CN108190337A - A kind of homing guidance equipment and corresponding order implementation method - Google Patents

A kind of homing guidance equipment and corresponding order implementation method Download PDF

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Publication number
CN108190337A
CN108190337A CN201810040847.0A CN201810040847A CN108190337A CN 108190337 A CN108190337 A CN 108190337A CN 201810040847 A CN201810040847 A CN 201810040847A CN 108190337 A CN108190337 A CN 108190337A
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CN
China
Prior art keywords
cargo
equipment
homing guidance
packing case
unit
Prior art date
Application number
CN201810040847.0A
Other languages
Chinese (zh)
Inventor
李宏业
关晓曼
陶熠昆
Original Assignee
浙江国自机器人技术有限公司
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Publication date
Priority to CN201710029086 priority Critical
Priority to CN2017100290864 priority
Application filed by 浙江国自机器人技术有限公司 filed Critical 浙江国自机器人技术有限公司
Publication of CN108190337A publication Critical patent/CN108190337A/en

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    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/14Plug-in electric vehicles
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/16Information or communication technologies improving the operation of electric vehicles

Abstract

The invention discloses a kind of homing guidance equipment and corresponding order implementation methods.The equipment includes driving unit, storage unit, placement unit, positioning unit.This method comprises the following steps:It makes or selects packing case and bind packing case and order, packing case is placed into automatic conveying equipment after the completion of binding;Series/parallel/winding is carried out according to the storage of cargo characteristics subregion, picking, and using automatic conveying equipment;The packing case that picking is examined to complete, if had a variety of goods, is packaged or is transferred to other regions and operated, if the test fails, packing case is placed back in automatic conveying equipment, and to complete or be transferred to again other operating area etc. to be modified.Homing guidance equipment and order implementation method using the present invention can be reduced to a great extent sorter's walking and find the workload of cargo, improve efficiency, reduce labor intensity, realize the optimal balance between picking efficiency, inventory amounts/density, labor intensity.

