CN108016804B - Unmanned storage logistics system capable of achieving full-automatic loading through unmanned aerial vehicle - Google Patents
Unmanned storage logistics system capable of achieving full-automatic loading through unmanned aerial vehicle Download PDFInfo
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- CN108016804B CN108016804B CN201711334777.1A CN201711334777A CN108016804B CN 108016804 B CN108016804 B CN 108016804B CN 201711334777 A CN201711334777 A CN 201711334777A CN 108016804 B CN108016804 B CN 108016804B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
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Abstract
The invention relates to an unmanned warehousing logistics system capable of achieving full-automatic loading through an unmanned aerial vehicle. The invention can solve the problems that in the existing storage logistics, workers need to manually load goods, when loading goods, the workers manually move the goods to a specified position, when carrying goods, due to small area of a warehouse, the goods are easily knocked by the workers when carrying goods by means of a cart, meanwhile, when turning, the cart can not be bent due to insufficient area, the later work is influenced, and the like, can realize the function of automatic loading goods in the warehouse, can automatically load goods without manual operation, ensures the safety of the workers, automatically cleans obstacles, automatically turns in situ, automatically limits the position when ascending and descending, and simultaneously, automatically adjusts so that the invention is not influenced by ascending and descending, and has the advantages of simple operation, low labor intensity, high working efficiency and the like.
Description
Technical Field
The invention relates to the technical field of unmanned warehouse logistics, in particular to an unmanned warehouse logistics system capable of achieving full-automatic loading through an unmanned aerial vehicle.
Background
Along with the continuous development of Chinese science and technology, online shopping is an indispensable living demand of young people in a new era, so the express logistics industry also develops at a high speed, along with the continuous rising of logistics labor cost in recent two years, unmanned aerial vehicle automatic transportation is the research direction of various large logistics express companies, many large logistics express companies establish unmanned cabins with full-automatic operation of unmanned aerial vehicles, the real unmanned aerial vehicle full-automatic unmanned warehouse logistics operation, called as unmanned warehouse logistics for short, also called as intelligent logistics, but the current warehouse logistics need workers to respectively load, stack and stick bar codes to goods, the process is complicated and tedious, when loading goods, the workers need to put the goods to the designated position by means of a ladder, when stacking goods, the workers can cause potential safety hazards due to the unstable ladder, because the goods shape differs, the efficiency when staff carries can also be different, and simultaneously, the goods are piled irregularly by the manual work, the space that leads to storing is not enough, when pasting the bar code, the staff needs self rotation direction just can paste the positive bar code on the goods, because the shape of goods differs, the staff pastes the wrong position because of not having fixed goods when pasting the bar code, during the transport, because the storehouse area is not big, the staff bumps into the goods easily with the help of the shallow fortune goods, and simultaneously, probably can not make the shallow turn round because of the area is not enough when turning and has influenced later stage work, when going uphill downhill path, the shallow has influenced the work of device because the slope has inclined, and simultaneously, when working on the slope, the staff needs the staff to grab the shallow for a long time steadily, the staff probably causes the potential safety hazard because of long-term work of bowing, the time that manual work process consumes is long, intensity of labour.
Disclosure of Invention
In order to solve the problems, the invention provides an unmanned warehouse logistics system capable of realizing full-automatic loading by an unmanned aerial vehicle, which can solve the problems that in the existing warehouse logistics, workers need to manually load goods, the process is complicated and tedious, when loading goods, the workers manually move the goods to a specified position, the efficiency is not high, when carrying goods, the workers easily bump the goods when transporting goods by virtue of a cart due to small area of a warehouse, meanwhile, the later work is influenced due to the fact that the cart cannot turn due to insufficient area when turning the goods, when ascending and descending the slope, the cart influences the work of the device due to inclination, meanwhile, when working on the slope, the workers need to stably grab the cart for a long time, the potential safety hazard is possibly caused due to long-term bending work of the workers, the time consumed in the manual work process is long, the labor intensity is high, the efficiency is low and the like, and can realize the function of automatic loading in the warehouse, the automatic goods loading device has the advantages that the automatic goods loading is realized, the manual operation is not needed, the personnel safety is ensured, the barrier is automatically cleaned, the automatic in-situ turning is realized, the automatic limiting is realized when the goods are loaded on the uphill slope and the downhill slope, meanwhile, the automatic regulation ensures that the automatic goods loading device is not influenced by the uphill slope and the downhill slope during the working process, the consumed time is short, the operation is simple, the labor intensity is low, the working efficiency is high, and the like.
In order to achieve the purpose, the invention adopts the following technical scheme: the unmanned warehousing logistics system comprises a moving device and a loading device, wherein the moving device drives the unmanned aerial vehicle to move and clear front obstacles, the loading device drives goods to lift to a specified position, and the loading device is installed at the rear end of the moving device.
The moving device comprises an angle adjusting mechanism, a traveling mechanism and two pushing mechanisms, wherein the angle adjusting mechanism is mounted at the upper end of the traveling mechanism, the two pushing mechanisms are mounted at the front end of the traveling mechanism and are symmetrically arranged, when the moving device travels, the angle adjusting mechanism adjusts the angle to enable the loading device to be level to a horizontal plane, the traveling mechanism drives the loading device to travel and rotate, the two pushing mechanisms clean front obstacles and automatically travel, when the loading device travels uphill and downhill, the angle adjusting mechanism adjusts the angle to enable the loading device not to be influenced by the uphill and downhill during working, the traveling mechanism automatically turns the loading device in situ, and the two pushing mechanisms automatically clean the front obstacles, so that the time consumption is short, the labor intensity is reduced, and the working efficiency is improved.
