CN108891828A - A kind of cargo conveying robot based on the transmission of physics magnetic field - Google Patents
A kind of cargo conveying robot based on the transmission of physics magnetic field Download PDFInfo
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- CN108891828A CN108891828A CN201810503106.1A CN201810503106A CN108891828A CN 108891828 A CN108891828 A CN 108891828A CN 201810503106 A CN201810503106 A CN 201810503106A CN 108891828 A CN108891828 A CN 108891828A
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- screw
- promotion
- turn
- motor
- lead screw
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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
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Handcart (AREA)
Abstract
The present invention gives a kind of cargo conveying robots based on the transmission of physics magnetic field, including support baseboard, first jack up unit, horizontal mobile device, activity operations plate and battery, first jack up unit includes promoting bottom plate, first promotes lead screw, first guide rod and promotion transmission mechanism, horizontal mobile device includes cross support plate, pushing meanss and the second lifting device, pushing meanss include third turn-screw, movable block, third pushing motor, third speed reducer, third magnetic coupling and catch bar, second lifting device includes the second turn-screw, second promotes motor, second speed reducer and the second magnetic coupling.The conveying robot small volume can walk between shelf and shelf, meanwhile, using the promotion bottom plate and pushing meanss in the conveying robot, it can smoothly realize the steady placement of the raising and cargo of cargo from promotion bottom plate to shelf.
Description
Technical field
The present invention relates to a kind of cargo conveying robots based on the transmission of physics magnetic field.
Background technique
Storage in existing hardware retail shop perhaps hardware factory position warehouse to utilize retail shop or warehouse to greatest extent
Space typically carries out the storage of handware (such as at the bolt of case or heavier water valve) using shelf, because shelf with
Space is smaller between shelf, and some biggish handbarrows of volume, which can not be successfully, to be entered between shelf and shelf, can only depend on people
Handware is carried and placed to power, however, generally requiring more people's resultant forces when storing heavier handware on shelf and carrying hardware
Part needs to cause more people that can not also carry out on ascending tool in this way by ascending tool when shelf eminence stores handware
Transport operation is cooperateed with, at this point, strong staff can only be looked for carry out carrying placement.How to design one kind can be in shelf
It walks between shelf, and placement of the heavier handware on shelf and picking can be smoothly completed be one and urgently to be resolved ask
Topic.
Summary of the invention
The purpose of the present invention is to provide a kind of cargo conveying robot based on the transmission of physics magnetic field, the conveying robot volumes
It is smaller, it can walk between shelf and shelf, meanwhile, utilize the promotion bottom plate and pushing meanss in the conveying robot, Neng Goushun
Benefit realizes the steady placement of the raising and cargo of cargo from promotion bottom plate to shelf.
The technical scheme adopted by the invention to solve the technical problem is that：A kind of cargo carrying based on the transmission of physics magnetic field
Machine, including support baseboard, the first jack up unit, horizontal mobile device, activity operations plate and battery, in the support baseboard
Baseplane on setting there are four universal wheel, first jack up unit includes promoting bottom plate, first promoting lead screw, the first guiding
Bar and promotion transmission mechanism, four first guide rods are oppositely arranged on four apex angles of the upper plane of support baseboard respectively
Place, two it is described first promotion lead screws be oppositely arranged on support baseboard respectively, and each first promotion lead screw be distributed in
Between its corresponding two first guide rod, one fixed plate, two institutes are set in the upper end of four first guide rods
The upper end for stating the first promotion lead screw passes through the fixed plate, and the first promotion lead screw is free to rotate, and the promotion bottom plate is corresponding
Be nested with and promoted on lead screw and the first guide rod first, be provided on the baseplane for promoting bottom plate and first promote lead screw phase
The motion thread pipe of cooperation, the promotion transmission mechanism promote motor, the first magnetic coupling and the first speed reducer including first,
The both ends of first magnetic coupling are connected with the first promotion motor and the first speed reducer respectively, and first speed reducer passes through
V belt translation mode promotes lead screw rotation to drive two described first；
The horizontal mobile device includes cross support plate, pushing meanss and the second lifting device, and described second is promoted
