CN109748055A - Oriented magnetic orbit arragement construction - Google Patents
Oriented magnetic orbit arragement construction Download PDFInfo
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- CN109748055A CN109748055A CN201910194872.9A CN201910194872A CN109748055A CN 109748055 A CN109748055 A CN 109748055A CN 201910194872 A CN201910194872 A CN 201910194872A CN 109748055 A CN109748055 A CN 109748055A
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- 238000010586 diagram Methods 0.000 description 16
- 238000009826 distribution Methods 0.000 description 7
- 238000009825 accumulation Methods 0.000 description 3
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- 230000001419 dependent effect Effects 0.000 description 2
- 238000005194 fractionation Methods 0.000 description 2
- 238000004886 process control Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The present invention relates to a kind of oriented magnetic orbit arragement construction, the production line of the magnetic orbit being arranged including two parallel intervals and the setting of at least two parallel intervals, production line is vertically arranged with magnetic orbit, and two magnetic orbits are located at the same end of production line；Magnetic orbit close to production line is shipment magnetic orbit, and the magnetic orbit far from production line is demobilization magnetic orbit, and the guide direction of shipment magnetic orbit and demobilization magnetic orbit is opposite；The unidirectional magnetic orbit of U-shaped is equipped with around every production line, the beginning of the unidirectional magnetic orbit of U-shaped connects shipment magnetic orbit, end connects demobilization magnetic orbit, and the opposite and adjacent guide direction same section of the guide direction of two adjacent unidirectional magnetic orbits of U-shaped shares；The latter end of the unidirectional magnetic orbit of U-shaped is connect by adding unidirectional arc magnetic orbit section with shipment magnetic orbit with shipment magnetic orbit intersection.The present invention can effectively improve the utilization rate of AGV trolley, be also suitable for more AGV trolleies while dispensing.
Description
Technical field
The invention belongs to technical field of operating transport, and in particular to a kind of oriented magnetic orbit arragement construction.
Background technique
AGV trolley is commonly applied to automobile industry, especially in the assembly shop for needing to transport a large amount of spare and accessory parts.In order to allow vapour
Vehicle can complete a assembly technologies up to a hundred in the limited space of assembly shop, generally require production line being arranged to a plurality of put down
On the one hand the Production Line Configured of the mode of row production line, this rule can save space, effective dress on the other hand can be improved
Ratio with the time.And arrange that AGV trolley magnetic orbit needs to make full use of the transport power of AGV trolley under such circumstances, it allows
Trolley can satisfy the dispatching demand of each station when driving on magnetic orbit.
The magnetic orbit (also referred to as electromagnetic path) of AGV trolley, to provide route and direction, AGV along the AGV trolley of its traveling
Trolley is driven by electricity by itself, does not need driver, small to AGV according to the physical characteristic or step mode of magnetic orbit
The guide direction of vehicle can be it is two-way, be also possible to it is unidirectional, be the prior art.Traditional AGV trolley magnetic orbit is usual
It is to be arranged premised on primary, AGV trolley dispenses a station, and there are two disadvantages for this means of distribution:
First is that being complete zero load when having dispensed return, leading to the wave of AGV trolley transport power when only being dispensed to a station
Take；As soon as the material once dispensed is more second is that only dispensing to a station because AGV trolley is primary, lead to corresponding work
The material laydown area material accumulation of position is excessive, and the dispatching preparation time before production is longer.
Also there are the form dispensed on a set of magnetic orbit using more AGV trolleies, the corresponding magnetic orbit used
When for two-way guiding, often there is the problem of AGV trolley travels in opposite directions, corresponding process control is complicated；The corresponding magnetism used
Route too long problem when track is unidirectional guiding, and often occurring that return route is too long, or being dispensed to specified station.