The pushing mechanism comprises a straight rack, a moving gear, a moving motor, an F-shaped moving frame, a moving slider, a moving chute, a partition plate, a moving slider, a moving chute, an angle plate and an auxiliary cylinder, wherein the straight rack is arranged on the moving mechanism, the moving gear is meshed on the straight rack, the moving gear is arranged on an output shaft of the moving motor, the moving motor is arranged on the F-shaped moving frame through a motor base, the moving slider is arranged at the lower end of the F-shaped moving frame, the moving slider is connected with the moving chute in a sliding fit manner, the moving chute is arranged on the moving mechanism, the partition plate is arranged on the F-shaped moving frame, a separation groove is arranged on the partition plate, the auxiliary cylinder is arranged at the rear end of the separation groove through a pin shaft, the top end of the auxiliary cylinder is arranged on the angle plate through a pin shaft, the angle plate is arranged on the inner wall of the separation groove through a, the walking slider is connected with the walking chute in a sliding fit mode, the walking chute is installed on the walking mechanism, when an obstacle exists in the front, the moving motor moves in a transmission mode of a gear and a rack, the moving motor drives the F-shaped moving frame to move synchronously under the assistance of the moving slider and the moving chute, the pushing mechanism moves to the obstacle, the moving device moves forwards continuously, meanwhile, the pushing mechanism drives the obstacle to move outwards, the auxiliary cylinder drives the angle plate to adjust the angle, the obstacle can move from the side face of the walking device conveniently, the consumed time is short, the labor intensity is reduced, and the working efficiency is improved.
The goods loading device comprises a goods loading plate, two pushing mechanisms and a pushing mechanism, the goods loading plate is installed on a moving device, the two pushing mechanisms are installed on the goods loading plate and are symmetrically arranged, the two pushing mechanisms are connected through the pushing mechanism, the goods are shoveled and fixed by the two pushing mechanisms, the pushing mechanism fixes the goods secondarily, when the goods are lifted to a proper position, the pushing mechanism pushes the goods out until the goods are completely separated from the goods loading device, the two pushing mechanisms lift and carry the goods, the pushing mechanism secondarily fixes the goods, after the goods are carried to a designated position, the pushing mechanism pushes the goods away, manual carrying is not needed, the safety of personnel is ensured, the consumed time is short, the labor intensity is reduced, and the working efficiency is improved.
The pushing mechanism comprises two symmetrical chutes, two symmetrical slide bars, a pushing rack, a pushing motor, a pushing gear, a U-shaped pushing frame, a limiting chute, a limiting slide block, a driving motor, a pushing lead screw, a pushing block, a pushing shovel, a counter shovel, a moving cylinder, a pushing expansion plate and a clamping plate, wherein the two symmetrical chutes are arranged on the upper pallet plate, the symmetrical chutes are connected with the symmetrical slide bars in a sliding fit manner, the two symmetrical slide bars are arranged at the front end of the U-shaped pushing frame, the side wall of the U-shaped pushing frame is provided with the pushing motor through a base, the output shaft of the pushing motor is provided with the pushing gear, the pushing rack is meshed with the pushing gear, the pushing rack is arranged on the upper pallet plate, the lower end of the U-shaped pushing frame is provided with the driving motor through the base, the output shaft of the driving motor is connected with the pushing lead screw through a coupler, and the, the pushing device comprises a pushing screw, a pushing block, a limiting sliding block, a moving cylinder, a pushing expansion plate, a pushing motor, a U-shaped pushing frame, a pushing motor, a pushing block, a pushing shovel, a shifting cylinder, a clamping plate, a pushing motor, a shifting motor, a pushing screw rod, a pushing block, a shifting cylinder, two pushing mechanism carry out automatic lift transport to the goods, need not artifical transport, have ensured personnel's safety, weak point consuming time has reduced intensity of labour, has improved work efficiency.
As a preferred technical scheme of the invention, the angle adjusting mechanism comprises an auxiliary plate, two rectangular plates, an angle cylinder, a telescopic rod, a U-shaped auxiliary frame and four pressing branch chains, wherein the two rectangular plates are arranged at the lower end of the auxiliary plate and are symmetrically arranged, the rectangular plates are connected with the traveling mechanism through pin shafts, the angle cylinder is arranged at the front side of the lower end of the auxiliary plate through a pin shaft, the bottom end of the angle cylinder is arranged on the traveling mechanism through a pin shaft, the telescopic rods are uniformly arranged at the upper end of the auxiliary plate, the top end of the telescopic rod is arranged on the U-shaped auxiliary frame, the four pressing branch chains are uniformly arranged on the auxiliary plate, the angle cylinder adjusts the angle of the auxiliary plate, the telescopic rods play a role in shock resistance, when the loading device works, the four pressing branch chains press and fix the U-shaped auxiliary frame, when the loading device moves to a ground with an angle, the angle adjusting mechanism can ensure that the loading device is not influenced by an, the working efficiency is improved.
As a preferred technical scheme of the invention, the pressing branched chain comprises an L-shaped fixing frame, a pressing cylinder, an F-shaped fixing frame and a pressing chute, the L-shaped fixing frame is mounted on the auxiliary plate, the pressing cylinder is mounted on the L-shaped fixing frame, the top end of the pressing cylinder is mounted on the F-shaped fixing frame through a flange, the upper end of the U-shaped auxiliary frame is located in the F-shaped fixing frame, the F-shaped fixing frame is connected with the pressing chute in a sliding fit manner, the pressing chute is mounted on the L-shaped fixing frame, and the pressing cylinder drives the F-shaped fixing frame to press and fix the U-shaped auxiliary frame, so that the working efficiency is improved.
As a preferred technical scheme of the invention, the traveling mechanism comprises a U-shaped underframe, a traveling chassis, a lifting cylinder, an annular frame, an annular chute, an annular rack, a circular plate, a master gear, a lifting motor and four limiting branch chains, wherein the traveling chassis is arranged at the lower end of the U-shaped underframe, the lifting cylinder is uniformly arranged in the middle of the lower end of the U-shaped underframe, the top end of the lifting cylinder is arranged on the annular frame through a flange, the lower end of the annular frame is connected with the annular chute in a sliding fit manner, the annular chute is arranged on the circular plate, the annular rack is arranged on the outer wall of the annular frame, the master gear is meshed with the annular rack, the master gear is arranged on an output shaft of the lifting motor, the lifting motor is arranged on the circular plate through a base, the four limiting branch chains are uniformly arranged at the lower end of the U-shaped underframe, the lifting motor drives the master gear to rotate, the master gear drives the annular rack to rotate, the four limiting branched chains play a limiting role in the travelling mechanism, and the travelling mechanism performs automatic in-situ turning on the device, so that the labor intensity is reduced, and the working efficiency is improved.