Device includes the second turn-screw, the second promotion motor, the second speed reducer and the second magnetic coupling, two second transmissions
Lead screw is oppositely arranged on support baseboard respectively, and the second turn-screw is located at the first promotion lead screw and first corresponding thereto and leads
To between bar, the second turn-screw upper end passes through the fixed plate, and the second turn-screw is free to rotate, promotes bottom plate and second
Turn-screw does not contact, and the both ends of second magnetic coupling are connected with the second promotion motor and the second speed reducer respectively, institute
It states the second speed reducer and two the second turn-screw rotations is driven by V belt translation mode, the cross support plate is nested with accordingly
On the second drive lead screw and the first guide rod, the pushing meanss include third turn-screw, movable block, third promotion electricity
Machine, third speed reducer, third magnetic coupling and catch bar, the third turn-screw are arranged in the cross support plate
On, and the second guide rod in parallel is provided in third drive lead screw two sides, the movable block is nested with to be driven in third
On lead screw and the second guide rod, the both ends of the third magnetic coupling respectively with third pushing motor and third speed reducer phase
Even, the third speed reducer driving third turn-screw rotation, the catch bar include T shape connecting plate and are oppositely arranged on T shape
Connecting plate two sides push pipe, and there are two limit holes for the upper end setting of the T shape connecting plate, are arranged on two vertical plates of movable block
There is location hole corresponding with two limit holes, by realizing catch bar positioning after bolt poling limit hole and location hole；
The battery and described first promotes motor, the second promotion motor, third pushing motor and activity operations plate electricity
Property connection, and be provided on the movable control panel the first promotion motor, second promote the control of motor and third pushing motor
Button processed.
Preferably, it is provided with internal screw thread on the inner sidewall for pushing pipe, by thread fiting mode at the bottom for pushing pipe
Portion is nested with a threaded rod.
Further, in the mounting pull rod of one radially directional spreding of the bottom of threaded rod setting, in movable block
Two vertical plates on be provided with the second location hole matched with limit hole.
Preferably, several roll shafts free to rotate are provided in the middle part of the promotion bottom plate.
Further, tapped through hole there are two being respectively set in the two sides for promoting bottom plate, in the tapped through hole
It is nested with as caging bolt.
The beneficial effects of the invention are as follows：Small volume of the present invention can carry out certainly in the channel of limited shelf and shelf
By moving；First, which promotes motor, carries out power transmitting using the first magnetic coupling, and realizes the rise and fall for promoting bottom plate,
Because the first magnetic coupling has preferable soft start and braking property, so that promoting the starting up and down or stopping of bottom plate
When more mitigate, thus prevent cargo promoted bottom plate on vibration, then ensure freight lifting carry safety；Work as promotion
After the support plate alignment of bottom plate and shelf, catch bar utilizes the movement of movable block, can smoothly push away cargo from promotion bottom plate
It is sent on the support plate of shelf, to complete the placement of cargo, meanwhile, catch bar can also be rotated after 90s, mounting pull rod exists
Under the drive of movable block, cargo is smoothly pulled upward to from the support plate of shelf and is promoted on bottom plate, to complete the picking mistake of cargo
Journey；The movement of movable block is to obtain power by third magnetic coupling, ensure that Retarder theory when mobile BOB(beginning of block) is mobile,
So that it is guaranteed that the slow movement of cargo, then improves the safety of cargo pick-and-place.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Part preferred embodiment for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of catch bar；
Fig. 3 is enlarged drawing at A in Fig. 1；
In figure：1 support baseboard, 11 universal wheels, 21 promoted bottom plates, 211 motion thread pipes, 212 roll shafts, 213 threaded holes,
214 caging bolts, 22 first turn-screws, 23 first guide rods, 241 first promote motor, 242 first magnetic couplings, 243
First speed reducer, 25 fixed plates, 31 cross support plates, 321 second turn-screws, 322 movable blocks, 3221 vertical plates, 3222 are determined
Position hole, 3223 second location holes, 323 third pushing motors, 324 third magnetic couplings, 325 third speed reducers, 326 push
Bar, 3261 T shape connecting plates, 3262 cross bars, 3263 push pipe, 3264 threaded rods, 3265 mounting pull rods, 3266 limit holes, 331
Second turn-screw, 332 second promote motor, 333 second magnetic couplings, 334 second speed reducers, 4 activity operations plates, 41
Control button, 101 belt pulleys, 102 driving belts.