Summary of the invention
For the above-mentioned deficiency of the prior art, the technical problem to be solved in the present invention is to provide a kind of oriented magnetic orbit cloth
Structure is set, more AGV trolleies is suitble to be dispensed, can avoid return route or is asked to the route of specified station dispatching is too long
Topic, while being not in there is AGV trolley to travel the problem of causing interference in opposite directions on the same track, simplify process control difficulty；
Obtain the effect for improving AGV trolley utilization rate.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
Oriented magnetic orbit arragement construction, the magnetic orbit being arranged including two parallel intervals and at least two parallel intervals settings
Production line, production line is vertically arranged with magnetic orbit, and two magnetic orbits are located at the same end of production line；Close to production line
Magnetic orbit is shipment magnetic orbit, and the magnetic orbit far from production line is demobilization magnetic orbit, shipment magnetic orbit and demobilization
The guide direction of magnetic orbit is opposite；The unidirectional magnetic orbit of U-shaped is equipped with around every production line, the unidirectional magnetic rail of the U-shaped
The beginning in road connects shipment magnetic orbit, and end connects demobilization magnetic orbit, the guiding of two adjacent unidirectional magnetic orbits of U-shaped
Contrary, the adjacent guide direction same section of the adjacent unidirectional magnetic orbit of two U-shapeds shares；
The latter end of the unidirectional magnetic orbit of U-shaped and shipment magnetic orbit intersection are by adding unidirectional arc magnetic orbit section and shipment
Magnetic orbit connection is diverted on shipment magnetic orbit so as to AGV trolley.
Above-mentioned technical proposal is further improved, near the unidirectional magnetic rail of U-shaped of the production line at shipment magnetic orbit beginning
The beginning in road and the link position of shipment magnetic orbit are located at the production line close to the side at shipment magnetic orbit beginning.
Further, it along the length direction of production line, is respectively separated in the two sides of production line equipped with several stations, corresponds to
Each station is equipped with material laydown area, and the station and material laydown area of every production line are by the unidirectional magnetic orbit of corresponding U-shaped
In being centered around, jljl material laydown area matching is equipped with the unidirectional discrepancy magnetic orbit connecting with the unidirectional magnetic orbit of the U-shaped so as to AGV
It can be travelled to the position closer to material laydown area by unidirectionally entering and leaving magnetic orbit consequently facilitating unloading when trolley delivery.
Further, the material laydown area of the adjacent side of any two adjacent production lines is staggeredly set along production line length direction
It sets, the unidirectional discrepancy magnetic orbit that setting is matched with the material laydown area being staggered also is in be staggered.
Further, it is led relative to shipment magnetic orbit and demobilization magnetic orbit position in the other end of production line
It is connected between the unidirectional magnetic orbit of the identical U-shaped in direction by unidirectionally connection magnetic orbit, the unidirectional connection magnetic orbit
It is parallel with shipment magnetic orbit and demobilization magnetic orbit.
Further, the beginning of shipment magnetic orbit connects material general assembly with the end of demobilization magnetic orbit and unloads area.
Compared with prior art, the invention has the following beneficial effects:
1, oriented magnetic orbit arragement construction through the invention, can allow AGV trolley traverse institute in shortest distance
There is station, Xiang Suoyou station carries out material allocation, gives the capacity deployment of one station of script dispensing to multiple stations, is formed small quantities of
The secondary dis-tribution model of amount, multifrequency, improves AGV trolley utilization rate.
2, based on oriented magnetic orbit arragement construction of the invention, actual production can be engaged by AGV trolley and carried out in fact
When dispense, solve the material laydown area material accumulation of each station and excessively longer asked with the dispatching preparation time before production
Topic.
3, oriented magnetic orbit arragement construction of the invention, can be suitble to more AGV trolleies to be dispensed, and not appear in same
There is AGV trolley to travel the problem of causing interference in opposite directions on one orbital path, program-controlled difficulty can be simplified.
4, oriented magnetic orbit arragement construction of the invention can find and be surround by one or several when orienting dispatching
The track of the closed loop of production line is corresponded to form Distribution path and complete to dispense, is directly returned after orientation dispatching, avoids return road
Line or the problem too long to the route of specified station dispatching, further increase AGV trolley utilization rate.
5, oriented magnetic orbit arragement construction of the invention passes through the unidirectional discrepancy magnetic connecting with the unidirectional magnetic orbit of U-shaped
Property track can be convenient for travelling when the delivery of AGV trolley to the position closer to material laydown area giving with journey consequently facilitating unload
The material laydown area of two sides production line is dispensed, and dispatching efficiency is further increased.
