CN109319372A - Limiting device, stereoscopic warehousing system and cargo access method - Google Patents
Limiting device, stereoscopic warehousing system and cargo access method Download PDFInfo
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- CN109319372A CN109319372A CN201811427456.0A CN201811427456A CN109319372A CN 109319372 A CN109319372 A CN 109319372A CN 201811427456 A CN201811427456 A CN 201811427456A CN 109319372 A CN109319372 A CN 109319372A
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- interstage sleeve
- limiting device
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- 238000000034 method Methods 0.000 title claims description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000000452 restraining effect Effects 0.000 claims abstract description 10
- 230000006835 compression Effects 0.000 claims abstract description 4
- 238000007906 compression Methods 0.000 claims abstract description 4
- 210000001364 upper extremity Anatomy 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000837 restrainer Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000010792 warming 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
- B65G1/0407—Storage devices mechanical using stacker cranes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of limiting devices, for being limited to the cargo on shelf to prevent the cargo from skidding off, and limit of the unlock to the cargo in pallet fork picking, it include: position-limit mechanism, for being limited to the cargo, the position-limit mechanism includes limit interstage sleeve and unlock protrusion, pressure spring, support guide rod and fixing seat, wherein the unlock protrusion is installed on the side of the limit interstage sleeve, the support guide rod is fixed on the fixing seat, the limit interstage sleeve and the compression spring sleeve are outside the support guide rod, the pressure spring is set between the limit interstage sleeve and the fixing seat, and the limit interstage sleeve is supported to be in restraining position；Unlocking mechanism, for unlocking the limit of the position-limit mechanism when picking, which pushes unlock protrusion, compresses the pressure spring so that the limit interstage sleeve is in the unlocked position.
Description
Technical field
The present invention relates to logistics equipment fields, more particularly to a kind of limit dress for going out for automatic stereowarehouse and being put in storage
It sets.
Background technique
Stereo warehouse is also tiered warehouse facility, is the new concept occurred in logistic storage, i.e., is realized using tiered warehouse facility equipment
Warehouse high level rationalizes, access automation.Stereo warehouse has the advantage that be stored using High Level Rack, is saved floor occupying area,
Warehouse space can be made full use of to increase amount of storage；Access is automated, transmitting-receiving is accurate rapid, improves into outbound efficiency, machinery is certainly
It is dynamic to be turned into industry liberation manpower, reduce labor intensity；Computer control, carries out accurate storage and management to information automatically, automatically
Print various reports；It can be used cooperatively with other conveying equipments, link warehouse preferably with workshop.With computer technology and
The development and extensive use of automatic control technology, the development of automated storage and retrieval system is rapider, also more and more by
Multiple industries are used.
In the stereo garage of plug-type access cargo, shelf are divided into multiple goods lattices, have in each goods lattice a plurality of mutual
Parallel roller-way is put into the pallet of goods lattice to reduce the frictional resistance of the pallet disengaging goods lattice of arrangement of goods, but at the same time
It is easy to lead to outer spy because of external force reason or skids off goods lattice, interfere piler operation, even result in loss of goods, therefore, it is necessary to one
The cargo locking device that kind can be used with tie stacker machine limits pallet when cargo is placed, and in cargo access
Release limit.
Summary of the invention
To solve the above problems, the invention discloses a kind of limiting device, for the cargo on shelf limited with
Prevent the cargo from skidding off, comprising: position-limit mechanism, for limiting to the cargo, which includes limit interstage sleeve, unlock
Protrusion, pressure spring, support guide rod and fixing seat, wherein the unlock protrusion is installed on the side of the limit interstage sleeve, and the support guide rod is solid
Due to the fixing seat, the limit interstage sleeve and the compression spring sleeve are outside the support guide rod, which is set to the limit interstage sleeve and this is solid
Between reservation, and the limit interstage sleeve is supported to be in restraining position；Unlocking mechanism, for unlocking the position-limit mechanism when picking or stock
Limit, the tripper push the unlock protrusion, compress the pressure spring so that the limit interstage sleeve is in the unlocked position.
Further, which includes at least one goods lattice, which is provided at least two roller-ways；The position restrainer
Structure is set to the edge frame of the goods lattice, and the unlocked position upper limb of the position-limit mechanism by the fixing seat, in the cargo
Limit plane or less；The restraining position upper limb of the position-limit mechanism, more than the limit plane.
Further, which includes working arm, which is set to the front end of the working arm, the tripper
Front end has inclined-plane.
Further, when wherein the tripper moves forward, which corresponds to the lower section of the unlocking mechanism, the inclined-plane
It contacts and pushes the unlock protrusion to compress the pressure spring.