Description

A kind of homing guidance equipment and corresponding order implementation method
Technical field
The present invention relates to logistic storage field more particularly to a kind of homing guidance equipment and corresponding order implementation method.
Background technology
Traditional logistics storage sector is labour intensive profession, especially is needing to realize cargo destined from type is more, quantity When sorting out in big warehouse, need to consume a large amount of manpower.The process of picking is sorter according to picking list under traditional mode It guides, find cargo destined and collects, sorter has a large amount of time and efforts consumption meaningless during picking On finding and walking, efficiency is low, great work intensity.
Kiva provides a kind of application method of homing guidance equipment, realizes a kind of " shelf " to the picking mode of people, Add somewhat to the picking frequency of cargo.But Kiva patterns be only applicable to it is small, pick the low cargo of frequency, for The volume that can be often encountered in order fulfillment process is big or picks the cargo of frequency very high (selling fast), and Kiva is not applied to simultaneously.
Therefore, those skilled in the art is dedicated to developing a kind of novel efficiency more preferably homing guidance equipment, also logical It crosses using other equipment and different storage modes, is made between storage capacity, picking efficiency, hand labor intensity optimal Balance.
Invention content
In view of the drawbacks described above of the prior art, the technical problems to be solved by the invention, which are that exploitation is a kind of, is different from Kiva Homing guidance equipment, realize " container " to the picking mode of people, further improve efficiency.Use simultaneously is according to cargo attribute point The method of region storage, and by using the cargo of other automation equipments transport different zones, it is real so as to improve whole order Existing efficiency.
To achieve the above object, the present invention provides a kind of homing guidance equipment and corresponding order implementation method, specifically Ground, technical solution provided by the invention are as follows:
A kind of homing guidance equipment, can be by background system including driving unit, storage unit, placement unit, positioning unit Automatic transporting cargo is realized in scheduling.Wherein:Driving unit includes chassis, driving motor, for homing guidance equipment to be driven to move It is dynamic;Storage unit is arranged to be fixed on the small-sized shelf on chassis;Placement unit, which is arranged to flexibly to capture, to be placed on Pallet, container, the cargo of static storage position can also dock dynamic equipment such as pipeline, belt feeder;Positioning unit is set It is two sets, it is a set of to be used to position homing guidance equipment itself, the another set of position for being used to that placement unit to be assisted accurately to identify cargo It puts.
Further, the type of drive of driving unit uses twin-differential or Mecanum wheel drive, and equipment movement is flexible, can Advance, retreat, turn, the actions such as rotate in place to realize.
Further, storage unit can flexibly set shelf layer high-layer, shelf pattern (such as general cargo according to application scenarios Frame or fluent rack).
Further, placement unit can select different type according to different application scene, including flexible prong/fork plate, It is flexible hold, roller/belt, mechanical arm.Placement unit can be moved along the direction perpendicular to ground, can also rotation, from And it can realize and will be picked up positioned at the cargo in the directions such as homing guidance equipment front, side, oblique, and be placed into storage unit In shelf, the cargo on storage unit shelf can also be taken out and be placed on the position specified.
Further, it can be realized for positioning the positioning unit of homing guidance equipment by vision positioning, laser positioning, For assist placement unit accurately identify cargo position positioning unit can by mechanical position limitation, visual identity position, Laser scanning positioning is realized.
A kind of order implementation method using above-mentioned homing guidance equipment includes the following steps:
A) it makes or selects packing case and bind packing case and order, be placed into packing case after the completion of binding automatic defeated Send equipment;
B) according to the storage of cargo characteristics subregion, picking, and series/parallel/winding is carried out using automatic conveying equipment;
C) packing case that picking is examined to complete, if had a variety of goods, is packaged or is transferred to other regions and grasped Make, if the test fails, packing case is placed back in into automatic conveying equipment and completes or be transferred to again other operating area Etc. to be modified.
Further, order realization refer to according to certain requirement from multi-quantity, multiple types cargo in select specified number Amount, given category cargo and concentrate in together.
Further, the cargo characteristics in step b include but not limited to:The volume size of cargo is picked frequency height.
Further, included but not limited in step b according to the subregional method of cargo characteristics:Volume is big and is picked frequency High cargo is arranged on pallet gravity ramp area, small and picked the high cargo of frequency and be arranged on small shelf area or fluent Rack area, volume is big and is picked the low cargo of frequency and is arranged on overhead picking area, small and low by frequency is picked cargo quilt It is arranged on small shelf area or automatic guided vehicle area.
Further, the type of automatic conveying equipment includes but not limited to:Roller conveyor, belt conveyor, sorting conveying line, Automatic guided vehicle.
Homing guidance equipment and order implementation method using the present invention, can be reduced to a great extent sorter walking and Find the workload of cargo, improve efficiency, reduce labor intensity, realize picking efficiency, inventory amounts/density, labor intensity it Between optimal balance.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the homing guidance equipment stereogram of presently preferred embodiments of the present invention;
Fig. 2 is the homing guidance equipment vertical view of presently preferred embodiments of the present invention;