Detailed description of the invention
The fractionation schematic diagram of the oriented magnetic orbit arragement construction of Fig. 1-embodiment one；
The structural schematic diagram of the oriented magnetic orbit arragement construction of Fig. 2-embodiment one；
The preferred path label schematic diagram of the oriented magnetic orbit arragement construction of Fig. 3-embodiment one；
The fractionation schematic diagram of the oriented magnetic orbit arragement construction of Fig. 4-embodiment two；
The structural schematic diagram of the oriented magnetic orbit arragement construction of Fig. 5-embodiment two；
The preferred path label schematic diagram of the oriented magnetic orbit arragement construction of Fig. 6-embodiment two；
The structural schematic diagram (main signal preferred path label) of the oriented magnetic orbit arragement construction of Fig. 7-embodiment three；
The structural schematic diagram (main signal preferred path label) of the oriented magnetic orbit arragement construction of Fig. 8-example IV；
The structural schematic diagram (main signal preferred path label) of the oriented magnetic orbit arragement construction of Fig. 9-embodiment five；
The structural schematic diagram (main signal preferred path label) of the oriented magnetic orbit arragement construction of Figure 10-embodiment six；
The distressed structure schematic diagram of oriented magnetic orbit arragement construction of the Figure 11-based on embodiment five；
Unidirectional discrepancy magnetic orbit connection schematic diagram (partial enlargement signal) in the oriented magnetic orbit arragement construction of Figure 12-；
Figure 13-increases the schematic diagram of unidirectional connection magnetic orbit based on the oriented magnetic orbit arragement construction of embodiment five；
Figure 14-increases the variant signal of unidirectional connection magnetic orbit based on the oriented magnetic orbit arragement construction of embodiment five
Figure；
Wherein, the total loading place 1 of material, shipment magnetic orbit 2, demobilization magnetic orbit 3, the unidirectional magnetic orbit 4 of U-shaped, production line 5,
Unidirectional arc magnetic orbit section 6 is added, station 7, material laydown area 8 is unidirectional to enter and leave magnetic orbit 9, unidirectionally connects magnetic orbit
10。
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Embodiment one
Referring to fig. 2, the oriented magnetic orbit arragement construction of embodiment one, the unidirectional guiding including two parallel interval settings are magnetic
The production line 5 of track and the setting of two parallel intervals, production line 5 are vertically arranged with magnetic orbit, and two magnetic orbits are located at life
The same end of producing line 5；In two magnetic orbits, the magnetic orbit close to production line 5 is shipment magnetic orbit 2, far from production line 5
Magnetic orbit be demobilization magnetic orbit 3, the guide direction of shipment magnetic orbit 2 and demobilization magnetic orbit 3 (also referred to as walk by polarity
To, trends of design etc.) on the contrary, the beginning of shipment magnetic orbit 2 and the end of demobilization magnetic orbit 3 are all connected with the total loading place of material
1；It is equipped with the unidirectional magnetic orbit 4 of U-shaped around every production line 5, is moved towards according to the guiding of the unidirectional magnetic orbit 4 of U-shaped, U-shaped list
The beginning of magnetropism track 4 connects shipment magnetic orbit 2, the end of the unidirectional magnetic orbit 4 of U-shaped by unidirectional arc magnetic orbit section
End connects demobilization magnetic orbit 3, the guiding side of the adjacent unidirectional magnetic orbit 4 of two U-shapeds by unidirectional arc magnetic orbit section
To on the contrary, the adjacent guide direction same section of the unidirectional magnetic orbit 4 of adjacent two U-shaped shares.
When the latter end of the unidirectional magnetic orbit 4 of U-shaped intersects with shipment magnetic orbit 2, in intersection by adding one-way arc
Shape magnetic orbit section 6 is connect so that AGV trolley is diverted on shipment magnetic orbit 2 with shipment magnetic orbit 2.
By production line 5 based on odd number, even number, in embodiment one, the unidirectional magnetic orbit 4 of the U-shaped of odd number production line is the inverse time
Needle direction, the unidirectional magnetic orbit 4 of the U-shaped of even number production line are then the opposite clockwise direction of guide direction, split schematic diagram
See that Fig. 1, the oriented magnetic orbit that the dependent magnetic track merging of odd number production line and even number production line becomes embodiment one are arranged
Structure, such as Fig. 2.
Referring to Fig. 3, label has been carried out to path.Along the length direction of production line 5, it is respectively separated in the two sides of production line 5
Equipped with several stations, in the station of every production line 5 is also centered around by the unidirectional magnetic orbit 4 of corresponding U-shaped, embodiment one has
In magnetropism track arragement construction, an AGV trolley traverse all stations preferred path be 2 → 101 → 102 → 103 → 2 →
Wherein 103 paths pass through twice 104 → 105 → 103 → 3(), it is directly returned after dispatching can also be oriented on demand.
