CN107826580A - A kind of shuttle vehicle type storage and climb type shuttle - Google Patents
A kind of shuttle vehicle type storage and climb type shuttle Download PDFInfo
- Publication number
- CN107826580A CN107826580A CN201711186736.2A CN201711186736A CN107826580A CN 107826580 A CN107826580 A CN 107826580A CN 201711186736 A CN201711186736 A CN 201711186736A CN 107826580 A CN107826580 A CN 107826580A
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- shuttle
- track
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- shelf
- running gear
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- 239000011159 matrix material Substances 0.000 claims description 13
- 230000003139 buffering effect Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of storage of shuttle vehicle type and climb type shuttle, the shuttle vehicle type storage includes storing goods shelf and shuttle；The storing goods shelf is used to store goods, the first track and the second track are provided with the storing goods shelf, first track is used to walk in a first direction for the shuttle, second track is used to walk in a second direction for the shuttle, and the first direction and the second direction form angle；The shuttle includes vehicle body and the running gear being arranged on the vehicle body, and the running gear is used to drive the vehicle body to move on first track or the second track；Wherein, the first direction is horizontal direction.By the above-mentioned means, the shuttle vehicle type storage of the present invention can enable shuttle walk in a plurality of directions to access and transport goods, the efficiency of operation is improved.
Description
Technical field
The present invention relates to material flows automation mechanical field, is shuttled more particularly to a kind of storage of shuttle vehicle type and climb type
Car.
Background technology
The storage of shuttle vehicle type is a kind of for modern logistics and the important component of storage industry.Current shuttle vehicle type
Storage generally comprises shelf, shuttle, lift or piler.Access goods generally requires shuttle by certain layer of shelf
Goods is put to specified location, and goods is delivered in the shelf of different height by lift or piler.
The access route of goods is longer in traditional shuttle vehicle type storage, includes the horizontal transport route and liter of shuttle
The vertical transport route of ladder drops, and can be by lift or stacking when needing to access the goods on different layers shelf simultaneously
The restriction of the quantity of machine, so the operating efficiency of access goods is relatively low.
The content of the invention
The present invention solves the technical problem of a kind of shuttle vehicle type storage and climb type shuttle is provided, make shuttle
Car can walk to access and transport goods in the multiple directions of storage, improve the efficiency of operation.
In order to solve the above technical problems, one aspect of the present invention is to provide a kind of shuttle vehicle type storage, bag
Include storing goods shelf and shuttle；The storing goods shelf is used to store goods, and the first track and the are provided with the storing goods shelf
Two tracks, first track are used to walk in a first direction for the shuttle, and second track is used to wear described in confession
Shuttle car is walked in a second direction, and the first direction and the second direction form angle；The shuttle includes vehicle master
Body and the running gear being arranged on the vehicle body, the running gear are used to drive the vehicle body described first
Moved on track or the second track；Wherein, the first direction is horizontal direction.
In order to solve the above technical problems, another technical solution used in the present invention is to provide a kind of climb type shuttle,
The climb type shuttle is the shuttle in shuttle vehicle type as described above storage.
The beneficial effects of the invention are as follows：The situation of prior art is different from, by setting the first track on storing goods shelf
With the second track, the running gear on shuttle drives vehicle body to be moved on the first track and the second track, wherein the
One track and the second track are respectively on first direction and second direction so that shuttle can be in the multiple directions of storage
Walking improves the efficiency of operation to access and transport goods.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention one embodiment of shuttle vehicle type storage；
Fig. 2 is the structural representation of the storing goods shelf in a kind of shuttle vehicle type storage of the present invention；
Fig. 3 is the structural representation of the first shelf in Fig. 2；
Fig. 4 is the knot when running gear of the shuttle in a kind of present invention shuttle vehicle type storage is in first anglec of rotation
Structure schematic diagram；
Fig. 5 is the structural representation when running gear of the shuttle in Fig. 4 is in second anglec of rotation；
Fig. 6 is the structural representation of the running gear in Fig. 5.
Fig. 7 is the principle schematic that the shuttle in a kind of shuttle vehicle type storage of the present invention is walked on storing goods shelf.