Preferably, which includes two working arms, and there are two the corresponding two working arms settings of each goods lattice
The position-limit mechanism.
Preferably, bearing is installed in unlock protrusion, which is arranged corresponding to the unlocking mechanism.
The invention also discloses a kind of stereoscopic warehousing system, including above-mentioned limiting device and piler and shelf,
In the piler include pallet fork, pallet fork includes working arm, which includes at least one goods lattice, which is provided at least two
Roller-way, cargo are placed on the roller-way.
Preferably, further include pallet, for carrying the cargo, the working arm pass through the mobile pallet with move the cargo into
The goods lattice out.
Preferably, which is hypsokinesis unpowered roller bed.
The invention also discloses a kind of cargo access methods, suitable for above-mentioned stereoscopic warehousing system, comprising:
Working arm is mobile to goods lattice, the contact of incline plane of unlocking mechanism and the unlock protrusion for gradually pushing position-limit mechanism, the solution
Lock protrusion moves gradually downward and compresses the pressure spring of the position-limit mechanism, while the limit interstage sleeve of the position-limit mechanism being driven to leave limit
Position, when the bottommost on the unlock projection contacts inclined-plane, which is in the unlocked position；
The working arm exits the goods lattice, and the unlock protrusion is gradually upward along the inclined-plane, discharges the pressure spring, the pressure spring uphold with
The limit interstage sleeve is pushed to leave the unlocked position, when the unlock protrusion disengages the inclined-plane, which is in the limit
Position position.
Preferably, which is placed on pallet, passes in and out the goods by the mobile pallet of the working arm to move the cargo
Lattice.
Detailed description of the invention
Fig. 1 is the position-limit mechanism structural schematic diagram of limiting device of the invention.
Fig. 2A is the side view of the unlocking mechanism of limiting device of the invention.
Fig. 2 B is the top view of the unlocking mechanism of limiting device of the invention.
Fig. 3 is the position-limit mechanism scheme of installation of stereoscopic warehousing system of the invention.
Fig. 4 A, 4B, 4C, 4D, 4E are that limiting device of the invention unlocks in picking operation and lock automatically schematic diagram.
Wherein, appended drawing reference are as follows:
1: position-limit mechanism 2: unlocking mechanism
3: pallet fork 4: shelf
5: cargo 11: limit interstage sleeve
12: unlock protrusion 13: pressure spring
14: support guide rod 15: fixing seat
21: inclined-plane 31: working arm
32: hooking up block 41: edge frame
42: roller-way P: upper limb plane
Specific embodiment
A specific embodiment of the invention is further described in detail with reference to the accompanying drawing, described embodiment
A kind of only embodiment of the invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel all other embodiment obtained under that premise of not paying creative labor, belongs to protection model of the invention
It encloses.
The shelf of tiered warehouse facility are usually multilayered structure, and part goods lattice is located at high level, for convenience of the biggish cargo of quality (or
It is placed with the pallet of cargo) disengaging goods lattice, the bottom of goods lattice can be provided with roller-way, to reduce frictional force, but cargo and roller-way
Frictional force is small, will lead to the unstable of cargo placement, when by external force (such as vibration, maloperation), is easy to make cargo
Outer spy even skids off goods lattice, and due to the space limitation in tiered warehouse facility, the cargo of outer spy will be formed with piler to be interfered, and hinders
The normal operation of piler will cause that cargo falls and leads to loss of goods when cargo skids off goods lattice.The present invention is directed to above-mentioned feelings
Condition discloses a kind of limiting device, for being limited to the cargo on shelf, to prevent from visiting or accidentally slipping out outside the cargo,
In pallet fork picking or stock, unlock is limited to facilitate cargo to pass in and out goods lattice simultaneously.