Fig. 3 is the storage bay schematic diagram of presently preferred embodiments of the present invention;
Fig. 4 is the beginning area schematic diagram of presently preferred embodiments of the present invention;
Fig. 5 is the completion area schematic diagram of presently preferred embodiments of the present invention;
Fig. 6 is the pallet gravity ramp area schematic diagram of presently preferred embodiments of the present invention;
Fig. 7 is the fluent rack area schematic diagram of presently preferred embodiments of the present invention;
Fig. 8 is the overhead picking area schematic diagram of presently preferred embodiments of the present invention;
Fig. 9 is the automatic guided vehicle area schematic diagram of presently preferred embodiments of the present invention.
Wherein, 1- driving units, 2- storage units, 3- placement units (fork plate), 4- positioning units (cargo positioning) 101- Cargo, 201- pickings/goods putting position, the overhead picking areas of 301-, the small shelf areas of 302-, the fluent rack areas of 303-, 304- homing guidances Vehicle area, 305- pallet gravity ramp area, 306- keep in position, and 307- starts area, and 308- completes area, 401- main conveyor lines, 402- packets Vanning making apparatus, 403- workbench, 501- main conveyor lines, 502- are pitched from pipeline, 503- workbench, 504- cage vehicles, 601- Vehicle replenishes channel, 602- picking channels, 603- pipelines, 701- main conveyor lines, the sub- pipelines of 702-, 703- goods channels, 704- Rack/fluent rack/ground heap position, 705- replenish channel, 801- shelf/ground heap position/High Level Rack, and 802- fork trucks/high position is chosen Vehicle, 901- pickings station, 902- automatic guided vehicles, 903- shelf.
Specific embodiment
The preferred embodiment of the present invention is introduced below with reference to Figure of description, makes its technology contents more clear and convenient for reason Solution.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention is not limited only to text In the embodiment mentioned.
As shown in Figure 1, 2, the homing guidance equipment in presently preferred embodiments of the present invention by driving unit 1, storage unit 2, The compositions such as placement unit 3, positioning unit 4, can be dispatched by background system, realize automatic transporting cargo.
Driving unit 1 mainly comprising chassis, driving motor etc., can drive whole equipment to move, and type of drive is using double Differential or Mecanum wheel drive, equipment movement is flexible, the actions such as can realize advance, retrogressing, turn, rotate in place.
Storage unit 2 is small-sized shelf, is fixed on chassis, storage unit 2 can flexibly set shelf according to application scenarios The floor height number of plies, shelf pattern (common shelf/fluent rack).
Different types can be selected according to different application scene for placement unit 3, including:Flexible prong/fork plate, telescopic clamp It embraces, roller/belt, mechanical arm etc., can flexibly capture the pallet for being placed on static storage position, container, cargo, can also dock Dynamic equipment such as pipeline, belt feeder etc..Placement unit 3 can be moved along the direction perpendicular to ground, can also rotation, It will be picked up, and be placed into storage unit positioned at the cargo in the directions such as homing guidance equipment front, side, oblique so as to realize In 2 shelf, the cargo on 2 shelf of storage unit can also be taken out and be placed on the position specified.
Positioning unit 4:It is a set of to be used to position homing guidance equipment certainly equipped with two sets of positioning units in homing guidance equipment Body, the another set of position for being used to that placement unit to be assisted accurately to identify cargo.For positioning the homing guidance equipment positioning of itself Unit can be realized by different modes, including:Vision positioning, laser positioning etc..For positioning the positioning of cargo to be captured Unit can also be realized by various ways, including:Mechanical position limitation, visual identity positioning, laser scanning positioning etc..
Application process:Homing guidance equipment can indicate execution task according to background system, and the type of task be included but not It is limited to:Designated position is moved to, one cargo is obtained by placement unit 3 in designated position, places goods onto storage unit 2nd, cargo from 2 designated position of storage unit picked up, place goods onto designated position etc..Picking application is directed to, is moved Equipment goes to the designated position of memory block according to system instruction, and cargo destined is taken out, and be temporarily stored in from the shelf of memory block In storage unit 2, after the cargo for being collected into specified quantity, movable equipment goes to specified break bulk point, by cargo according to system Instruction in storage unit 2 by taking out and being placed into break bulk point.
As shown in figure 3, this warehouse memory storage the more cargo of quantity, type, the main task in warehouse is realizes picking Order --- the cargo of given category, quantity is sorted out out of storage region.Wherein, 301 be overhead picking area, and 302 be small goods Frame area, 303 be fluent rack area, and 304 be automatic guided vehicle area, and 305 be pallet gravity ramp area, and 306 be temporary position, and 307 are Start area, 308 is complete area.It is described as follows:
1. start area 307.Operating process:Cargo in most of picking order can be all concentrated in packing case, this region The main task of interior completion is to make or select empty package case (or collecting the unfinished packing case of coming from other regions), and will Packing case is bound with order or picking list, and the meaning of binding is corresponding with the order of specified quantity for specified quantity packing case, and This correspondence is not changed in whole operation flow.Packing case is placed on pipeline after the completion of binding.The area schematic is such as Shown in Fig. 4.
Relevant device:Carton making equipment, packed in cases equipment, operation console, pipeline, printing device, barcode scanning equipment etc..