Embodiment
The present invention is described in detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is referred to Fig. 2, wherein, Fig. 1 is a kind of structural representation of the present invention one embodiment of shuttle vehicle type storage
Figure, Fig. 2 are the structural representations of the storing goods shelf in a kind of shuttle vehicle type storage of the present invention.Shuttle vehicle type storehouse in the present embodiment
Storage includes：Storing goods shelf 12 and shuttle 14；Storing goods shelf 12 is used to store goods, and the first track is provided with storing goods shelf 12
122 and second track 124, the first track 122 be used to walk in a first direction for shuttle 14, the second track 124 is for supplying
Shuttle 14 is walked in a second direction, and shape is at a certain angle between first direction and second direction；Shuttle 14 includes car
Main body 140 and the running gear 142 being arranged on vehicle body 140, running gear 142 are used to drive vehicle body 140 to exist
Moved on first track 122 or the second track 124；Wherein, first direction is horizontal direction.
For example, when needing in the access of the enterprising crudely-made articles thing of same layer of storing goods shelf 12, the walking dress on shuttle 14
Put 142 can be by moving to drive vehicle body 140 to move on the first track 122, and then realizes the operation of access goods；
And when needing accessing goods on the different layers of storing goods shelf 12, running gear 142 on shuttle 14 can be by the
The different layers for moving to drive vehicle body 140 to reach storing goods shelf 12 on two tracks 124, and by the first track 122
Move to carry out the access of goods.
In the present embodiment, by setting the first track 122 and the second track 124 on storing goods shelf 12, on shuttle 14
Running gear 142 drive vehicle body 140 moved on the first track 122 and the second track 124, wherein the first track
122 and second track 124 be respectively on first direction and second direction, first direction is horizontal direction so that shuttle 14
It can be walked in the multiple directions of storage to access and transport goods, improve the efficiency of operation.
With reference to Fig. 4 and Fig. 5, specifically, shuttle 14 includes rotation control mechanism 144, rotation control mechanism 144 and walking
Device 142 couples, and for controlling running gear 142 to rotate to first anglec of rotation when receiving the first instruction, is receiving
Control running gear 142 is rotated to second anglec of rotation during the second instruction；Wherein, running gear 142 is used in first anglec of rotation
Walked on the first track 122, running gear 142 is used to walk on the second track 124 in second anglec of rotation.
It is understood that the first instruction can be the finger in the access of the enterprising crudely-made articles thing of same layer of storing goods shelf 12
Order, and the second instruction can be then that the instruction of goods is accessed on the different layers of storing goods shelf 12.Receive and will store for example, working as
The goods a positioned at A1 positions on the A layers of shelf 12 is deposited to during the first instruction of A2 positions, and rotation control mechanism 144 controls
Running gear 142 is rotated to first anglec of rotation, and running gear 142 can be in storing goods shelf 12 in first anglec of rotation
Walked on the first track 122 on A layers, and drive vehicle body 140 to be moved to A1 positions, taking out the goods positioned at A1 positions
After a, running gear 142 continues to keep first anglec of rotation and walked on the first track 122, drives vehicle body 140 to move
To A2 positions, then goods a is deposited to A2 positions, completes first instruction.Afterwards, receive the A of storing goods shelf 12 again
The goods b positioned at A3 positions on layer is deposited to the second instruction of B3 positions on B layers.Shuttle 14 is in A3 position acquisitions to goods
After b, rotation control mechanism 144 controls running gear 142 to rotate to second anglec of rotation, and running gear 142 is in the second rotation
Walked on the second track 124 that can be residing for it during angle, and drive vehicle body 140 to be moved from the A layers of storing goods shelf 12
To the B layers of storing goods shelf 12, then after B layers are reached, rotation control mechanism 144 controls running gear 142 to rotate to first again
The anglec of rotation, then walked on the first track 122 of the running gear 142 on the B layers of storing goods shelf 12, drive vehicle body
140 are moved to B3 positions, then deposit goods b to B3 positions, complete second instruction.
Incorporated by reference to Fig. 5, as a kind of optional embodiment, rotation control mechanism 144 includes swingle 1440 and electric rotating
Machine 1442, the one end of swingle 1440 are connected with vehicle body 140, and the other end is connected with running gear 142, electric rotating machine 1442 with
Swingle 1440 couples, and electric rotating machine 1442 is used to drive swingle 1440 to be rotated, so as to drive running gear 142 to rotate
Reach first anglec of rotation and second anglec of rotation.It is understood that deposited between second anglec of rotation and first anglec of rotation
It is identical with forming angle between first direction and second direction in certain angle (i.e. the angle is not zero), the angle.In addition,
It can also be revolved by other kinds of drive such as belt or gear to make running gear 142 rotate to up to first anglec of rotation and second
Gyration.