According to a preferred technical scheme, the limiting branched chain comprises a limiting expansion plate, an adjusting cylinder, a rubber block and a limiting cylinder, the limiting expansion plate is mounted on a U-shaped underframe through a hinge, the adjusting cylinder is mounted at the upper end of the limiting expansion plate, the top end of the adjusting cylinder is mounted at the lower end of the limiting expansion plate through a flange, the rubber block is mounted at the lower end of the limiting expansion plate, the limiting cylinder is mounted on the side wall of the limiting expansion plate through a pin shaft, the bottom end of the limiting cylinder is mounted on the U-shaped underframe through a pin shaft, the adjusting cylinder drives the limiting expansion plate to contract, the limiting cylinder drives the limiting expansion plate to perform angle adjustment so that the limiting branched chain limits the walking chassis, friction force is increased by the rubber block, and working efficiency is improved.
As a preferred technical scheme of the invention, the propulsion mechanism comprises a two-way expansion plate, a thick plate, a propulsion cylinder, a propulsion plate, a longitudinal cylinder and two matching branch chains, the two-way expansion plate is arranged between the two propulsion mechanisms, the thick plate is arranged at the front end of the two-way expansion plate, the thick plate is arranged on the goods loading plate, the propulsion cylinder is uniformly arranged at the rear end of the two-way expansion plate, the top end of the propulsion cylinder is arranged on the propulsion plate through a flange, the two matching branch chains are arranged at the two ends of the propulsion plate and are symmetrically arranged, the longitudinal cylinder is arranged on the propulsion plate, the top end of the longitudinal cylinder is arranged on the matching branch chains through a flange, the propulsion cylinder drives the propulsion plate to move to a proper position, the longitudinal cylinder drives the matching branch chains to secondarily fix the goods, the two-way expansion plate plays a role of connecting and supporting, the propulsion mechanism secondarily fixes the, after the goods are carried to the designated position, the pushing mechanism pushes the goods away, time consumption is short, labor intensity is reduced, and working efficiency is improved.
As a preferred technical scheme of the invention, the matching branched chain comprises an extension plate, an L-shaped clamping plate, a sliding cylinder and a sliding wheel, the extension plate is connected with the pushing plate in a sliding fit manner, a square groove is formed in the extension plate, the sliding cylinder is installed on the extension plate, the top end of the sliding cylinder is installed on the L-shaped clamping plate through a flange, an auxiliary groove is formed in the L-shaped clamping plate, the sliding wheel is evenly installed in the auxiliary groove through a pin shaft, the L-shaped clamping plate is connected with the square groove in a sliding fit manner, when the L-shaped clamping plate needs to be fixed, the sliding cylinder drives the L-shaped clamping plate to move backwards, the two longitudinal cylinders drive the two extension plates to adjust so that the two L-shaped clamping plates carry out secondary fixing on goods, when the goods need to be pushed away, the sliding cylinder drives the L-shaped clamping plate to move forwards, the longitudinal cylinder on the upper side extension plate drives the upper side extension plate to adjust upwards, the propulsion cylinder drives the matching branched chains to be adjusted forwards until the two matching branched chains are far away from the goods, automatic fixing and pushing are achieved, time consumption is short, labor intensity is reduced, and working efficiency is improved.
When the device works, firstly, the moving device drives the device to move to a proper position, secondly, two pushing mechanisms of the loading device start to work, pushing motors on the pushing mechanisms move in a gear and rack transmission mode, the pushing motors drive the U-shaped pushing frame to move under the assistance of two symmetrical sliding grooves and two symmetrical sliding rods, the driving motors drive the pushing screws to rotate, pushing blocks lift on the pushing screws in a threaded transmission mode, the pushing blocks drive the pushing shovels to lift after shoveling the goods, a moving cylinder drives a clamping plate to fix two sides of the goods, the pushing mechanisms start to work, pushing cylinders on the pushing mechanisms drive the pushing plates to move to a proper position, a longitudinal cylinder drives a matching branched chain to secondarily fix the goods, two-way telescopic plates play a role of connecting and supporting, the matching branched chain starts to work, when the goods need to be fixed, the sliding cylinder drives the L-shaped clamp plate to move backwards, the two longitudinal cylinders drive the two extension plates to adjust so that the two L-shaped clamp plates fix the goods for the second time, when the goods need to be pushed away, the sliding cylinder drives the L-shaped clamp plate to move forwards, the upper longitudinal cylinder drives the upper extension plate to adjust upwards, the sliding wheel reduces the friction force between the goods and the L-shaped clamp plate, the sliding cylinder drives the matching branch chains to adjust forwards until the two matching branch chains are far away from the goods, in the second step, the traveling mechanism on the moving device starts to work, the lifting motor on the traveling mechanism drives the main gear to rotate, the main gear drives the ring rack to rotate, the ring rack drives the ring frame to rotate on the ring chute, so that the invention can rotate in situ, the four limiting branch chains play a limiting role on the traveling mechanism, and then the limiting branch chains start to work, the adjusting cylinders on the limiting branch chains drive the limiting expansion plates to contract, the limiting cylinder drives the limiting expansion plate to carry out angle adjustment so that the limiting branched chain limits the walking chassis, the rubber block increases friction force, then the angle adjusting mechanism starts working, the angle cylinder carries out angle adjustment on the auxiliary plate, the telescopic rod plays a role in shock resistance, when the loading device works, the four pressing branched chains press and fix the U-shaped auxiliary frame, the pressing branched chains start working, the pressing cylinder drives the F-shaped fixing frame to press and fix the U-shaped auxiliary frame, then the two pushing mechanisms start working, when an obstacle exists in the front, the moving motor moves in a gear and rack transmission mode, the moving motor drives the F-shaped moving frame to move synchronously under the assistance of the moving slide block and the moving chute, the pushing mechanism moves to the obstacle, the moving device continues moving forwards, meanwhile, the pushing mechanism drives the obstacle to move outwards, the auxiliary cylinder drives the angle plate to carry out angle adjustment, and the obstacle can move from the side face of the loading device conveniently, the function of automatic loading in the warehouse can be realized.