2. overhead picking area 301.Operating process:Part order or partial cargo can be stored in overhead picking area 301, high The less cargo of type can be stored in frame picking area 301, feature is:The larger cargo of volume (big part picking use) or single quantity More cargo (stocks in other storage regions).Picking flow in this region is:Truck driver receives picking job order, and Cargo is eventually placed in temporary position 306 from overhead upper collection, taking-up according to the requirement of picking job order.Manually in temporary position The specified quantity of cargo destined is placed directly on pipeline to (the larger cargo of volume need not enter packing case, directly on 306 Delivery).Complete picking after truck driver by the cargo of temporary position 306 place back in overhead picking area 301 it is overhead on.
Relevant device:Multi-layered storage rack (can be common overhead or other type shelf such as gravity shelf, drive into The combination of formula shelf or a variety of shelf).
3. pallet gravity ramp area 305.Operating process:It is the characteristics of the cargo of storage in this region:Volume it is larger and by It is higher (such as goods of selling fast, promotion goods) to pick frequency.This region can not use fork truck, directly be incited somebody to action by picking work close to pipeline Cargo is placed on pipeline.It is picking channel close to the side of pipeline, separate side is the channel that replenishes.
Relevant device:Gravity sliding rail or other manner:Such as pallet heap, gravity rack, fluent rack, the number of plies (side facilitates fork truck directly to replenish, and opposite side facilitates people directly to pick close to 1~2 layer of ground for less shelf or High Level Rack Goods).
4. small shelf area 302.Operating process:It is the characteristics of the cargo of storage in this region:Small volume and picked frequency It is relatively low.This region is equipped with several picking platforms, and the homing guidance equipment in region is automatically found according to the scheduling of background system The cargo needed in order, and by goods handling to picking platform, sorter can sort out required cargo in platform, without going further Enter stock area.The cargo sorted out in platform is placed directly into the packing case specified.Automatic guided vehicle can will not after the completion of picking The cargo needed again is collected and puts back to small shelf again.
Relevant device:Shelf, container/pallet, automatic guided vehicle, picking station (include shelf, auxiliary picking guiding apparatus< It may include display screen, barcode scanning equipment, printing device, bright light selection etc.>).
5. complete area 308.Operating process:Packing case eventually enters into this region after multiple picking regions are undergone, in this area The work such as examine goods, pack are completed in domain, the packing case of unfinished picking can be back to picking region.After packing case reaches this region It is considered all (or part) picking flows to have completed, packing case first passes through inspection, is packaged if having a variety of goods Or the operations such as other regions are transferred to, if the test fails, packing case is placed back in into conveying equipment and completes or shifts again It is to be modified to other operating area etc..The area schematic is as shown in Figure 5.
Relevant device:Operation console, display screen, barcode scanning equipment, printing device, automatic packaging/sealing device, collecting packing case Cage vehicle etc..
It is 6. other:The conveying equipment that the present embodiment and attached drawing use is pipeline, including an annular main conveyor line With several strip pipelines, the transfers such as jacking transferring machine or sorter are circulated through between main line and sub-line.Pipeline passes through Background system dispatch, automatic barcode scanning equipment is installed in multiple positions of pipeline, when packing case by when can barcode scanning, identification wrap Vanning, and according to the dispatching distribution packing case of the background system position gone to.Such as:First goods of packing case a is stored in Packing case can be moved to sub-line by small shelf area, pipeline by transfer equipment in specified region from main line, at this time sorter It is indicated according to background system, the specified quantity of given category cargo is placed into packing case, after the completion again again by packing case Put back to main conveyor line.
In the better embodiment of the present invention, cargo is classified by different attribute, uses different storage modes, picking side Formula and means of transportation.Detailed description are as follows:
Cargo in warehouse is according to volume size and is picked frequency height and is divided into 4 classes:Volume is big+and frequency is high, small+frequency Rate is high, and volume is big+and frequency is low, and small+frequency is low.Each cargo is all using different storages, picking mode.
Volume is big+and frequency is high:Suitable for the storage that puts one's child in a boarding nursery, because more convenient find and replenish soon, pallet is placed on ground On face or the low layer of ground gravity pallet slideway or shelf, as shown in Figure 6.The shortcomings that such storage mode is to occupy larger deposit Store up space, and space memory storage type of merchandize negligible amounts.Picking mode is behaved the picking of work point area, and each sorter is responsible for one piece Region is only sorted out there are the cargo in this region (cargo in this usual region need not be focused in packing case, directly delivered), The cargo sorted out is placed directly on automatic conveying equipment.
Small+frequency is high:Suitable for being stored on fluent rack or small-sized shelf, shelf are (defeated close to main flow channel Line sending), sorter can relatively quickly sort out cargo and be placed on main flow channel, as shown in Figure 7.Picking mode is behaved The picking of work point area, each sorter are responsible for one piece of region, only sort out the cargo in this region.
Volume is big+and frequency is low:It is stored on High Level Rack suitable for putting one's child in a boarding nursery, as shown in Figure 8.The advantages of overhead is that storage is close Degree is big, and shortcoming is that cargo disengaging needs high position forklift, and speed is slow, complicated for operation.
Small+frequency is low:It is stored on small-sized shelf, " goods to people " is realized by homing guidance equipment, as shown in Figure 9.
The preferred embodiment of the present invention described in detail above.It should be appreciated that the ordinary skill of this field is without wound The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Scheme, all should be in the protection domain being defined in the patent claims.

