CN108033188B - Double-stroke shuttle fork extending mechanism - Google Patents
Double-stroke shuttle fork extending mechanism Download PDFInfo
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- CN108033188B CN108033188B CN201810059094.8A CN201810059094A CN108033188B CN 108033188 B CN108033188 B CN 108033188B CN 201810059094 A CN201810059094 A CN 201810059094A CN 108033188 B CN108033188 B CN 108033188B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 16
- 229910052742 iron Inorganic materials 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction 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 double-stroke shuttle fork mechanism, which relates to the technical field of fork mechanisms, wherein a gripper mechanism is assembled on a secondary fork plate, the secondary fork plate is assembled on a primary fork plate to form a fork unit, two fork units are symmetrically assembled on two shuttle frame plates which are arranged in parallel, the bottoms of the two secondary fork plates are fixedly connected through a connecting plate, and a power mechanism is arranged on any shuttle frame plate to form the fork mechanism. The primary fork plate is driven by the racks, the transmission is stable, the secondary fork plate is driven by the conveying belts, the conveying directions of the two conveying belts are reversely arranged, the stroke of the secondary fork plate is improved to the maximum extent, and the extension speed of the secondary fork plate is increased; and the secondary fork plate is provided with the gripper mechanism, and the electric linear push rod drives the gripper to slide along the mounting groove so as to grasp goods, so that the working efficiency is improved. The structure is symmetrical, the driving mode and the transmission mode are simple and efficient, the production cost is low, the popularization, the use and the maintenance are easy, and the practicability is good.
Description
Technical Field
The invention relates to the technical field of fork extending mechanisms, in particular to a fork extending mechanism for a shuttle.
Background
With the rapid development of logistics systems, automated stereoscopic warehouses are widely used in logistics systems. In the past logistics system, the storage of stereoscopic warehouse is operated by the workman, not only requires the workman to carry out the subregion to the goods, still needs to shift the goods through the manual work, and the operating efficiency is low. In recent years, a shuttle has become a core device of a stereoscopic warehouse with the advantage of intellectualization and high efficiency of its industrial operation. The shuttle can be used for rapidly and efficiently conveying goods to the appointed place, so that the operation efficiency and the space utilization rate of the warehouse are greatly improved.
The fork extending mechanism is an important component of the shuttle, and when the shuttle reaches a specified position, goods are stored and taken by the fork extending mechanism, so that the overall dimension of the carrying equipment can be reduced, and the working range of the shuttle can be furthest improved.
Through patent search, there are the following known technical solutions:
patent 1:
application number: CN201710556574.0, filing date: 2017.07.10, authorized bulletin day: 2017.09.15 the invention discloses a clamping type intelligent electronic commerce warehouse shuttle and a control method thereof, comprising the following steps: the device comprises a pair of shuttle frames, a shuttle chassis, a travelling mechanism, a secondary fork extending mechanism, a collecting device, a bearing plate and a bearing platform. The intelligent shuttle disclosed by the invention can be accurately positioned on each layer of an automatic stereoscopic warehouse, and can flexibly store and fetch goods baskets in different storage positions, so that the maximum use efficiency of the shuttle can be brought into play, and the running stability and reliability of the shuttle are ensured.
The fork mechanism in this patent is formed in a small range, resulting in a limited operating range of the shuttle.
Patent 2:
application number: CN201410326138.0, filing date: 2014.07.09, authorized bulletin day: 2014.10.01 the invention relates to a self-propelled shuttle. The self-propelled shuttle car aims to overcome the defects of the prior art, and the running direction can be conveniently converted in the conversion of a longitudinal roadway and a transverse roadway, so that the fluidity of the shuttle car is increased, and the number of the shuttle cars required in a larger storage space is relatively small. A self-propelled shuttle vehicle, comprising: the telescopic fork, the outer frame and the internal base frame fixed in the outer frame are provided with at least two pairs of longitudinal wheels on the outer frame, wherein one pair of longitudinal wheels are longitudinal driving wheels, the longitudinal driving wheels are connected through a longitudinal driving wheel transmission shaft, at least two pairs of transverse wheels are arranged on a pair of transverse supports, one pair of transverse wheels are transverse driving wheels, the two transverse driving wheels are respectively connected with two ends of a transverse driving wheel transmission shaft, the transverse supports are fixed on a pair of cams, the two cams are connected through a cam shaft, and the cam shaft is positioned below the driving wheel transmission shaft.
The working efficiency of the gripper mechanism in the patent is too low, and the requirements of modern storage are difficult to meet.