Embodiment two
Referring to Fig. 5, as the variant for implementing one, in embodiment two, the unidirectional magnetic orbit 4 of the U-shaped of odd number production line is suitable
Clockwise, the unidirectional magnetic orbit 4 of the U-shaped of even number production line are then the opposite counter clockwise direction of guide direction, equally meet phase
The opposite principle of guide direction of the adjacent unidirectional magnetic orbit 4 of two U-shapeds splits schematic diagram and sees Fig. 4, odd number production line and even number
Oriented magnetic orbit arragement construction of the dependent magnetic track merging of production line as embodiment two, such as Fig. 5, U-shaped are unidirectionally magnetic
The latter end of track 4 and 2 intersection of shipment magnetic orbit are connected by adding unidirectional arc magnetic orbit section 6 with shipment magnetic orbit 2
It connects so that AGV trolley is diverted on shipment magnetic orbit 2.
Referring to Fig. 6, label has been carried out to path.In the oriented magnetic orbit arragement construction of embodiment two, an AGV trolley
The preferred path for traversing all stations is that wherein 201 paths pass through 2 → 201 → 202 → 203 → 2 → 201 → 204 → 205 → 3(
Twice), it is directly returned after dispatching can also be oriented on demand.
Embodiment three
Referring to Fig. 7, increases the production line 5 for the setting of three parallel intervals on the basis of implementing one, equally meet adjacent two
The guide direction of a unidirectional magnetic orbit 4 of U-shaped on the contrary, the unidirectional magnetic orbit 4 of adjacent two U-shaped adjacent guide direction identical portions
Divide and share, when the latter end of the unidirectional magnetic orbit 4 of U-shaped intersects with shipment magnetic orbit 2, in intersection by adding unidirectional arc
Magnetic orbit section 6 is connect so that AGV trolley is diverted to the principle on shipment magnetic orbit 2 with shipment magnetic orbit 2.Embodiment three
Oriented magnetic orbit arragement construction in, an AGV trolley traverse all stations preferred path be 2 → 301 → 302 → 303
→ 2 → 304 → 305 → 306 → 3(is without iterating through path), it is directly returned after dispatching can also be oriented on demand.
Example IV
Referring to Fig. 8, increases the production line 5 for the setting of three parallel intervals on the basis of implementing two, equally meet adjacent two
The guide direction of a unidirectional magnetic orbit 4 of U-shaped on the contrary, the unidirectional magnetic orbit 4 of adjacent two U-shaped adjacent guide direction identical portions
Divide and share, the latter end of the unidirectional magnetic orbit 4 of U-shaped and 2 intersection of shipment magnetic orbit are by adding unidirectional arc magnetic orbit section 6
It is connect with shipment magnetic orbit 2 so that AGV trolley is diverted to the principle on shipment magnetic orbit 2.Example IV has magnetropism
In track arragement construction, an AGV trolley traverse all stations preferred path be 2 → 401 → 402 → 403 → 2 → 404 →
405 → 406 → 3(is without iterating through path), it is directly returned after dispatching can also be oriented on demand.
Embodiment five
Referring to Fig. 9, increases the production line 5 for the setting of four parallel intervals on the basis of implementing one, equally meet relevant design
Principle.In the oriented magnetic orbit arragement construction of embodiment five, an AGV trolley traverse all stations preferred path be 2 →
Wherein 506 paths pass through twice 501 → 502 → 503 → 2 → 504 → 505 → 506 → 2 → 507 → 508 → 506 → 3(),
It is directly returned after dispatching can be oriented on demand.
Embodiment six
Referring to Figure 10, increases the production line 5 for the setting of four parallel intervals on the basis of implementing two, equally meet relevant design
Principle.In the oriented magnetic orbit arragement construction of embodiment six, an AGV trolley traverse all stations preferred path be 2 →
Wherein 601 paths pass through twice 601 → 602 → 603 → 2 → 601 → 604 → 605 → 2 → 606 → 607 → 608 → 3(),
It is directly returned after dispatching can be oriented on demand.
By the various embodiments described above as it can be seen that oriented magnetic orbit arragement construction through the invention, when the quantity of production line 5
When for odd number, AGV trolley traverses all stations without iterating through any paths；When the quantity of production line 5 is even number item
When, AGV trolley traverses all stations and only needs to iterate through a paths；AGV trolley can traverse institute in shortest distance
There is station, Xiang Suoyou station carries out material allocation, gives the capacity deployment of one station of script dispensing to multiple stations, is formed small quantities of
The secondary dis-tribution model of amount, multifrequency, improves AGV trolley utilization rate；Engageable actual production dispenses in real time, solves the object of each station
Expect the excessive dispatching preparation time longer problem with before production of laydown area material accumulation；And be suitble to more AGV trolleies into
Row dispatching is not in have AGV trolley to travel the problem of causing interference in opposite directions on the same track, can simplify program-controlled.