Claims (10)

1. a kind of homing guidance equipment, which is characterized in that including driving unit, storage unit, placement unit, positioning unit, In:The driving unit includes chassis, driving motor, for the homing guidance equipment to be driven to move;The storage unit quilt It is set as being fixed on the small-sized shelf on the chassis;The placement unit, which is arranged to flexibly to capture, to be placed on static state and deposits Pallet, container, the cargo of storage space can also dock dynamic equipment such as pipeline, belt feeder;The positioning unit is arranged to It is two sets, a set of for positioning the homing guidance equipment itself, it is another set of to be used to that the placement unit to be assisted accurately to identify goods The position of object.
2. homing guidance equipment as described in claim 1, which is characterized in that the type of drive of the driving unit uses double difference Speed or Mecanum wheel drive.
3. homing guidance equipment as described in claim 1, which is characterized in that the storage unit is arranged to can be according to application Scene flexibly sets floor height, the number of plies and the shelf pattern of shelf.
4. homing guidance equipment as described in claim 1, which is characterized in that the placement unit is arranged to can be according to difference Application scenarios select different type, including flexible prong/fork plate, it is flexible hold, roller/belt, mechanical arm.
5. homing guidance equipment as described in claim 1, which is characterized in that described to be used to position the homing guidance equipment Positioning unit can be realized by vision positioning, laser positioning, described to be used to that the placement unit to be assisted accurately to identify cargo Position positioning unit can pass through mechanical position limitation, visual identity positioning, laser scanning positioning realize.
6. a kind of order implementation method using homing guidance equipment described in claim 1, which is characterized in that including walking as follows Suddenly:
A) it makes or selects packing case and bind packing case and order, packing case is placed into automatic conveying after the completion of binding sets It is standby;
B) according to the storage of cargo characteristics subregion, picking, and series/parallel/winding is carried out using automatic conveying equipment;
C) packing case that picking is examined to complete, if had a variety of goods, is packaged or is transferred to other regions and operated, if The test fails, then packing case being placed back in automatic conveying equipment, to complete or be transferred to again other operating area etc. to be repaired Just.
7. order implementation method as claimed in claim 6, which is characterized in that the order realization is to be required according to certain from more Quantity, multiple types cargo in select specified quantity, given category cargo and concentrate in together.
8. order implementation method as claimed in claim 6, which is characterized in that the cargo characteristics in the step b include:Cargo Volume size, picked frequency height.
9. order implementation method as claimed in claim 6, which is characterized in that according to cargo characteristics subregion in the step b Method be specially:Volume is big and is picked the high cargo of frequency and is arranged on pallet gravity ramp area, small and picked frequency High cargo is arranged on small shelf area or fluent rack area, and volume is big and is picked the low cargo of frequency and is arranged on overhead picking Area, it is small and picked the low cargo of frequency and be arranged on small shelf area or automatic guided vehicle area.
10. order implementation method as claimed in claim 6, which is characterized in that the type of the automatic conveying equipment includes:Rolling Cylinder line, belt conveyor, sorting conveying line, automatic guided vehicle.
CN201810040847.0A 2017-01-16 2018-01-16 A kind of homing guidance equipment and corresponding order implementation method CN108190337A (en)