Specifically, storing goods shelf 12 includes several rail wheels 1200, and all rail wheels 1200 arrange in a matrix fashion；
Wherein, all rail wheels 1200 in any a line in matrix form first track 122, appointing in matrix
All rail wheels 1200 anticipated on any one diagonal of a minimum rectangle unit form second track 124, matrix
Line direction be first direction, any one diagonal of any one minimum rectangle unit in matrix is second party
To.
Specifically, storing goods shelf 12 includes the symmetrically arranged shelf 123 of first shelf 121 and second, the He of the first shelf 121
The tunnel 125 moved for shuttle 14 is left between second shelf 123, several rail wheels 1200 are arranged on the first shelf 121
With one end on the second shelf 123 close to tunnel 125.
Incorporated by reference to Fig. 3, Fig. 3 is the structural representation of the first shelf in Fig. 2.For example, rail wheel 12001, rail wheel
12002nd, rail wheel 12003, rail wheel 12004 and rail wheel 12005 are located at same a line of matrix, therefore rail wheel 12001, track
Wheel 12002, rail wheel 12003, rail wheel 12004 and rail wheel 12005 can form first rail on the first shelf 121
Road 122.In another example the straight line where rail wheel 12002 and rail wheel 12006 is one of a minimum rectangle unit on matrix
Bar diagonal, it is found that rail wheel 12009 also on this line, then, rail wheel 12002, rail wheel 12006 and track
Wheel 12009 can form second track 124 on the first shelf 121.Similarly, rail wheel 12003, the and of rail wheel 12007
Rail wheel 12010 can also form another the second track 124 on the first shelf 121, and rail wheel 12005, rail wheel
12007 and rail wheel 12008 can form the second track of another bar 124 on the first shelf 121.
As a kind of embodiment, running gear 142 includes the first walking arm 1421, the second walking arm the 1422, the 3rd
Walking arm 1423 and fourth line walk arm 1424, and the first walking arm 1421 and the second walking arm 1422 are used in the first shelf 121
Rail wheel 1200 on walk, the third line walks arm 1423 and fourth line walks arm 1424 and is used for the rail wheel on the second shelf 122
Walked on 1200；Wherein, the first walking arm 1421 and the third line walk that arm 1423 is parallel, and the second walking arm 1422 walks arm with fourth line
1424 is parallel.
It is understood that when running gear 142 is rotated to up to first anglec of rotation, the first walking arm of shuttle 14
1421 and second walking arm 1422 can be walked on the first shelf 121, and the third line walks arm 1423 and fourth line walks arm 1424
It can be walked on the second shelf 122.With reference to Fig. 3 and Fig. 4, for example, running gear 142 in first anglec of rotation, works as the first row
When walking arm 1421 and being located on rail wheel 12003, the second walking 1422 is then on rail wheel 12004, and similarly, the third line walks arm
1423 and fourth line walk arm 1424 on the corresponding rail wheel then on the second shelf 122；When the first walking arm 1421 moves
When on to rail wheel 12002, the second walking 1422 is then moved on rail wheel 12003, and similarly, the third line walks arm 1423 and the 4th
Walking arm 1424 also is moved on the corresponding rail wheel on the second shelf 123, so as to realize shuttle 14 in storing goods shelf 12
On the first track 122 on walk.With reference to Fig. 3 and Fig. 5, in another example, running gear 142 works as the first row in second anglec of rotation
When walking arm 1421 and being located on rail wheel 12007, the second walking 1422 is then on rail wheel 12006, and similarly, the third line walks arm
1423 and fourth line walk arm 1424 on the corresponding rail wheel then on the second shelf 122；When the first walking arm 1421 moves
When on to rail wheel 12010, the second walking 1422 is then moved on rail wheel 12009, and similarly, the third line walks arm 1423 and the 4th
Walking arm 1424 also is moved on the corresponding rail wheel on the second shelf 123, so as to realize shuttle 14 in storing goods shelf 12
On the second track 124 on walk.It can be found that now the first walking arm 1421 and the second walking arm 1422 are in the first shelf
On two the second adjacent tracks 124 on 121.