Specifically limiting device of the invention includes position-limit mechanism 1 and unlocking mechanism 2.Fig. 1 is limit of the invention
The position-limit mechanism structural schematic diagram of device.As shown in Figure 1, position-limit mechanism 1 is used to limit the cargo in goods lattice, position restrainer
Structure 1 includes limit interstage sleeve 11, unlock protrusion 12, pressure spring 13, support guide rod 14 and fixing seat 15, wherein unlock protrusion 12 is installed on
Limit interstage sleeve 11 side, for reduce unlock operation when, unlocking mechanism and unlock protrusion between frictional force, make unlock operation more
To be smooth, in an embodiment of the present invention, unlock protrusion uses bearing, to make between unlocking mechanism and unlock protrusion for rolling
Friction；Support guide rod 14 is fixed on fixing seat 15, limits interstage sleeve 11 and pressure spring 13 covers outside support guide rod 14, and the one of pressure spring 13
End is limited by fixing seat 15, and then support limit interstage sleeve 11 supports limit when pressure spring 13 is in the diastole state not stressed to the other end
Position interstage sleeve 11 is in restraining position.Fig. 2A is the side view of the unlocking mechanism of limiting device of the invention, and Fig. 2 B is of the invention
The top view of the unlocking mechanism of limiting device.As shown in Figure 2 A and 2B, unlocking mechanism 2 is used to unlock position restrainer when picking or stock
The limit of structure 11, tripper 2 are installed on the top of the working arm 31 of pallet fork 3, and tripper 2 has inclined-plane 21.In the present invention
Embodiment in, pallet fork 3 is also provided at the both ends of working arm 31 and hooks up block 32, cargo 5 is blocked to hook up block 32, using push-in
Carry out access goods with the mode for hooking up cargo, i.e., pallet fork 3 not in a manner of lifting or draw mobile cargo 5, but by working arm
31 are probeed by the lower part of cargo 5, are moved up when arrival hooks up position, block cargo 5 until hooking up block 32, then move horizontally
Push-in and the access goods hooked up operation are completed by roller-way 42, working arm 31 is not subject to the gravity of cargo 5, only overcomes on roller-way 42
Rub the push-pull effort generated, and the gravity of cargo 5 is born by roller-way 42.
Fig. 3 is the position-limit mechanism scheme of installation of stereoscopic warehousing system of the invention.As shown in figure 3, shelf 4 are frame knot
Shelf 4 are divided into multiple goods lattices by the mutual alignment of structure, each frame, and the bottom of each goods lattice is provided with roller-way 42, each goods lattice
At least two roller-ways 42 are provided with, cargo 5 (or pallet of arrangement of goods) is set on roller-way 42, to keep cargo 5 to store
Stabilization, the upper limb plane of all roller-ways 2 in goods lattice is parallel to horizontal plane, and position-limit mechanism 1 is installed on the edge frame of goods lattice
On 41, it is generally the case that the quantity of position-limit mechanism 1 in each goods lattice is set according to the quantity of the working arm 31 of pallet fork 3, some
In embodiment, the pallet fork 3 of piler has two working arms 31, and two limits are arranged in the position that working arm 31 is then corresponded in goods lattice
Mechanism 1, to meet the limit requirement to cargo；The quantity of position-limit mechanism 1 might be less that the quantity of working arm 31, at other
In embodiment, the pallet fork 3 of piler has two working arms 31, and a position-limit mechanism 1, corresponding two work are then arranged in goods lattice
One in arm 31；The quantity of position-limit mechanism 1 and position can be configured according to the equipment situation of different stereoscopic warehousing systems,
It is configured according to the quantity of the working arm 31 of pallet fork 3 and operating position, the present invention is not limited thereto.In reality of the invention
It applies in example, roller-way 42 is hypsokinesis unpowered roller bed.
When cargo 5 passes in and out goods lattice, the unlocking mechanism 2 on working arm 31 is to the position-limit mechanism on the edge frame 41 of goods lattice
1 is unlocked, and when working arm 31 exits goods lattice, position-limit mechanism 1 is locked (limit) automatically.Fig. 4 A, 4B, 4C, 4D, 4E
It is that limiting device of the invention unlocks in picking operation and lock automatically schematic diagram.As shown in Figure 4 A, working arm 31 is along roller-way
42 is mobile to 5 direction of cargo, and the pressure spring 13 of position-limit mechanism 1 is in stretched condition at this time, and support limit interstage sleeve 11 is in limit position
It sets, the top of limit interstage sleeve 11 is higher than cargo 5 and limits plane P, i.e. limit interstage sleeve 11 is in limit state, can be to cargo 5
Apply lateral force to prevent skidding off in addition for cargo 5, the inclined-plane 21 of the unlocking mechanism 2 of 31 end of working arm is not in contact with unlock protrusion
12；As shown in Figure 4 B, working arm 31 is moved along roller-way 42 to 5 direction of cargo, and inclined-plane 21 contacts and pushes unlock protrusion 12, gradually
Compression press spring 13, while limit interstage sleeve 11 being driven to move down, working arm 31 is not completely in below cargo 5 at this time, and
The top of limit interstage sleeve 11 is still higher than limit plane P, but limits interstage sleeve 11 and started to be detached from restraining position；As shown in Figure 4 C,