Specific embodiment
Below in conjunction with specific embodiments and drawings 1-3, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiment is only a part of preferred embodiment of the invention, instead of all the embodiments.
Those skilled in the art can do similar deformation without violating the connotation of the present invention, therefore the present invention is not by described below
Specific embodiment limitation.
Magnetic coupling is matured product on existing market, and working principle and specific structure composition are no longer done in detail herein
Description, magnetic coupling is often used to realize the torque drive of motor, to realize soft start and the brake of motor.
The present invention provides a kind of cargo conveying robots (as shown in Figure 1) based on the transmission of physics magnetic field, including support bottom
Plate 1, the first jack up unit, horizontal mobile device, activity operations plate 4 and battery are set on the baseplane of the support baseboard 1
Universal wheel 11 there are four setting, four universal wheels 11 are used to support the movement and steering of entire machine, for consolidating convenient for whole device
Fixed, universal wheel 11 can be the universal wheel with brake function, and first jack up unit includes promoting bottom plate 21, first to promote silk
Thick stick 22, the first guide rod 23 and promotion transmission mechanism, four first guide rods 23 are oppositely arranged on support baseboard 1 respectively
Upper plane four vertex, two it is described first promotion lead screws 22 be oppositely arranged on support baseboard 1 respectively, and each
First promotion lead screw 22 is distributed between two the first guide rods 23 corresponding thereto, in four first guide rods 23
Upper end one fixed plate 25 is set, four first guide rods 23 constitute a stable rectangular branch with fixed plate 25 and support baseboard 1
Support, two described first upper ends for promoting lead screw 22 pass through the fixed plate 25, and the first promotion lead screw 22 can freely turn
Dynamic, the promotion bottom plate 21 is nested with accordingly to be promoted on lead screw 22 and the first guide rod 23 first, at the bottom for promoting bottom plate 21
It is provided with the motion thread pipe 211 matched with the first promotion lead screw 22 in plane, promotes bottom plate 21 first and promotes lead screw 22
Drive under, can be moved up and down along the first promotion lead screw 22 or the axial direction of the first guide rod 23, promotions is driven
Mechanism includes the first promotion motor 241, the first magnetic coupling 242 and the first speed reducer 243, first magnetic coupling
242 both ends are connected with the first promotion motor 241 and the first speed reducer 243 respectively, and first promotes motor 241, the first magnetic force coupling
Clutch 242 and the first speed reducer 243, which are arranged in the fixed plate 25, (to keep attached drawing clear, to be used to support and fixes first
Promote motor 241 and 243 pedestal of the first speed reducer drawn not in the drawings), first speed reducer 243 passes through V belt translation mode
It is rotated to drive two described first to promote lead screw 22, a belt pulley specifically is set on the output end of the first speed reducer 243
101, it is also equipped with belt pulley 101 in the upper end that two first promote lead screw 22, a driving belt 102 is nested with first accordingly
Belt transmission connection is realized on belt pulley 101 on speed reducer 243 and the first promotion lead screw 22.