Incorporated by reference to Fig. 6, as a kind of embodiment, the first walking arm 1421, the second walking arm 1422, the third line walk arm
1423 and fourth line walk arm 1424 include driving wheel 14210, driven pulley 14212, crawler belt 14214 and with driving wheel 14210
The motor 14211 of coupling；Driving wheel 14210 is connected with driven pulley 14212 by connecting rod 14216, is set on crawler belt 14214
Rack 14215 is equipped with, is provided with driving wheel 14210 and driven pulley 14212 and the meshed gears 14213 of rack 14215, drive
Dynamic motor 14211 is used to drive driving wheel 14210 to rotate, so as to drive rail wheel of the crawler belt 14214 on storing goods shelf 12
Moved on 1200；Buffering wheel 14218 is additionally provided with driven pulley 14212, the cover tire of buffering wheel 14218 is solid rubber, buffering
Wheel 14218 is used to enter row buffering when shuttle 14 contacts with rail wheel 1200.
It is understood that the electric rotating machine 1442 and motor 14211 of the present invention can be arranged on appointing for shuttle
Meaning position, such as the top of vehicle body 140 can be arranged on, the inside of vehicle body 140 can also be arranged on.
As a kind of embodiment, the angle between second direction and first direction can be 30 ° to 45 °.It can manage
Solve, the coefficient of friction between running gear 142 and rail wheel 1200 in the application determines the shuttle in the application
14 stability walked on the second track 124, therefore, when ensure that the friction between running gear 142 and rail wheel 1200
Coefficient, such as select the material of larger coefficient of friction, i.e., it can ensure the stability that shuttle 14 is walked.
As a kind of embodiment, vehicle body 140 is provided with objective table 1402, and access is provided with objective table 1402
Device 1404, access device 1404 are used to access goods.
Wherein, access device 1404 can be scalable pallet fork, and goods is accessed by way of forking；It can also be chain
Transmission device or rotor drive, goods movement is driven by the rotation of chain or roller, so as to realize access goods
Thing；Can certainly be other forms.It is understood that when different goods is in different height, row can be passed through
Walking apparatus 142 comes up the height for making access device 1404 and correspondingly goods is adapted the second track 124 is up, is easy to access
Goods.
It is understood that the shuttle vehicle type in the application can set any number of wear according to the actual requirements in storing in a warehouse
Shuttle car 14, to meet the requirement of the operating efficiency of user.
Describe the application from principle below is designed to realize that shuttle 14 can walk on storing goods shelf 12.
As shown in fig. 7, wherein L1 is the length of any walking arm of shuttle, L2 is a minimum rectangle list of matrix on storing goods shelf
One cornerwise length of member.Work as L1>During=L2, shuttle can ensure that each mechanical arm is equal in oblique traveling all the time
At least contacted with a track post.In an application scenarios, shuttle and goods gravity are G, and inclination angle is 30 °, and gravity is entered
Row decomposes, and obtains：
G1=G*cos30 °=0.865G and G2=G*sin30 °=0.5G.
So support force F=G1=0.865G of the track post to shuttle, track post are to the frictional force of shuttle：
F=μ * F=0.865 μ G.
As long as therefore meet f>=G2, i.e. 0.865 μ G>=0.5G, is derived：
μ>0.578。
It is known that according to above theory analysis, it is only necessary to ensure the friction coefficient μ between shuttle and rail wheel>
When 0.578, it is possible to ensure that shuttle stable on track post can travel.The application also provides a kind of climb type shuttle,
Climb type shuttle in the present embodiment is the shuttle 14 in any of the above-described kind of shuttle vehicle type storage.Related content refers to
State the detailed description in shuttle vehicle type storage structures embodiment.
In the present invention shuttle vehicle type storage and climb type shuttle, by set on storing goods shelf the first track and
Second track, the running gear on shuttle drives vehicle body to be moved on the first track and the second track, wherein first
Track and the second track are respectively on first direction and second direction so that shuttle can storage multiple directions it is up
Walk to access and transport goods, improve the efficiency of operation.
In several embodiments provided by the present invention, it should be understood that disclosed shuttle vehicle type is stored in a warehouse and climbed
Formula shuttle is climbed, can be realized by another way.For example, shuttle vehicle type storage described above and climb type shuttle
Car embodiment is only schematical, the division of the structure, only a kind of division of logic function, can be with when actually realizing
There is other dividing mode；In addition, each drive mechanism can be electric signal driving by way of be operated or
It is operated by the physics kind of drive, or various ways are combined；Each structure is individually physically present, can also be two
Or two or more structure assembly is in one structure.
Embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this
Equivalent structure or the principle of equal effects conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, it is included within the scope of the present invention.
Claims (10)
1. a kind of shuttle vehicle type storage, it is characterised in that including storing goods shelf and shuttle；
The storing goods shelf is used to store goods, is provided with the first track and the second track on the storing goods shelf, and described first
Track is used to walk in a first direction for the shuttle, and second track is used for for the shuttle in a second direction
Walking, the first direction and the second direction form angle；
The shuttle includes vehicle body and the running gear being arranged on the vehicle body, and the running gear is used for band
The vehicle body is moved to move on first track or the second track；
Wherein, the first direction is horizontal direction.
2. shuttle vehicle type storage according to claim 1, it is characterised in that
The shuttle includes rotation control mechanism, and the rotation control mechanism couples with the running gear, for receiving
To controlling the running gear to rotate to first anglec of rotation during the first instruction, the walking is controlled when receiving the second instruction
Device is rotated to second anglec of rotation；
Wherein, the running gear is used to walk on first track in first anglec of rotation, the running gear
It is used to walk on second track in second anglec of rotation.
3. shuttle vehicle type storage according to claim 2, it is characterised in that
The rotation control mechanism includes swingle and electric rotating machine, and described swingle one end is connected with the vehicle body, separately
One end is connected with the running gear, and the electric rotating machine couples with the swingle, and the electric rotating machine is described for driving
Swingle is rotated, so as to drive the running gear to rotate to up to first anglec of rotation and second anglec of rotation
Degree.
4. shuttle vehicle type storage according to claim 1, it is characterised in that
The storing goods shelf includes several rail wheels, and several described rail wheels arrange in a matrix fashion；
Wherein, all rail wheels in any a line in the matrix form first track, are located at
All rail wheels on any one diagonal of any one minimum rectangle unit in the matrix form an institute
State the second track, the line direction of the matrix is the first direction, any one minimum rectangle unit in the matrix
Any one diagonal is the second direction.
5. shuttle vehicle type storage according to claim 4, it is characterised in that
The storing goods shelf includes symmetrically arranged first shelf and the second shelf, first shelf and second shelf it
Between leave tunnel for shuttle movement, several described rail wheels are arranged on first shelf and second shelf
The one end in the upper close tunnel.
6. shuttle vehicle type storage according to claim 5, it is characterised in that
The running gear walks arm including the first walking arm, the second walking arm, the third line and fourth line walks arm, first walking
Walked on the rail wheel that arm and second walking arm are used on first shelf, described the third line walks arm and described
Fourth line is walked walks on the rail wheel that arm is used on second shelf；
Wherein, first walking arm walks that arm is parallel, and second walking arm is walked arm with the fourth line and put down with described the third line
OK.
7. shuttle vehicle type storage according to claim 6, it is characterised in that
First walking arm, second walking arm, described the third line walk arm and the fourth line walk arm include driving wheel,
Driven pulley, crawler belt and the motor with driving wheel coupling；
The driving wheel is connected with the driven pulley by connecting rod, and rack, the driving wheel and institute are provided with the crawler belt
State to be provided with driven pulley and be used to drive the driving wheel to rotate with the rack meshed gears, the motor, from
And the crawler belt is driven to be moved on the rail wheel；
Buffering wheel is additionally provided with the driven pulley, the buffering wheel cover tire is solid rubber, and the buffering wheel is used for described
Shuttle enters row buffering when being contacted with the rail wheel.
8. shuttle vehicle type storage according to claim 7, it is characterised in that
Angle between the second direction and the first direction is 30 ° to 45 °.
9. shuttle vehicle type storage according to claim 1, it is characterised in that
The vehicle body is provided with objective table, access device is provided with the objective table, for accessing goods.