Working arm 31 continues to move and reach to 5 direction of cargo below picking position along roller-way 42, and inclined-plane 21 has disengaged from and unlock protrusion
12 contact, unlock protrusion 12 is contacted with the bottom of unlocking mechanism 2 at this time, and pressure spring 13 is in most compressed state, limits interstage sleeve
11 reach unlocked position, and the top of limit interstage sleeve 11 is lower than limit plane P, in the unlocked state, have released limit to cargo 5
Effect；As shown in Figure 4 E, working arm 31 moves up, and when hooking up block 32 and blocking cargo 5, working arm 31 stops movement, unlocks at this time
Protrusion 12 is contacted with the bottom of unlocking mechanism 2, and limit interstage sleeve 11 follows warming work to move up than 31 but still in the unlocked state, is limited
The top of position interstage sleeve 11 is lower than limit plane P；As shown in Figure 4 E, it hooks up block 32 and blocks cargo 5, working arm 31 hooks up cargo 5
It is moved along roller-way 42 to outside goods lattice, inclined-plane 21 is contacted with unlock protrusion 12 again, and unlock protrusion 12 gradually moves up, and pressure spring 13 is gradually
It upholds, limit interstage sleeve 11 is pushed to leave unlocked position, the top of limit interstage sleeve 11 is gradually higher than the upper limb plane P of roller-way 42,
After unlock protrusion 12 is completely disengaged with the contact on inclined-plane 21, limit interstage sleeve 11 is returned to by the support of pressure spring 13 of stretched condition to limit
Position position, restores limit state.In the embodiment of the present invention, limit plane P can be the contact surface of cargo 5 and roller-way 42,
It can be arranged according to the structure of pallet for a certain plane specified on the pallet of bearing goods 5, the given plane of pallet, make to limit
Interstage sleeve 11 can limit pallet when being in restraining position, and limit when interstage sleeve 11 is in the unlocked position and do not carry out to pallet
Limit, the present invention is not limited thereto.
Fig. 4 A, 4B, 4C, 4D, 4E only disclose the process that working arm 31 enters goods lattice and takes out cargo 5, but it should reason
Solution, position-limit mechanism 1 whether in limit state only carried out with working arm 31 access goods operation it is related, and with whether there is in goods lattice
Cargo 5 is unrelated, therefore, working arm 31 carry out inventory operations can be considered picking operation inverse process, can successively by Fig. 4 E, 4D,
Disclosed in 4C, 4B and 4A,
Description of the invention and application be it is illustrative, it is not intended to limit the scope of the present invention to the above embodiment.
The deformation and change of embodiments disclosed herein are possible, the embodiments for those skilled in the art
Replacement and equivalent various parts be well known.It will be apparent to those skilled in the art that do not depart from spirit of the invention or
In the case where substantive characteristics, the present invention can in other forms, structure, arrangement, ratio, and with other components, material and portion
Part is realized.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (12)
1. a kind of limiting device, for being limited to the cargo on shelf to prevent the cargo from skidding off, which is characterized in that packet
It includes:
Position-limit mechanism, for limiting to the cargo, which leads including limit interstage sleeve, unlock protrusion, pressure spring, support
Bar and fixing seat, wherein the unlock protrusion is installed on the side of the limit interstage sleeve, which is fixed on the fixing seat, the limit
Outside the support guide rod, which is set between the limit interstage sleeve and the fixing seat for position interstage sleeve and the compression spring sleeve, and supporting should
Limit interstage sleeve is in restraining position；
Unlocking mechanism, for unlocking the limit of the position-limit mechanism when picking or stock, which pushes unlock protrusion, pressure
The pressure spring contract so that the limit interstage sleeve is in the unlocked position.
2. limiting device as described in claim 1, which is characterized in that the shelf include at least one goods lattice, the goods lattice bottom
It is provided at least two roller-ways；The position-limit mechanism is set to the edge frame of the goods lattice, and the position-limit mechanism by the fixing seat
Unlocked position upper limb, below the limit plane in the cargo.
3. limiting device as claimed in claim 2, which is characterized in that the restraining position upper limb of the position-limit mechanism is in the limit
It is more than bit plane.
4. limiting device as claimed in claim 3, which is characterized in that the pallet fork includes working arm, which is set to
The front end of the front end of the working arm, the tripper has inclined-plane.
5. limiting device as claimed in claim 4, which is characterized in that when wherein the tripper moves forward, the unlock protrusion is right
The unlock protrusion simultaneously should be pushed to compress the pressure spring in the lower section of the unlocking mechanism, the contact of incline plane.
6. limiting device as claimed in claim 4, which is characterized in that the pallet fork includes two working arms, and each goods
There are two the position-limit mechanisms for respectively corresponding the working arm for lattice setting.