The horizontal mobile device includes cross support plate 31, pushing meanss and the second lifting device, and described second mentions
Rising device includes that the second turn-screw 331, second promotes motor 332, the second speed reducer 334 and the second magnetic coupling 333,
Two second turn-screws 331 are oppositely arranged respectively on support baseboard 1, and the second turn-screw 331 is located at corresponding thereto
First answered is promoted between lead screw 22 and the first guide rod 23, and 331 upper end of the second turn-screw passes through the fixed plate 25, and
Second turn-screw 331 is free to rotate, promotes bottom plate 21 and does not contact with the second turn-screw 331, second magnetic coupling
The both ends of device 333 are connected with the second promotion motor 332 and the second speed reducer 334 respectively, and second, which promotes motor 332, second, slows down
Machine 334 and the second magnetic coupling 333 are arranged in the fixed plate 25 (to keep attached drawing clear, for fixed support the
The pedestal of two promotion motors 332 and the second speed reducer 334 is drawn not in the drawings), second speed reducer 334 passes through V belt translation
Mode drives two the second turn-screw 331 rotations, and a belt pulley specifically is arranged on the output end of the second speed reducer 334
101, belt pulley 101 is also equipped in the upper end of two the second turn-screws 331, and a driving belt 102 is nested with accordingly the
Belt transmission connection is realized on belt pulley 101 on two speed reducers 334 and the second turn-screw 331.
The cross support plate 31 is nested on the second drive lead screw 331 and the first guide rod 23 accordingly, cross
Support plate 31 can be moved down in the case where the rotation of the second turn-screw 331 drives on the axis direction along the second turn-screw 331
It is dynamic, the pushing meanss include third turn-screw 321, movable block 322, third pushing motor 323, third speed reducer 325,
Third magnetic coupling 324 and catch bar 326, the third turn-screw 321 are arranged in the cross support plate 31, and
The second guide rod in parallel is provided in 321 two sides of third drive lead screw, the movable block 322 is nested with to be passed in third
On dynamic lead screw 321 and the second guide rod, the both ends of the third magnetic coupling 324 respectively with third pushing motor 323 and
Third speed reducer 325 is connected, and the third speed reducer 325 drives third turn-screw 321 to rotate, third pushing motor 323, the
Three speed reducers 325, third magnetic coupling 324, which are arranged in the cross support plate 31, (to keep attached drawing clear, to be used for
The pedestal of fixed third pushing motor 323 and third speed reducer 325 is supported to draw not in the drawings), the catch bar 326 includes
T shape connecting plate 3261 pushes pipe 3263 with 3261 two sides of T shape connecting plate are oppositely arranged on, specific that pipe 3263 is pushed to be arranged in cross
3262 both ends of bar, there are two limit holes 3266 for the upper end setting of the T shape connecting plate 3261, in two vertical plates of movable block 322
It is provided with location hole 3222 corresponding with two limit holes 3266 on 3221, passes through bolt poling limit hole 3266 and location hole
Realize that catch bar 326 positions after 3222, catch bar 326 is mainly used to push the cargo for being located at and being promoted on bottom plate 21, makes it smoothly
Enter in the support plate of shelf, for increase catch bar 326 promotion range, here, push pipe 3263 inner sidewall on set
It is equipped with internal screw thread, is pushing the bottom of pipe 3263 to be nested with a threaded rod 3264 by thread fiting mode, threaded rod 3264 is pushing away
In dynamic pipe 3263 can up and down adjustment, further, to be mentioned convenient for being pulled upward to cargo from the support plate of shelf using catch bar 326
It rises on bottom plate 21, here, in the mounting pull rod 3265 of one radially directional spreding of the bottom of the threaded rod 3264 setting,
It is provided with the second location hole 3223 matched with limit hole 3266 on two vertical plates 3221 of movable block 322, is being needed cargo
When being pulled upward on promotion bottom plate 21 from shelf supports plate, firstly, catch bar 326 is rotated by 90 °, so that mounting pull rod 3265 is perpendicular
It is straight then, to adjust the position of movable block 322 and cross support plate 31 downwards, so that after mounting pull rod 3265 is located at cargo
Side, after adjusting mounting 3265 position of pull rod, by the movement of movable block 322, it can be achieved that the pulling of cargo.
Battery is arranged in fixed plate 25 and (to keep attached drawing clear, is drawn not in the drawings), the battery
Motor 241, second, which is promoted, with described first promotes motor 332, third pushing motor 323 and the electric connection of activity operations plate 4,
And it is provided with the first promotion motor 241, second on the movable control panel 4 and promotes motor 332 and third pushing motor 323
Control button 41, specific control button 41 divide rotating forward control button, the first promotion motor 241 for promoting motor 241 for first
Reversion control button, second promote rotating forward control button, second promoting the reversion control button of motor 332, for motor 332
The reversion button of the rotating forward button and third pushing motor 323 of three pushing motors 323.