A kind of 10. climb type shuttle, it is characterised in that
The climb type shuttle is the shuttle in the shuttle vehicle type storage described in claim any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711186736.2A CN107826580A (en) | 2017-11-22 | 2017-11-22 | A kind of shuttle vehicle type storage and climb type shuttle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711186736.2A CN107826580A (en) | 2017-11-22 | 2017-11-22 | A kind of shuttle vehicle type storage and climb type shuttle |
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| Publication Number | Publication Date |
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| CN107826580A true CN107826580A (en) | 2018-03-23 |
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ID=61653411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711186736.2A Pending CN107826580A (en) | 2017-11-22 | 2017-11-22 | A kind of shuttle vehicle type storage and climb type shuttle |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108706265A (en) * | 2018-06-11 | 2018-10-26 | 江苏高科物流科技股份有限公司 | A kind of shuttle vehicle type automated warehousing and shuttle |
| CN109969663A (en) * | 2019-03-12 | 2019-07-05 | 苏州得尔达国际物流有限公司 | A kind of climbing robot and its mating shelf for monitoring |
| CN110371890A (en) * | 2018-07-18 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of transport device |
| WO2020093744A1 (en) * | 2018-11-06 | 2020-05-14 | 北京京东尚科信息技术有限公司 | Cargo picking system and method |
| CN111392298A (en) * | 2019-08-29 | 2020-07-10 | 杭州慧盈智能科技有限公司 | Goods-shelf-climbing robot and working method thereof |
| WO2020156025A1 (en) * | 2019-02-03 | 2020-08-06 | 北京京东乾石科技有限公司 | Transport cart and transmission device thereof |
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| CN113436463A (en) * | 2021-06-28 | 2021-09-24 | 江苏智库智能科技有限公司 | 5G-based four-way shuttle vehicle multi-vehicle scheduling method |
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| CN113859841A (en) * | 2021-11-03 | 2021-12-31 | 湖南生物机电职业技术学院 | Multifunctional intelligent loading, unloading and conveying equipment |
| CN117509062A (en) * | 2024-01-02 | 2024-02-06 | 中国科学技术大学 | Track change mechanism and track conveyer in many planes |
| CN118270432A (en) * | 2024-05-10 | 2024-07-02 | 佛山市名杰纺织有限公司 | Warehouse system is stored to pedestal class |
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| CN108706265A (en) * | 2018-06-11 | 2018-10-26 | 江苏高科物流科技股份有限公司 | A kind of shuttle vehicle type automated warehousing and shuttle |
| CN110371890A (en) * | 2018-07-18 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of transport device |
| WO2020093744A1 (en) * | 2018-11-06 | 2020-05-14 | 北京京东尚科信息技术有限公司 | Cargo picking system and method |
| US12064992B2 (en) | 2019-02-03 | 2024-08-20 | Beijing Jingdong Qianshi Technology Co., Ltd. | Transport cart and transmission device thereof |
| WO2020156025A1 (en) * | 2019-02-03 | 2020-08-06 | 北京京东乾石科技有限公司 | Transport cart and transmission device thereof |
| CN111517047A (en) * | 2019-02-03 | 2020-08-11 | 北京京东乾石科技有限公司 | Rail system and its steering rail |
| CN109969663A (en) * | 2019-03-12 | 2019-07-05 | 苏州得尔达国际物流有限公司 | A kind of climbing robot and its mating shelf for monitoring |
| WO2020215365A1 (en) * | 2019-04-22 | 2020-10-29 | 中国科学院沈阳自动化研究所 | Transfer platform for storage |
| CN111392298A (en) * | 2019-08-29 | 2020-07-10 | 杭州慧盈智能科技有限公司 | Goods-shelf-climbing robot and working method thereof |
| CN111392298B (en) * | 2019-08-29 | 2021-10-19 | 杭州慧盈智能科技有限公司 | Goods-shelf-climbing robot |
| CN113436463A (en) * | 2021-06-28 | 2021-09-24 | 江苏智库智能科技有限公司 | 5G-based four-way shuttle vehicle multi-vehicle scheduling method |
| CN113436463B (en) * | 2021-06-28 | 2022-05-20 | 江苏智库智能科技有限公司 | 5G-based four-way shuttle vehicle multi-vehicle scheduling method |
| CN113666039A (en) * | 2021-07-30 | 2021-11-19 | 梁冬敏 | Shuttle formula storage free climbing commodity circulation car |
| CN113859841A (en) * | 2021-11-03 | 2021-12-31 | 湖南生物机电职业技术学院 | Multifunctional intelligent loading, unloading and conveying equipment |
| CN117509062A (en) * | 2024-01-02 | 2024-02-06 | 中国科学技术大学 | Track change mechanism and track conveyer in many planes |
| CN117509062B (en) * | 2024-01-02 | 2024-05-17 | 中国科学技术大学 | Rail transport device |
| CN118270432A (en) * | 2024-05-10 | 2024-07-02 | 佛山市名杰纺织有限公司 | Warehouse system is stored to pedestal class |
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