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CN201810040042.6A CN108158369A (en) 2017-01-16 2018-01-16 A kind of storage tank
CN201810040559.5A Active CN108298239B (en) 2017-01-16 2018-01-16 Device for passively preventing tray from falling
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CN201810040847.0A CN108190337A (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment and corresponding order implementation method
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CN201810040042.6A CN108158369A (en) 2017-01-16 2018-01-16 A kind of storage tank
CN201810040559.5A Active CN108298239B (en) 2017-01-16 2018-01-16 Device for passively preventing tray from falling
CN201810040588.1A Active CN108383043B (en) 2017-01-16 2018-01-16 Modular forklift type transfer robot
CN201810041896.6A CN108217038A (en) 2017-01-16 2018-01-16 A kind of robot and its method for carrying container
CN201820069917.0U CN207903267U (en) 2017-01-16 2018-01-16 A kind of automated guided vehicle of detectable cargo
CN201810040025.2A Active CN108321866B (en) 2017-01-16 2018-01-16 Autonomous charging device for mobile robot
CN201820069876.5U CN207903266U (en) 2017-01-16 2018-01-16 A kind of homing guidance equipment
CN201810039576.7A CN108363388A (en) 2017-01-16 2018-01-16 A kind of AGV robot obstacle-avoiding systems based on infrared sensor
CN201820070470.9U CN207903268U (en) 2017-01-16 2018-01-16 A kind of container transfer robot
CN201810041801.0A CN108357846A (en) 2017-01-16 2018-01-16 A method of cargo is detected using photoelectric sensor
CN201810040610.2A Active CN108271291B (en) 2017-01-16 2018-01-16 Constant-current self-diagnosis infrared stroboscopic illuminating lamp system based on CAN bus positioning camera
CN201810040589.6A CN108341201A (en) 2017-01-16 2018-01-16 A kind of automatic guiding equipment transported goods for logistic storage
CN201810040045.XA CN108363389A (en) 2017-01-16 2018-01-16 A kind of ultrasonic evadible system applied to mobile robot
CN201810041802.5A CN108382880A (en) 2017-01-16 2018-01-16 A kind of automatic guided vehicle and its working method with automatic loading and unloading loading system
CN201810039560.6A Active CN108388243B (en) 2017-01-16 2018-01-16 Safety protection method and safety protection structure of AGV robot

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CN201810041860.8A Active CN108408647B (en) 2017-01-16 2018-01-16 Telescopic fork leveling mechanism of cargo box carrying robot
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CN201810040560.8A CN108340797A (en) 2017-01-16 2018-01-16 A kind of AGV rechargings device and its recharging method
CN201810041483.8A Active CN108357585B (en) 2017-01-16 2018-01-16 A kind of the optoelectronic switch multiplexing method and device of material flow A GV
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CN201810040556.1A CN108381572A (en) 2017-01-16 2018-01-16 The robot prong component of device and corresponding means of defence are knocked over anticollision
CN201820070532.6U CN207902024U (en) 2017-01-16 2018-01-16 A kind of castor protective device

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