Through the above search, the above technical scheme does not affect the novelty of the invention; and the combination of the above patent documents with each other does not destroy the inventive aspects of the present invention.
Disclosure of Invention
The invention provides a double-stroke shuttle fork extending mechanism which aims to avoid the defects of the prior art.
The invention adopts the following technical scheme for solving the technical problems: the double-stroke shuttle fork stretching mechanism is characterized in that a gripper mechanism is assembled on a secondary fork stretching plate, the secondary fork stretching plate is assembled on a primary fork stretching plate, and a sliding pair is formed between the secondary fork stretching plate and the primary fork stretching plate to form a fork stretching unit; an adjusting and limiting mechanism is arranged between the primary fork plate and the secondary fork plate and used for limiting or not limiting the relative sliding between the primary fork plate and the secondary fork plate;
the two fork stretching units are symmetrically assembled on two shuttle frame plates which are arranged in parallel and respectively form sliding pairs with the two shuttle frame plates, the bottoms of the two secondary fork stretching plates are fixedly connected through a connecting plate, and the power mechanism is arranged on any shuttle frame plate to form the fork stretching mechanism; the power mechanism is used for driving the primary fork plate to slide relative to the corresponding shuttle frame plate.
Further, each frame roller is arranged on the frame plate of the shuttle in a row along the horizontal direction, a primary fork plate roller groove is formed in the back of the primary fork plate, and the primary fork plate roller groove is matched with each frame roller to connect the primary fork plate with the frame plate of the shuttle and form a sliding pair;
the bottom of the primary fork plate is provided with a primary fork plate rack, and the primary fork plate rack is used for being meshed with the output end of the power mechanism so as to drive the primary fork plate to slide relative to the shuttle frame plate.
Further, each primary fork plate roller is arranged on the primary fork plate in a row along the horizontal direction, a secondary fork plate roller groove is formed in the back of the secondary fork plate, and is matched with each primary fork plate roller to connect the secondary fork plate with the primary fork plate and form a moving pair;
the two ends of the top of the primary fork plate are respectively provided with a belt pulley, a conveying belt is assembled on each belt pulley, two outer sides of each conveying belt are respectively provided with an iron block, and the two iron blocks are respectively attracted with or separated from a rack electromagnet correspondingly arranged on the frame plate of the shuttle car and an electromagnet correspondingly arranged on the top of the secondary fork plate so as to limit or not limit the sliding of the primary fork plate relative to the frame plate of the shuttle car and the secondary fork plate relative to the primary fork plate.
Further, the shuttle frame plate and the primary fork plate are respectively provided with a travel switch and a primary fork plate limiting block, which are respectively used for limiting the sliding travel of the primary fork plate relative to the shuttle frame plate and limiting the sliding travel of the secondary fork plate relative to the primary fork plate.
Further, the primary fork plate limiting block and the travel switch are arranged diagonally, and the two electromagnets are arranged diagonally.
Further, an output shaft of the electric linear push rod is connected with a gripper frame, a direct-current gear motor is arranged on the gripper frame, and an output shaft of the direct-current gear motor is connected with a gripper to form a gripper unit, and the direct-current gear motor is used for driving the gripper to rotate to a horizontal or vertical position;
the utility model discloses a tongs mechanism, including tongs frame, secondary fork board, tongs frame gyro wheel, two tongs units, two tongs frame gyro wheels are established to the tongs frame back, two tongs units symmetry sets up to respectively through two tongs frame gyro wheels with locate mounting groove on the secondary fork board cooperates, makes the tongs unit with the secondary fork board is connected and is formed the shifting pair, two electronic sharp push rods connect in the secondary fork board middle part constitutes tongs mechanism.
Further, two ends of the transmission shaft are respectively arranged on two shuttle frame plates through bearings, one end of the transmission shaft is connected with an output shaft of the stepping motor through a coupler, and the two primary fork plates are respectively driven to slide relative to the corresponding shuttle frame plates through two gears arranged on the transmission shaft.