For reduce cargo and promoted bottom plate 21 between frictional force, here, promoted bottom plate 21 in the middle part of be provided with it is several can
The roll shaft 212 being freely rotated, further, to prevent machine when moving, cargo is skidded off from roll shaft 212, here, mentioning
The two sides for rising bottom plate 21 are respectively set there are two tapped through hole 213, are set to caging bolt 214 in 213 inner sleeve of tapped through hole,
Caging bolt 214 is extended on promoting bottom plate 21 or retracts, and can start position-limiting action and cargo is not interfered to promote bottom
Release or propulsion on plate 21.
Except for the technical features described in the specification, it all is technically known to those skilled in the art.
The above combination attached drawing is described above in detail the preferred embodiment of the present invention and embodiment, but the present invention is not
The above-described embodiment and examples are confined to, for those skilled in the art, are not departing from structure of the present invention
Under the premise of think of, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of cargo conveying robot based on the transmission of physics magnetic field, including support baseboard, in the baseplane of the support baseboard
There are four universal wheels for upper setting, characterized in that the device further includes the first jack up unit, horizontal mobile device, activity operations plate
And battery, first jack up unit include promoting bottom plate, the first promotion lead screw, the first guide rod and promoting transmission mechanism,
Four first guide rods are oppositely arranged on four vertex of the upper plane of support baseboard respectively, and two described first are promoted
Lead screw is oppositely arranged on support baseboard respectively, and each first be distributed in corresponding thereto two first of promotion lead screw leads
To between bar, one fixed plate is set in the upper end of four first guide rods, the upper end of two the first promotion lead screws is worn
Cross the fixed plate, and first to promote lead screw free to rotate, the promotions bottom plate be nested with accordingly first promoted lead screw with
On first guide rod, the motion thread pipe matched with the first promotion lead screw is provided on the baseplane for promoting bottom plate, it is described
It promotes transmission mechanism and promotes motor, the first magnetic coupling and the first speed reducer including first, first magnetic coupling
Both ends are connected with the first promotion motor and the first speed reducer respectively, and first speed reducer drives two by V belt translation mode
Described first promotes lead screw rotation；
The horizontal mobile device includes cross support plate, pushing meanss and the second lifting device, second lifting device
Motor, the second speed reducer and the second magnetic coupling, two second turn-screws are promoted including the second turn-screw, second
It is oppositely arranged on support baseboard respectively, and the second turn-screw is located at the first promotion lead screw and the first guide rod corresponding thereto
Between, the second turn-screw upper end passes through the fixed plate, and the second turn-screw is free to rotate, promotes bottom plate and the second transmission
Lead screw does not contact, and the both ends of second magnetic coupling are connected with the second promotion motor and the second speed reducer respectively, and described the
Two speed reducers drive the rotation of two the second turn-screws by V belt translation mode, and the cross support plate is nested with accordingly the
On two drive lead screws and the first guide rod, the pushing meanss include third turn-screw, movable block, third pushing motor,
Three speed reducers, third magnetic coupling and catch bar, the third turn-screw are arranged in the cross support plate, and
Third drive lead screw two sides are provided with the second guide rod in parallel, and the movable block is nested in third turn-screw and
On two guide rods, the both ends of the third magnetic coupling are connected with third pushing motor and third speed reducer respectively, and described
Three speed reducers drive the rotation of third turn-screw, and the catch bar includes T shape connecting plate and is oppositely arranged on T shape connecting plate two sides
Pipe is pushed, the upper end setting of the T shape connecting plate is provided on two vertical plates of movable block and limits with two there are two limit hole
The corresponding location hole in position hole, by realizing catch bar positioning after bolt poling limit hole and location hole；
The battery electrically connects with the first promotion motor, the second promotion motor, third pushing motor and activity operations plate
Connect, and be provided on the movable control panel the first promotion motor, second promoted the control of motor and third pushing motor by
Button.