7. limiting device as described in claim 1, which is characterized in that be equipped with bearing in unlock protrusion, the bearing is corresponding
It is arranged in the unlocking mechanism.
8. a kind of stereoscopic warehousing system, including limiting device as described in any one of claims 1 to 7 and piler and goods
Frame, wherein the piler includes pallet fork, and pallet fork includes working arm, which includes at least one goods lattice, the goods lattice be provided with to
Few two roller-ways, cargo are placed on the roller-way.
9. stereoscopic warehousing system as claimed in claim 8, which is characterized in that it further include pallet, for carrying the cargo, the work
Make arm and the goods lattice is passed in and out to move the cargo by the mobile pallet.
10. stereoscopic warehousing system as claimed in claim 8, which is characterized in that the roller-way is hypsokinesis unpowered roller bed.
11. a kind of cargo access method is suitable for such as the described in any item stereoscopic warehousing systems of claim 8~10, feature
It is, comprising:
Working arm is moved along roller-way direction to goods lattice, and the contact of incline plane of the unlocking mechanism of the working arm one end simultaneously gradually pushes limit
The unlock protrusion of mechanism, which moves gradually downward, and the limit interstage sleeve of the position-limit mechanism is driven to leave restraining position,
When the bottom of the unlock projection contacts unlocking mechanisms, which is in the unlocked position；
The working arm exits the goods lattice along roller-way direction, and the unlock protrusion is gradually upward along the inclined-plane, the pressure spring of the position-limit mechanism
It upholds to push the limit interstage sleeve to leave the unlocked position, when the unlock protrusion disengages the inclined-plane, at the limit interstage sleeve
In the restraining position.
12. cargo access method as claimed in claim 11, which is characterized in that the cargo is placed on pallet, passes through the work
Make arm mobile pallet and the goods lattice is passed in and out with the mobile cargo.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811427456.0A CN109319372A (en) | 2018-11-27 | 2018-11-27 | Limiting device, stereoscopic warehousing system and cargo access method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811427456.0A CN109319372A (en) | 2018-11-27 | 2018-11-27 | Limiting device, stereoscopic warehousing system and cargo access method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109319372A true CN109319372A (en) | 2019-02-12 |
Family
ID=65259111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811427456.0A Pending CN109319372A (en) | 2018-11-27 | 2018-11-27 | Limiting device, stereoscopic warehousing system and cargo access method |
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| Country | Link |
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| CN (1) | CN109319372A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746990A (en) * | 2020-06-19 | 2020-10-09 | 北自所（北京）科技发展有限公司 | Limiting device, three-dimensional warehousing system and goods storing and taking method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1376926A (en) * | 1963-11-25 | 1964-10-31 | Duesterloh G | Device for cleaning wagons and sedans |
| JP2004083248A (en) * | 2002-08-28 | 2004-03-18 | Nippon Yusoki Co Ltd | Load stabilizer |
| JP2006089017A (en) * | 2004-08-24 | 2006-04-06 | Shin Meiwa Ind Co Ltd | Loading platform lifting device and its caster stopper locking device |
| CN104192051A (en) * | 2014-09-16 | 2014-12-10 | 衡阳泰豪通信车辆有限公司 | Device capable of fast and automatically limiting and locking forklift carrying shelves |
| CN209554069U (en) * | 2018-11-27 | 2019-10-29 | 北自所（北京）科技发展有限公司 | Limiting device and the stereoscopic warehousing system for using the limiting device |
-
2018
- 2018-11-27 CN CN201811427456.0A patent/CN109319372A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1376926A (en) * | 1963-11-25 | 1964-10-31 | Duesterloh G | Device for cleaning wagons and sedans |
| JP2004083248A (en) * | 2002-08-28 | 2004-03-18 | Nippon Yusoki Co Ltd | Load stabilizer |
| JP2006089017A (en) * | 2004-08-24 | 2006-04-06 | Shin Meiwa Ind Co Ltd | Loading platform lifting device and its caster stopper locking device |
| CN104192051A (en) * | 2014-09-16 | 2014-12-10 | 衡阳泰豪通信车辆有限公司 | Device capable of fast and automatically limiting and locking forklift carrying shelves |
| CN209554069U (en) * | 2018-11-27 | 2019-10-29 | 北自所（北京）科技发展有限公司 | Limiting device and the stereoscopic warehousing system for using the limiting device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746990A (en) * | 2020-06-19 | 2020-10-09 | 北自所（北京）科技发展有限公司 | Limiting device, three-dimensional warehousing system and goods storing and taking method |
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