朗斯股份公司 Rack-serving unit and picking warehouse
CN104603045A (en) * 2012-09-05 2015-05-06 村田机械株式会社 Elevating device
CN205240472U (en) * 2015-12-23 2016-05-18 贵阳普天物流技术有限公司 Automatic device that accesses goods in intensive warehouse
CN106081454A (en) * 2016-07-29 2016-11-09 深圳普智联科机器人技术有限公司 High density warehousing system based on cross beam type storage rack and access goods method
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