The invention provides a double-stroke shuttle fork extending mechanism, which has the following beneficial effects:
1. the primary fork plate adopts rack transmission, the transmission is stable, the secondary fork plate adopts a conveyer belt transmission structure, the conveying directions of the two conveyer belts are reversely arranged, the stroke of the secondary fork plate is improved to the maximum extent, the extension speed of the secondary fork plate is increased, and the working efficiency of the secondary fork plate is improved;
2. the secondary fork plate is provided with a gripper mechanism, and the electric linear push rod drives the gripper to slide along the mounting groove so as to grasp the goods, so that the efficiency of grabbing the goods is improved;
3. the structure is symmetrical, the driving mode and the transmission mode are simple and efficient, the production cost is low, the popularization, the use and the maintenance are easy, and the practicability is good.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the bottom view of the present invention;
FIG. 3 is a schematic view of an assembled structure of the secondary fork plate and the gripper mechanism of the present invention;
FIG. 4 is a schematic front view of the primary fork plate of the present invention;
FIG. 5 is a schematic view of the back structure of the primary fork plate of the present invention;
FIG. 6 is a schematic view of the front structure of the secondary fork plate and the gripper mechanism of the present invention;
FIG. 7 is a schematic view of the back structure of the secondary fork plate of the present invention;
FIG. 8 is a schematic view of the back structure of the shuttle frame of the present invention;
fig. 9 is a schematic structural view of the gripper mechanism of the present invention.
In the figure:
1. the device comprises a power mechanism 11, a stepping motor 12, a coupler 13, a bearing 14 and a gear; 2. the shuttle car frame plate, 21, the frame roller, 22, the frame electromagnet, 23 and the travel switch; 3. the device comprises a primary fork plate, 31, a primary fork plate roller groove, 32, an iron block, 33, a primary fork plate rack, 34, a primary fork plate roller, 35, a primary fork plate limiting block, 36, a conveying belt, 37, an iron block, 38 and a belt pulley; 4. a secondary fork plate 41, an electromagnet 42, a secondary fork plate roller groove 43 and a mounting groove; 6. the hand grip mechanism 61, the hand grip 62, the direct current gear motor 63, the electric linear push rod 64, the hand grip frame gyro wheel.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 9, the structural relationship is as follows: the grabbing mechanism 6 is assembled on the secondary fork plate 4, the secondary fork plate 4 is assembled on the primary fork plate 3, and a sliding pair is formed between the secondary fork plate 4 and the primary fork plate 3 to form a fork unit; an adjusting and limiting mechanism is arranged between the primary fork plate 3 and the secondary fork plate 4 and is used for limiting or not limiting the relative sliding between the primary fork plate 3 and the secondary fork plate 4;
the two fork extending units are symmetrically assembled on two shuttle frame plates 2 which are arranged in parallel and respectively form sliding pairs with the two shuttle frame plates 2, the bottoms of the two secondary fork extending plates 4 are fixedly connected through connecting plates, and the power mechanism 1 is arranged on any shuttle frame plate 2 to form a fork extending mechanism; the power mechanism 1 is used for driving the primary fork plate 3 to slide relative to the corresponding shuttle frame plate 2.
Preferably, each rack roller 21 is arranged on the shuttle frame plate 2 in a row along the horizontal direction, a primary fork plate roller groove 31 is arranged at the back of the primary fork plate 3, the primary fork plate roller groove 31 is matched with each rack roller 21, and the primary fork plate 3 is connected with the shuttle frame plate 2 to form a sliding pair;
the bottom of the primary fork plate 3 is provided with a primary fork plate rack 33, and the primary fork plate rack 33 is used for being meshed with the output end of the power mechanism 1 so as to drive the primary fork plate 3 to slide relative to the shuttle frame plate 2.
Preferably, each primary fork plate roller 34 is arranged on the primary fork plate 3 in a row along the horizontal direction, a secondary fork plate roller groove 42 is arranged at the back of the secondary fork plate 4, and the secondary fork plate roller groove 42 is matched with each primary fork plate roller 34 to connect the secondary fork plate 4 with the primary fork plate 3 and form a moving pair;
two belt pulleys 38 are respectively arranged at two ends of the top of the primary fork plate 3, a conveying belt 36 is assembled on the belt pulleys 38, two iron blocks 37 are respectively arranged at two outer sides of the conveying belt 36 and are respectively attracted to or separated from a rack electromagnet 22 correspondingly arranged on the frame plate 2 of the shuttle car and an electromagnet 41 correspondingly arranged at the top of the secondary fork plate 4 so as to limit or not limit the sliding of the primary fork plate 3 relative to the frame plate 2 of the shuttle car and the secondary fork plate 4 relative to the primary fork plate 3.
Preferably, the shuttle frame plate 2 and the primary fork plate 3 are respectively provided with a travel switch 23 and a primary fork plate limiting block 35, which are respectively used for limiting the sliding travel of the primary fork plate 3 relative to the shuttle frame plate 2 and limiting the sliding travel of the secondary fork plate 4 relative to the primary fork plate 3.