The invention has the beneficial effects that:
1. the invention can solve the problems that the prior warehouse logistics requires workers to manually load goods, the process is complicated and tedious, when the goods are loaded, the workers manually move the goods to the designated position, the efficiency is not high, when the goods are transported, the goods are easily knocked by the workers when the goods are transported by virtue of the cart due to small area, meanwhile, the latter work is influenced because the cart cannot turn due to insufficient area when the goods are turned, when the goods are going uphill and downhill, the work of the device is influenced because the cart inclines, meanwhile, the workers need to stably grab the cart for a long time when the goods are operated on the slope, the potential safety hazard is possibly caused by long-term stoop work of the workers, the time consumed in the manual work process is long, the labor intensity is high, the efficiency is low and the like, the function of automatically loading the goods in the warehouse can be realized, the goods are automatically loaded without manual operation, the safety of the workers are ensured, and the obstacles are automatically, the automatic in-situ turning device has the advantages that the automatic in-situ turning device automatically limits when going up and down slopes, is free from the influence of going up and down slopes during working due to automatic adjustment, is short in consumed time, and has the advantages of simplicity in operation, low labor intensity, high working efficiency and the like;
2. the automatic angle adjusting mechanism is provided with the moving device, the automatic angle adjusting mechanism can automatically walk, when the vehicle runs on an uphill slope and runs off a downhill slope, so that the vehicle is not influenced by the uphill slope and the downhill slope when the vehicle runs on the uphill slope;
3. the goods loading device is arranged, the two pushing mechanisms lift and carry goods, the pushing mechanisms secondarily fix the goods, and after the goods are carried to the designated positions, the pushing mechanisms push the goods out, manual carrying is not needed, the safety of personnel is ensured, the consumed time is short, the labor intensity is reduced, and the working efficiency is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a first structure of the mobile device of the present invention;
FIG. 3 is a schematic diagram of a second structure of the mobile device of the present invention;
FIG. 4 is a schematic view of the present invention;
FIG. 5 is a schematic view of the arrangement between the pushing mechanism and the upper cargo plate according to the present invention;
FIG. 6 is a schematic view of the propulsion mechanism of the present invention;
fig. 7 is an enlarged view of the invention in fig. 2 taken along line X.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
As shown in fig. 1 to 7, in order to achieve the above object, the present invention adopts the following technical solutions: an unmanned warehousing logistics system capable of achieving full-automatic loading through an unmanned aerial vehicle comprises a moving device 1 and a loading device 4, wherein the moving device 1 drives the unmanned warehousing logistics system to move and clear front obstacles, the loading device 4 drives goods to lift to a specified position, and the loading device 4 is installed at the rear end of the moving device 1.
The moving device 1 comprises an angle adjusting mechanism 11, a traveling mechanism 12 and two pushing mechanisms 14, the angle adjusting mechanism 11 is mounted at the upper end of the traveling mechanism 12, the two pushing mechanisms 14 are mounted at the front end of the traveling mechanism 12, the two pushing mechanisms 14 are symmetrically arranged, when the moving device travels, the angle adjusting mechanism 11 adjusts the angle to enable the goods loading device 4 to be level with the horizontal plane, the traveling mechanism 12 drives the moving device to travel and rotate, the two pushing mechanisms 14 clean front obstacles and automatically travel, when the moving device travels uphill and downhill, the angle adjusting mechanism 11 adjusts to enable the moving device not to be affected by the uphill and downhill when the moving device travels, the traveling mechanism 12 automatically turns the moving device in situ, and the two pushing mechanisms 14 automatically clean the front obstacles, so that the time consumption is short, the labor intensity is reduced, and the working efficiency is improved.
The pushing mechanism 14 comprises a straight rack 141, a moving gear 142, a moving motor 143, an F-shaped moving frame 144, a moving slider 145, a moving chute 146, a partition plate 149, a moving slider 147, a moving chute 148, an angle plate 150 and an auxiliary cylinder 151, wherein the straight rack 141 is installed on the traveling mechanism 12, the moving gear 142 is engaged on the straight rack 141, the moving gear 142 is installed on an output shaft of the moving motor 143, the moving motor 143 is installed on the F-shaped moving frame 144 through a motor base, the moving slider 145 is installed at the lower end of the F-shaped moving frame 144, the moving slider 145 is connected with the moving chute 146 in a sliding fit manner, the moving chute 146 is installed on the traveling mechanism 12, the partition plate 149 is installed on the F-shaped moving frame 144, an engaging groove is formed in the partition plate 149, the auxiliary cylinder 151 is installed at the rear end of the engaging groove through a pin shaft, the top end of the auxiliary cylinder 151 is installed on the angle plate, the angle plate 150 is mounted on the inner wall of the clutch groove through a pin shaft, the side wall of the partition plate 149 is provided with a walking slider 147, the walking slider 147 is connected with a walking chute 148 in a sliding fit mode, the walking chute 148 is mounted on the walking mechanism 12, when an obstacle exists in the front, the moving motor 143 moves in a gear and rack transmission mode, the moving motor 143 drives the F-shaped moving frame 144 to synchronously move under the assistance of the moving slider 145 and the moving chute 146, the pushing mechanism 14 moves to the obstacle, the moving device 1 moves forwards continuously, meanwhile, the pushing mechanism 14 drives the obstacle to move outwards, the auxiliary cylinder 151 drives the angle plate 150 to perform angle adjustment, so that the obstacle can move from the side face of the angle plate adjusting device conveniently, time consumption is short, labor intensity is reduced, and working efficiency is improved.
The loading device 4 comprises a loading plate 44, two pushing mechanisms 41 and a pushing mechanism 43, the loading plate 44 is installed on the moving device 1, the two pushing mechanisms 41 are installed on the loading plate 44 and are symmetrically arranged, the two pushing mechanisms 41 are connected through the pushing mechanism 43, the two pushing mechanisms 41 scoop and fix the goods, the pushing mechanism 43 secondarily fixes the goods, when the goods are lifted to a proper position, the pushing mechanism 43 pushes the goods out until the goods are completely separated from the loading device 4, the two pushing mechanisms 41 lift and carry the goods, the pushing mechanism 43 secondarily fixes the goods, after the goods are carried to a specified position, the pushing mechanism 43 pushes the goods out, manual carrying is not needed, personnel safety is ensured, time consumption is short, labor intensity is reduced, and working efficiency is improved.