2. a kind of cargo conveying robot based on the transmission of physics magnetic field according to claim 1, characterized in that the promotion
It is provided with internal screw thread on the inner sidewall of pipe, is pushing the bottom of pipe to be nested with a threaded rod by thread fiting mode.
3. a kind of cargo conveying robot based on the transmission of physics magnetic field according to claim 2, characterized in that in the spiral shell
The mounting pull rod of the one radially directional spreding of bottom setting of rasp bar, is provided with and limit hole phase on two vertical plates of movable block
The second location hole of cooperation.
4. a kind of cargo conveying robot based on the transmission of physics magnetic field according to claim 1, characterized in that mentioned described
It rises and is provided with several roll shafts free to rotate in the middle part of bottom plate.
5. a kind of cargo conveying robot based on the transmission of physics magnetic field according to claim 4, characterized in that mentioned described
The two sides for rising bottom plate are respectively set there are two tapped through hole, are set to caging bolt in the tapped through hole inner sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810503106.1A CN108891828B (en) | 2018-05-23 | 2018-05-23 | Goods transport machine based on physical magnetic field transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810503106.1A CN108891828B (en) | 2018-05-23 | 2018-05-23 | Goods transport machine based on physical magnetic field transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108891828A true CN108891828A (en) | 2018-11-27 |
| CN108891828B CN108891828B (en) | 2020-05-19 |
Family
ID=64343043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810503106.1A Active CN108891828B (en) | 2018-05-23 | 2018-05-23 | Goods transport machine based on physical magnetic field transmission |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108891828B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125961A (en) * | 2019-05-22 | 2019-08-16 | 上海交通大学 | A kind of pneumatic type waste material grabbing device for the processing of special-shaped polyurethane foam board |
| CN110641897A (en) * | 2019-11-01 | 2020-01-03 | 东阳宋辰传动科技有限公司 | Transmission device for stacking material boxes at higher position of warehouse shelf |
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| CN203638790U (en) * | 2013-12-30 | 2014-06-11 | 张小敏 | Goods conveying device using lifting platform |
| CN203728504U (en) * | 2014-03-04 | 2014-07-23 | 刘云 | Lifting stand device for goods exhibition of supermarkets |
| CN107878989A (en) * | 2017-11-30 | 2018-04-06 | 上海诺力智能科技有限公司 | One kind storage automatic material fetching machine |
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|---|---|---|---|---|
| US3762531A (en) * | 1971-08-26 | 1973-10-02 | Eaton Corp | Load stacker |
| CN201113759Y (en) * | 2006-05-26 | 2008-09-10 | 广州广重企业集团有限公司 | Magnetic force coupling gearing device |
| DE102012218394A1 (en) * | 2012-10-09 | 2014-04-10 | K2 Kommissioniersysteme Gmbh | Device for storing products e.g. drugs in pharmacy, has separating elements for forming individual compartments, set transverse to bearing surface length, while goods are transferred by a transfer device and removed by operating device |
| CN202897960U (en) * | 2012-11-21 | 2013-04-24 | 杨金强 | Novel mechanical arm |
| CN203638790U (en) * | 2013-12-30 | 2014-06-11 | 张小敏 | Goods conveying device using lifting platform |
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| CN110125961A (en) * | 2019-05-22 | 2019-08-16 | 上海交通大学 | A kind of pneumatic type waste material grabbing device for the processing of special-shaped polyurethane foam board |
| CN110641897A (en) * | 2019-11-01 | 2020-01-03 | 东阳宋辰传动科技有限公司 | Transmission device for stacking material boxes at higher position of warehouse shelf |
| CN110641897B (en) * | 2019-11-01 | 2020-12-18 | 浙江钱江潮光能有限公司 | Transmission device for stacking material boxes at higher position of warehouse shelf |
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| Publication number | Publication date |
|---|---|
| CN108891828B (en) | 2020-05-19 |
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