Preferably, the primary fork plate limiting block 35 and the travel switch 23 are diagonally arranged, and the two electromagnets 41 are diagonally arranged.
Preferably, an output shaft of the electric linear push rod 63 is connected with a gripper frame, a direct-current gear motor 62 is arranged on the gripper frame, and an output shaft of the direct-current gear motor 62 is connected with the gripper 61 to form a gripper unit, and the direct-current gear motor 62 is used for driving the gripper 61 to rotate to a horizontal or vertical position;
the back of the gripper frame is provided with gripper frame rollers 64, the two gripper units are symmetrically arranged and are matched with the mounting groove 43 arranged on the secondary fork plate 4 through the two gripper frame rollers 64 respectively, so that the gripper units are connected with the secondary fork plate 4 to form a moving pair, and the two electric linear push rods 63 are connected to the middle part of the secondary fork plate 4 to form the gripper mechanism 6.
Preferably, two ends of the transmission shaft are respectively arranged on the two shuttle frame plates 2 through bearings 13, one end of the transmission shaft is connected with an output shaft of the stepping motor 11 through a coupler 12, and the two primary fork plates 3 are respectively driven to slide relative to the corresponding shuttle frame plates 2 through two gears 14 arranged on the transmission shaft.
When the device is specifically used, after the fork stretching mechanism reaches a designated position, the stepping motor 11 drives the transmission shaft to rotate, and the transmission shaft is driven by the gear 14 and the primary fork plate racks 33 to drive the two primary fork plates 3 to move in the same direction relative to the shuttle frame plate 2 to stretch out. At the same time, the frame electromagnet 22 and the electromagnet 41 corresponding to the frame electromagnet 22 which is close to the moving direction one end are powered on, and the other diagonally arranged frame electromagnet 22 and electromagnet 41 are powered off. The obtained electric frame electromagnet 22 and electromagnet 41 are respectively attracted with the corresponding iron block 32, the primary fork plate 3 moves and stretches out relative to the shuttle frame plate 2, and meanwhile, the conveying belt 36 is driven to rotate, so that the secondary fork plate 4 matched with the primary fork plate is driven to stretch out in the same direction, and the secondary fork plate 4 on the other side stretches out synchronously under the transmission of the connecting plate.
When the primary fork plate 3 moves to the limit position, the primary fork plate limiting block 35 on the primary fork plate is contacted with the travel switch 23, and the travel switch sends a signal to the main control panel to enable the stepping motor 11 to rotate reversely. Simultaneously, two direct current gear motors 62 on one side of the moving direction drive two grippers 61 to rotate from a vertical state to a horizontal state, and corresponding electric linear push rods 63 drive the gripper frame to drive the grippers 61 to move towards the middle of the secondary fork plate 4, so that cargoes are gripped on the connecting plate. After the primary fork plate 3 is reset under the drive of the stepping motor 11, the power of the frame electromagnet 22 and the electromagnet 41 which are powered off, and the electric linear push rod 63 reversely rotates for resetting, so that the primary goods taking work is completed.
The picking operation on the other side can be performed in the same manner by exchanging the order of the power-on and power-off frame electromagnet 22 and electromagnet 41 and exchanging the rotation direction of the stepping motor 11.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. The utility model provides a double stroke shuttle stretches fork mechanism which characterized in that: the gripper mechanism (6) is assembled on the secondary fork plate (4), the secondary fork plate (4) is assembled on the primary fork plate (3) and forms a sliding pair with the primary fork plate (3) to form a fork unit; an adjusting and limiting mechanism is arranged between the primary extending plate (3) and the secondary extending plate (4) and used for limiting or not limiting the relative sliding between the primary extending plate (3) and the secondary extending plate (4);
the two fork extending units are symmetrically assembled on two shuttle frame plates (2) which are arranged in parallel, sliding pairs are respectively formed by the two fork extending units and the two shuttle frame plates (2), the bottoms of the two secondary fork extending plates (4) are fixedly connected through connecting plates, and the power mechanism (1) is arranged on any shuttle frame plate (2) to form the fork extending mechanism; the power mechanism (1) is used for driving the primary fork plate (3) to slide relative to the corresponding shuttle car frame plate (2);
each frame roller (21) is arranged on the shuttle frame plate (2) in a row along the horizontal direction, a primary fork plate roller groove (31) is formed in the back of the primary fork plate (3), the primary fork plate roller groove (31) is matched with each frame roller (21), and the primary fork plate (3) is connected with the shuttle frame plate (2) to form a sliding pair;