The pushing mechanism 41 comprises two symmetrical chutes 411, two symmetrical slide bars 412, a pushing rack 423, a pushing motor 424, a pushing gear 425, a U-shaped pushing frame 413, a limiting chute 414, a limiting slider 415, a driving motor 416, a pushing lead screw 417, a pushing block 426, a pushing shovel 418, a counter shovel 419, a moving cylinder 420, a pushing expansion plate 421 and a clamping plate 422, wherein the two symmetrical chutes 411 are installed on the upper cargo plate 44, the symmetrical chutes 411 are connected with the symmetrical slide bars 412 in a sliding fit manner, the two symmetrical slide bars 412 are installed at the front end of the U-shaped pushing frame 413, the side wall of the U-shaped pushing frame 413 is provided with the pushing motor 424 through a base, an output shaft of the pushing motor 424 is provided with the pushing gear 425, the pushing gear 425 is engaged with the pushing rack 423, the pushing rack 423 is installed on the upper cargo plate 44, the lower end of the U-shaped pushing frame 413 is provided with the driving motor 416 through the base, an output shaft of the driving motor 416 is, the upper end of a push screw 417 is mounted on a U-shaped push frame 413 through a bearing, a push block 426 is arranged on the push screw 417, a limit slider 415 is mounted at the front end of the push block 426, the limit slider 415 is connected with a limit sliding groove 414 in a sliding fit manner, the limit sliding groove 414 is mounted on the U-shaped push frame 413, a push shovel 418 is mounted at the rear end of the push block 426, a counter shovel 419 is mounted at the inner side of the push shovel 418, a moving cylinder 420 is mounted at the outer side of the push shovel 418, the top end of the moving cylinder 420 is mounted on a push expansion plate 421 through a flange, a clamping plate 422 is mounted at the outer side of the push expansion plate 421, a push motor 424 moves through a gear and rack transmission manner, the push motor 424 drives the U-shaped push frame 413 to move under the assistance of two symmetrical sliding grooves 411 and two symmetrical sliding rods 412, the push screw 417 is driven to rotate by the motor 416, the push block 426 goes up and down on, ejector pad 426 drives and promotes shovel 418 and goes up and down after shoveling the goods, and moving cylinder 420 drives and presss from both sides and gets board 422 and fix the goods both sides, and two pushing mechanism 41 carry out automatic lift transport to the goods, need not artifical transport, have ensured personnel's safety, and weak point consuming time has reduced intensity of labour, has improved work efficiency.
The angle adjusting mechanism 11 comprises an auxiliary board 111, two rectangular boards 112, an angle cylinder 113, an expansion link 114, a U-shaped auxiliary frame 115 and four pressing branched chains 116, wherein the two rectangular boards 112 are installed at the lower end of the auxiliary board 111, the two rectangular boards 112 are symmetrically arranged, the rectangular boards 112 are connected with the traveling mechanism 12 through pin shafts, the angle cylinder 113 is installed at the front side of the lower end of the auxiliary board 111 through pin shafts, the bottom end of the angle cylinder 113 is installed on the traveling mechanism 12 through pin shafts, the expansion links 114 are evenly installed at the upper end of the auxiliary board 111, the top end of the expansion link 114 is installed on the U-shaped auxiliary frame 115, the four pressing branched chains 116 are evenly installed on the auxiliary board 111, the angle cylinder 113 adjusts the angle of the auxiliary board 111, the expansion links 114 play a role in shock resistance, when the loading device 4 works, the four pressing branched chains 116 press and fix the U-shaped auxiliary frame 115, when the, the angle adjusting mechanism 11 can ensure that the invention is not influenced by ascending and descending during working, thereby improving the working efficiency.
The pressing branched chain 116 comprises an L-shaped fixing frame 1161, a pressing cylinder 1162, an F-shaped fixing frame 1163 and a pressing sliding groove 1165, the L-shaped fixing frame 1161 is installed on the auxiliary board 111, the pressing cylinder 1162 is installed on the L-shaped fixing frame 1161, the top end of the pressing cylinder 1162 is installed on the F-shaped fixing frame 1163 through a flange, the upper end of the U-shaped auxiliary frame 115 is located in the F-shaped fixing frame 1163, the F-shaped fixing frame 1163 is connected with the pressing sliding groove 1165 in a sliding fit mode, the pressing sliding groove 1165 is installed on the L-shaped fixing frame 1161, the pressing cylinder 1162 drives the F-shaped fixing frame 1163 to press and fix the U-shaped auxiliary frame 115, and working efficiency is improved.
The traveling mechanism 12 comprises a U-shaped underframe 128, a traveling chassis 121, a lifting cylinder 126, an annular frame 127, a ring chute 130, a ring rack 131, a circular plate 132, a main gear 133, a lifting motor 134 and four limiting branched chains 135, wherein the traveling chassis 121 is installed at the lower end of the U-shaped underframe 128, the lifting cylinder 126 is uniformly installed in the middle of the lower end of the U-shaped underframe 128, the top end of the lifting cylinder 126 is installed on the annular frame 127 through a flange, the lower end of the annular frame 127 is connected with the ring chute 130 in a sliding fit manner, the ring chute 130 is installed on the circular plate 132, a ring rack 131 is installed on the outer wall of the annular frame 127, the main gear 133 is meshed with the ring rack 131, the main gear 133 is installed on an output shaft of the lifting motor 134, the lifting motor 134 is installed on the circular plate 132 through a base, the four limiting branched chains 135 are uniformly arranged at the lower end of the U-shaped underframe, the main gear 133 drives the ring rack 131 to rotate, the ring rack 131 drives the ring frame 127 to rotate on the ring sliding groove 130, so that the invention can rotate in situ, the four limiting branched chains 135 play a limiting role on the traveling mechanism 12, and the traveling mechanism 12 performs automatic in-situ turning on the invention, thereby reducing the labor intensity and improving the working efficiency.
The limiting branched chain 135 comprises a limiting telescopic plate 1351, an adjusting cylinder 1352, a rubber block 1353 and a limiting cylinder 1354, the limiting telescopic plate 1351 is mounted on the U-shaped underframe 128 through a hinge, the adjusting cylinder 1352 is mounted at the upper end of the limiting telescopic plate 1351, the top end of the adjusting cylinder 1352 is mounted at the lower end of the limiting telescopic plate 1351 through a flange, the rubber block 1353 is mounted at the lower end of the limiting telescopic plate 1351, the limiting cylinder 1354 is mounted on the side wall of the limiting telescopic plate 1351 through a pin shaft, the bottom end of the limiting cylinder 1354 is mounted on the U-shaped underframe 128 through a pin shaft, the adjusting cylinder 1352 drives the limiting telescopic plate 1351 to contract, the limiting cylinder 1354 drives the limiting telescopic plate 1351 to perform angle adjustment so that the limiting branched chain 135 limits the walking chassis 121, the rubber block 1353 increases friction force, and improves working efficiency.
The pushing mechanism 43 comprises a bidirectional expansion plate 431, thick plates 432, a pushing cylinder 433, a pushing plate 434, a longitudinal cylinder 436 and two matching branched chains 435, the bidirectional expansion plate 431 is installed between the two pushing mechanisms 41, the thick plates 432 are installed at the front ends of the bidirectional expansion plate 431, the thick plates 432 are installed on the upper cargo plate 44, the pushing cylinder 433 is evenly installed at the rear ends of the bidirectional expansion plate 431, the top end of the pushing cylinder 433 is installed on the pushing plate 434 through a flange, the two matching branched chains 435 are installed at the two ends of the pushing plate 434 and are symmetrically arranged, the longitudinal cylinder 436 is installed on the pushing plate 434, the top end of the longitudinal cylinder 436 is installed on the matching branched chains 435 through a flange, the pushing cylinder 433 drives the pushing plate 434 to move to a proper position, the longitudinal cylinder 436 drives the matching branched chains 435 to secondarily fix the cargo, and the bidirectional expansion plate 431 plays a role in connection and support, advancing mechanism 43 carries out the secondary to the goods and fixes, carries behind the assigned position, and advancing mechanism 43 pushes away the goods, and is consuming time short, has reduced intensity of labour, has improved work efficiency.
The matching branched chain 435 comprises an extension plate 4351, an L-shaped clamping plate 4352, a sliding cylinder 4353 and a sliding wheel 4354, the extension plate 4351 is connected with the push plate 434 in a sliding fit manner, a square groove is formed in the extension plate 4351, the sliding cylinder 4353 is installed on the extension plate 4351, the top end of the sliding cylinder 4353 is installed on the L-shaped clamping plate 4352 through a flange, an auxiliary groove is formed in the L-shaped clamping plate 4352, the sliding wheel 4354 is uniformly installed in the auxiliary groove through a pin shaft, the L-shaped clamping plate 4352 is connected with the square groove in a sliding fit manner, when the L-shaped clamping plate 4352 needs to be fixed, the sliding cylinder 4353 drives the L-shaped clamping plate 4352 to move backwards, the two longitudinal cylinders drive the two extension plates 4351 to adjust so that the two L-shaped clamping plates 4352 fix the goods for the second time, when the goods needs to be pushed away, the sliding cylinder 4353 drives the L-shaped clamping plate 4352 to move forwards, the upper longitudinal cylinder 436 drives the upper extension plate 4351 to adjust upwards, and the sliding wheel 4354 reduces the, the propulsion cylinder 433 drives the matching branched chains 435 to adjust forwards until the two matching branched chains 435 are far away from the goods, automatic fixing and pushing are achieved, time consumption is short, labor intensity is reduced, and working efficiency is improved.
When the device works, firstly, the moving device 1 drives the device to move to a proper position, secondly, two pushing mechanisms 41 of the loading device 4 start to work, pushing motors 424 on the pushing mechanisms 41 move through a gear and rack transmission mode, the pushing motors 424 drive U-shaped pushing frames 413 to move under the assistance of two symmetrical sliding grooves 411 and two symmetrical sliding rods 412, a motor 416 is driven to drive a pushing screw 417 to rotate, a pushing block 426 lifts on the pushing screw 417 through a threaded transmission mode, the pushing block 426 drives the pushing shovel 418 to lift after shoveling goods, a moving cylinder 420 drives a clamping plate 422 to fix two sides of the goods, a pushing mechanism 43 starts to work, a pushing cylinder 433 on the pushing mechanism 43 drives a pushing plate 434 to move to a proper position, a longitudinal cylinder 436 drives a matching branched chain 435 to fix the goods for the second time, and a two-way telescopic plate 431 plays a role in connecting and supporting, the matching branch 435 starts to work, when fixing is needed, the sliding cylinder 4353 drives the L-shaped clamp 4352 to move backwards, the two longitudinal cylinders 436 drives the two extending plates 4351 to adjust so that the two L-shaped clamps 4352 fix the goods for the second time, when pushing away the goods is needed, the sliding cylinder 4353 drives the L-shaped clamp 4352 to move forwards, the upper longitudinal cylinder 436 drives the upper extending plate 4351 to adjust upwards, the sliding wheel 4354 reduces the friction between the goods and the L-shaped clamp 4352, the pushing cylinder 433 drives the matching branch 435 to adjust forwards until the two matching branches 435 are far away from the goods, and second, the traveling mechanism 12 on the moving device 1 starts to work, the lifting motor 134 on the traveling mechanism 12 drives the main gear 133 to rotate, the main gear 133 drives the ring rack 131 to rotate, the ring rack 131 drives the ring frame 127 to rotate on the ring chute 130 so that the present invention can rotate in situ, the four limiting branched chains 135 play a limiting role in the traveling mechanism 12, then the limiting branched chains 135 start to work, the adjusting cylinders 1352 on the limiting branched chains 135 drive the limiting telescopic plates 1351 to contract, the limiting cylinders 1354 drive the limiting telescopic plates 1351 to perform angle adjustment so that the limiting branched chains 135 limit the traveling chassis 121, the rubber blocks 1353 increase friction force, then the angle adjusting mechanisms 11 start to work, the angle cylinders 113 perform angle adjustment on the auxiliary plates 111, the telescopic rods 114 play a role in shock prevention, when the loading device 4 works, the four pressing branched chains 116 press and fix the U-shaped auxiliary frames 115, the pressing branched chains 116 start to work, the pressing cylinders 1162 drive the F-shaped fixing frames 1163 to press and fix the U-shaped auxiliary frames 115, then the two pushing mechanisms 14 start to work, when there is an obstacle on the front side, the moving motor 143 moves through a transmission mode of a gear and a rack, the moving motor 143 drives the F-shaped moving frame 144 to move synchronously under the assistance of the moving slide block 145 and the moving slide groove 146, the pushing mechanism 14 moves to the position of the obstacle, the moving device 1 moves forwards continuously, meanwhile, the pushing mechanism 14 drives the obstacle to move outwards, the auxiliary cylinder 151 drives the angle plate 150 to adjust the angle so that the obstacle can move from the side of the invention conveniently, the function of automatic loading in the warehouse is realized, the problem that the existing warehouse logistics needs workers to manually load the goods, the process is complex and tedious is solved, when loading goods, the workers manually move the goods to the designated position, the efficiency is not high, when transporting goods, because the area of the warehouse is not large, the workers easily bump the goods when transporting goods by means of the cart, meanwhile, when turning, the cart cannot be bent due to insufficient area, the later-stage work is influenced, when going uphill and downhill, the work of the cart is influenced by the inclination, meanwhile, when the trolley works on a slope, a person is required to stably hold the trolley for a long time, potential safety hazards can be caused due to long-term stooping work of the person, and the problems of long time consumption, high labor intensity, low efficiency and the like in the manual working process are solved, so that the aim is fulfilled.