a primary fork plate rack (33) is arranged at the bottom of the primary fork plate (3), and the primary fork plate rack (33) is used for being meshed with the output end of the power mechanism (1) so as to drive the primary fork plate (3) to slide relative to the shuttle frame plate (2);
each primary fork plate roller (34) is arranged on the primary fork plate (3) in a row along the horizontal direction, a secondary fork plate roller groove (42) is formed in the back of the secondary fork plate (4), and the secondary fork plate roller groove (42) is matched with each primary fork plate roller (34) to connect the secondary fork plate (4) with the primary fork plate (3) and form a moving pair;
two ends of the top of the primary fork plate (3) are respectively provided with a belt pulley (38), a conveying belt (36) is assembled on the belt pulley (38), two outer sides of the conveying belt (36) are respectively provided with an iron block (37), and the two iron blocks are respectively attracted to or separated from a frame electromagnet (22) correspondingly arranged on the shuttle frame plate (2) and an electromagnet (41) correspondingly arranged on the top of the secondary fork plate (4) so as to limit or not limit the sliding of the primary fork plate (3) relative to the shuttle frame plate (2) and the secondary fork plate (4) relative to the primary fork plate (3);
a travel switch (23) and a primary fork plate limiting block (35) are respectively arranged on the shuttle frame plate (2) and the primary fork plate (3) and are respectively used for limiting the sliding travel of the primary fork plate (3) relative to the shuttle frame plate (2) and limiting the sliding travel of the secondary fork plate (4) relative to the primary fork plate (3);
an output shaft of the electric linear push rod (63) is connected with a gripper frame, a direct-current gear motor (62) is arranged on the gripper frame, an output shaft of the direct-current gear motor is connected with a gripper (61) to form a gripper unit, and the direct-current gear motor (62) is used for driving the gripper (61) to rotate to a horizontal or vertical position;
the utility model discloses a tongs mechanism, including tongs frame, tongs frame back, tongs frame gyro wheel (64) are established to tongs frame back, and two tongs unit symmetry sets up to respectively through two tongs frame gyro wheels (64) with locate mounting groove (43) on the board (4) are stretched to the secondary, make tongs unit with board (4) are stretched to the secondary are connected and form the shifting pair, two electronic sharp push rods (63) connect in board (4) middle part is stretched to the secondary constitute tongs mechanism (6).
2. The double stroke shuttle fork mechanism of claim 1, wherein: the primary fork plate limiting block (35) and the travel switch (23) are arranged diagonally, and the two electromagnets (41) are arranged diagonally.
3. The double stroke shuttle fork mechanism of claim 1, wherein: two ends of the transmission shaft are respectively arranged on two shuttle frame plates (2) through bearings (13), one end of the transmission shaft is connected with an output shaft of a stepping motor (11) through a coupler (12), and two primary fork plates (3) are respectively driven to slide relative to the corresponding shuttle frame plates (2) through two gears (14) arranged on the transmission shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810059094.8A CN108033188B (en) | 2018-01-22 | 2018-01-22 | Double-stroke shuttle fork extending mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810059094.8A CN108033188B (en) | 2018-01-22 | 2018-01-22 | Double-stroke shuttle fork extending mechanism |
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| Publication Number | Publication Date |
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| CN108033188A CN108033188A (en) | 2018-05-15 |
| CN108033188B true CN108033188B (en) | 2024-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810059094.8A Active CN108033188B (en) | 2018-01-22 | 2018-01-22 | Double-stroke shuttle fork extending mechanism |
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| Country | Link |
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| CN (1) | CN108033188B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109693897A (en) * | 2018-08-13 | 2019-04-30 | 江苏南通三建集团股份有限公司 | A kind of intelligent three-dimensional warehouse and its control method based on shelf trolley |
| CN109292340A (en) * | 2018-10-29 | 2019-02-01 | 太原市奥特莱物流科技有限公司 | A kind of push-and-pull picking auxiliary device for shuttle |
| CN113201918A (en) * | 2021-05-31 | 2021-08-03 | 吴晓翠 | Automatic clothes hanger |
| CN113184437A (en) * | 2021-06-04 | 2021-07-30 | 洛阳理工学院 | Logistics storage device |
| CN113772437B (en) * | 2021-09-01 | 2022-05-17 | 深圳市创新特科技有限公司 | Dustless multistation support plate loading machine |
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| CN108033188A (en) | 2018-05-15 |
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