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An unmanned warehousing logistics system capable of achieving full-automatic loading through an unmanned aerial vehicle comprises a moving device (1) and a loading device (4), and is characterized in that the loading device (4) is installed at the rear end of the moving device (1);
the moving device (1) comprises an angle adjusting mechanism (11), a traveling mechanism (12) and two pushing mechanisms (14), wherein the angle adjusting mechanism (11) is installed at the upper end of the traveling mechanism (12), the two pushing mechanisms (14) are installed at the front end of the traveling mechanism (12), and the two pushing mechanisms (14) are symmetrically arranged;
the goods loading device (4) comprises a goods loading plate (44), two pushing mechanisms (41) and a pushing mechanism (43), wherein the goods loading plate (44) is installed on the moving device (1), the two pushing mechanisms (41) are installed on the goods loading plate (44), the two pushing mechanisms (41) are symmetrically arranged, and the two pushing mechanisms (41) are connected through the pushing mechanism (43);
the pushing mechanism (41) comprises two symmetrical sliding grooves (411), two symmetrical sliding rods (412), a pushing rack (423), a pushing motor (424), a pushing gear (425), a U-shaped pushing frame (413), a limiting sliding groove (414), a limiting sliding block (415), a driving motor (416), a pushing screw rod (417), a pushing block (426), a pushing shovel (418), a counter shovel (419), a moving cylinder (420), a pushing expansion plate (421) and a clamping plate (422), wherein the two symmetrical sliding grooves (411) are arranged on the upper goods plate (44), the symmetrical sliding grooves (411) are connected with the symmetrical sliding rods (412) in a sliding fit mode, the two symmetrical sliding rods (412) are arranged at the front end of the U-shaped pushing frame (413), the pushing motor (424) is arranged on the side wall of the U-shaped pushing frame (413) through a base, and the pushing gear (425) is arranged on an output shaft of the pushing motor (424), a pushing rack (423) is meshed on a pushing gear (425), the pushing rack (423) is installed on an upper pallet (44), a driving motor (416) is installed at the lower end of a U-shaped pushing frame (413) through a base, an output shaft of the driving motor (416) is connected with a pushing lead screw (417) through a coupler, the upper end of the pushing lead screw (417) is installed on the U-shaped pushing frame (413) through a bearing, a pushing block (426) is arranged on the pushing lead screw (417), a limiting slide block (415) is installed at the front end of the pushing block (426), the limiting slide block (415) is connected with a limiting slide groove (414) in a sliding fit manner, the limiting slide groove (414) is installed on the U-shaped pushing frame (413), a pushing shovel (418) is installed at the rear end of the pushing block (426), a counter shovel (419) is installed on the inner side of the pushing shovel (418), a moving cylinder (420) is installed on the outer side of the pushing shovel (418), and the top end of the moving cylinder, a clamping plate (422) is arranged on the outer side of the push expansion plate (421);
the traveling mechanism (12) comprises a U-shaped underframe (128), a traveling chassis (121), a lifting cylinder (126), an annular frame (127), a ring sliding chute (130), a ring rack (131), a circular plate (132), a main gear (133), a lifting motor (134) and four limiting branched chains (135), wherein the traveling chassis (121) is installed at the lower end of the U-shaped underframe (128), the lifting cylinder (126) is evenly installed in the middle of the lower end of the U-shaped underframe (128), the top end of the lifting cylinder (126) is installed on the annular frame (127) through a flange, the lower end of the annular frame (127) is connected with the ring sliding chute (130) in a sliding fit manner, the ring sliding chute (130) is installed on the circular plate (132), the annular rack (131) is installed on the outer wall of the annular frame (127), the main gear (133) is meshed with the ring rack (131), and the main gear (133) is installed on an output shaft of the, the lifting motor (134) is arranged on the circular plate (132) through a base, and four limiting branched chains (135) are uniformly arranged at the lower end of the U-shaped underframe (128).
2. The unmanned warehouse logistics system of claim 1, wherein the unmanned aerial vehicle is capable of full-automatically loading goods, and the unmanned aerial vehicle comprises: the angle adjusting mechanism (11) comprises an auxiliary plate (111), two rectangular plates (112), an angle cylinder (113), an expansion link (114), a U-shaped auxiliary frame (115) and four pressing branched chains (116), wherein the two rectangular plates (112) are installed at the lower end of the auxiliary plate (111), the two rectangular plates (112) are symmetrically arranged, the rectangular plates (112) are connected with the traveling mechanism (12) through pin shafts, the angle cylinder (113) is installed on the front side of the lower end of the auxiliary plate (111) through the pin shafts, the bottom end of the angle cylinder (113) is installed on the traveling mechanism (12) through the pin shafts, the expansion link (114) is evenly installed at the upper end of the auxiliary plate (111), the top end of the expansion link (114) is installed on the U-shaped auxiliary frame (115), and the four pressing branched chains (116) are evenly installed on the auxiliary plate;
press branch chain (116) including L type solid frame (1161), press cylinder (1162), F type solid frame (1163) and press spout (1165), L type solid frame (1161) is installed on helping board (111), install on L type solid frame (1161) and press cylinder (1162), press the top of cylinder (1162) to pass through flange mounting on F type solid frame (1163), and the upper end of U type auxiliary frame (115) is located F type solid frame (1163), F type solid frame (1163) link to each other with pressing spout (1165) through sliding fit's mode, press spout (1165) and install on L type solid frame (1161).
3. The unmanned warehouse logistics system of claim 1, wherein the unmanned aerial vehicle is capable of full-automatically loading goods, and the unmanned aerial vehicle comprises: spacing branch chain (135) including spacing expansion plate (1351), adjust cylinder (1352), rubber block (1353) and spacing cylinder (1354), install on U type chassis (128) through the hinge spacing expansion plate (1351), adjust cylinder (1352) are installed to the upper end of spacing expansion plate (1351), the lower extreme in spacing expansion plate (1351) is installed through the flange in the top of adjust cylinder (1352), rubber block (1353) are installed to the lower extreme of spacing expansion plate (1351), install spacing cylinder (1354) through the round pin axle on the lateral wall of spacing expansion plate (1351), the bottom of spacing cylinder (1354) is installed on U type chassis (128) through the round pin axle.
4. The unmanned warehouse logistics system of claim 1, wherein the unmanned aerial vehicle is capable of full-automatically loading goods, and the unmanned aerial vehicle comprises: the pushing and moving mechanism (14) comprises a straight rack (141), a moving gear (142), a moving motor (143), an F-shaped moving frame (144), a moving slider (145), a moving chute (146), a partition plate (149), a moving slider (147), a moving chute (148), an angle plate (150) and an auxiliary cylinder (151), wherein the straight rack (141) is installed on the moving mechanism (12), the moving gear (142) is meshed on the straight rack (141), the moving gear (142) is installed on an output shaft of the moving motor (143), the moving motor (143) is installed on the F-shaped moving frame (144) through a motor base, the moving slider (145) is installed at the lower end of the F-shaped moving frame (144), the moving slider (145) is connected with the moving chute (146) in a sliding fit manner, the moving chute (146) is installed on the moving mechanism (12), the partition plate (149) is installed on the F-shaped moving frame (144), and a clutch groove is arranged on the partition plate (149), an auxiliary cylinder (151) is installed at the rear end of the clutch groove through a pin shaft, the top end of the auxiliary cylinder (151) is installed on the angle plate (150) through the pin shaft, the angle plate (150) is installed on the inner wall of the clutch groove through the pin shaft, a walking slider (147) is installed on the side wall of the partition plate (149), the walking slider (147) is connected with the walking chute (148) in a sliding fit mode, and the walking chute (148) is installed on the walking mechanism (12).
5. The unmanned warehouse logistics system of claim 1, wherein the unmanned aerial vehicle is capable of full-automatically loading goods, and the unmanned aerial vehicle comprises: the push mechanism (43) comprises a bidirectional expansion plate (431), a thick plate (432), a push cylinder (433), a push plate (434), a longitudinal cylinder (436) and two matching branched chains (435), the bidirectional expansion plate (431) is installed between the two push mechanisms (41), the thick plate (432) is installed at the front end of the bidirectional expansion plate (431), the thick plate (432) is installed on an upper cargo plate (44), the push cylinder (433) is evenly installed at the rear end of the bidirectional expansion plate (431), the top end of the push cylinder (433) is installed on the push plate (434) through a flange, the two matching branched chains (435) are installed at the two ends of the push plate (434), the two matching branched chains (435) are symmetrically arranged, the longitudinal cylinder (436) is installed on the push plate (434), and the top end of the longitudinal cylinder (436) is installed on the matching branched chain (435) through a flange.
6. The unmanned warehouse logistics system of claim 5, wherein the unmanned aerial vehicle is capable of full-automatically loading goods, and the unmanned aerial vehicle comprises: cooperation branched chain (435) including stretching board (4351), L type splint (4352), sliding cylinder (4353) and movable pulley (4354), stretch board (4351) and link to each other with propulsion board (434) through sliding fit's mode, and stretch and be provided with square groove on board (4351), stretch and install sliding cylinder (4353) on board (4351), the flange mounting is passed through on L type splint (4352) in the top of sliding cylinder (4353), and be provided with on L type splint (4352) and assist the groove, assist the inslot and evenly install movable pulley (4354) through the round pin axle, L type splint (4352) link to each other with square groove through sliding fit's mode.
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| CN108946567A (en) * | 2018-08-02 | 2018-12-07 | 李彦利 | A kind of fire prevention board assembly line sunning trolley lifts elevator |
| CN109018812A (en) * | 2018-08-31 | 2018-12-18 | 南京百顺储存设备有限公司 | A kind of intelligent shuttle rack and its control system for floor |
| CN109839357A (en) * | 2019-01-15 | 2019-06-04 | 南京矢航信息技术有限公司 | A kind of double spectrum imaging device based on CMOS image planes cutting techniques |
| CN112075194A (en) * | 2020-09-07 | 2020-12-15 | 魏忠群 | Weeding machine with troubleshooting device |
| CN113133617B (en) * | 2021-05-08 | 2022-08-23 | 青岛科技大学 | Automatic replenishment goods shelves of supermarket fruit vegetables |
| CN113479540B (en) * | 2021-07-15 | 2022-08-26 | 深圳市顺鹏鑫物流有限公司 | Goods taking equipment for warehousing service |
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| GB1222652A (en) * | 1967-02-16 | 1971-02-17 | Duncan Stewart Bonny Bridge Lt | Method and apparatus for stacking hexahedral members, for example bricks |
| CN1792571B (en) * | 2005-12-21 | 2010-04-14 | 缪慰时 | Caterpillar counterterror robot with remote operation |
| CN202499463U (en) * | 2012-03-16 | 2012-10-24 | 上海运斯自动化技术有限公司 | Medicine application device of automatic medicine dispenser |
| CN102963662B (en) * | 2012-11-29 | 2015-04-29 | 川山甲供应链管理股份有限公司 | Full-automatic material storage and picking system |
| CN104972458B (en) * | 2014-04-14 | 2017-03-08 | 孙德华 | Multifunctional motor-driven hydraulic robot |
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| CN105800215A (en) * | 2016-03-16 | 2016-07-27 | 云南昆船第二机械有限公司 | Intelligent sorting system for logistics |
| CN205499991U (en) * | 2016-03-29 | 2016-08-24 | 浙江厚达智能科技股份有限公司 | Automobile -used hoisting device of stack RGV |
| CN106315148A (en) * | 2016-08-31 | 2017-01-11 | 无锡锡南铸造机械股份有限公司 | Novel intelligent AGV |
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