Referring to Fig. 9, continue by taking the oriented magnetic orbit arragement construction of embodiment five as an example, illustrates orientation dispatching on demand
The case where.When such as needing to be directed to the station progress material dispensing of first production line two sides, preferred path is 2 → 501 → 502
→503→3；When such as needing to be directed to the stations of first production line and Article 4 production line two sides and carrying out material dispensing, preferably
Path is 2 → 501 → 502 → 503 → 2 → 507 → 508 → 506 → 3.As it can be seen that oriented magnetic orbit arrangement according to the present invention
Structure can find by the track of one or several closed loops around corresponding production line and form Distribution path and complete to dispense,
It is directly returned after orientation dispatching, avoids return route or the problem too long to the route of specified station dispatching, improve AGV trolley benefit
With rate.
Referring to Figure 11, continue by taking the oriented magnetic orbit arragement construction of embodiment five as an example, when implementation, with embodiment five
The form of mirror image, rotation (being not limited to 180 ° of rotations of diagram) is carried out based on oriented magnetic orbit arragement construction, it is same to meet
Relevant design principle of the invention should be all included in claimed range of the invention.
When implementation, near the unidirectional magnetic rail of U-shaped of the production line 5 of 2 beginning of shipment magnetic orbit (the total loading place 1 of material)
The beginning in road 4 and the link position of shipment magnetic orbit 2 are located at the production line 5 close to (the material general assembly of 2 beginning of shipment magnetic orbit
Unload area 1) side, i.e., the unidirectional magnetic orbit 4 of U-shaped of first production line 5 in preferred figures 2,3,7,9,11 connection trend
Form.
Referring to Figure 12, when implementation, along the length direction of production line 5, it is respectively separated in the two sides of production line 5 equipped with several works
Position 7, is equipped with material laydown area 8 corresponding to each station 7, the station 7 and material laydown area 8 of every production line 5 are by corresponding U
In the unidirectional magnetic orbit 4 of shape is centered around, jljl material laydown area 8 matching unidirectionally goes out equipped with what is connect with the unidirectional magnetic orbit 4 of the U-shaped
Enter magnetic orbit 9 to travel extremely by unidirectionally entering and leaving magnetic orbit 9 closer to material laydown area 8 when AGV trolley delivery
Position or pass through material laydown area 8 consequently facilitating unloading, further increase dispatching efficiency.
Wherein, the material laydown area 8 of the adjacent side of any two adjacent production lines 5 is staggeredly set along 5 length direction of production line
It sets, the unidirectional discrepancy magnetic orbit 9 that setting is matched with the material laydown area 5 being staggered also is in be staggered.In this way, being convenient for
Material laydown area 8 of the AGV trolley with journey to two sides production line 5 is dispensed.
Referring to Figure 13, continue by taking the oriented magnetic orbit arragement construction of embodiment five as an example, when implementation, relative to shipment magnetic
Property 3 position of track 2 and demobilization magnetic orbit, in the other end of production line 5, the unidirectional magnetic rail of the identical U-shaped of guide direction
It is connected between road 4 by unidirectionally connection magnetic orbit 10, the unidirectional connection magnetic orbit 10 and shipment magnetic orbit 2 and demobilization
Magnetic orbit 3 is parallel.When implementation, it is also possible to unidirectionally connect 10 type of attachment of magnetic orbit shown in Figure 14.In this way, on-demand
, can be more flexible according to program-controlled Distribution path when the case where orientation dispatching, further avoid return route or to specified work
The too long problem of the route of position dispatching, improves AGV trolley utilization rate.
Above-mentioned preferred Distribution path is realized based on oriented magnetic orbit arragement construction of the invention, in use, AGV
Trolley presses actual program-controlled path one-way traffic；It, can be by 1-N serial number, and in AGV when more AGV trolleies are dispensed
Sensing device is set on trolley, and when two vehicles are when infall is close to each other, triggering sensing device simultaneously controls the vehicle elder generation for making number small
Pass through, can simply solve more vehicles in the traveling of path infall, still be not in there is AGV trolley to travel in opposite directions on the same track
The problem of causing interference.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (6)
1. oriented magnetic orbit arragement construction, it is characterised in that: the magnetic orbit and at least two including the setting of two parallel intervals
The production line of parallel interval setting, production line are vertically arranged with magnetic orbit, and two magnetic orbits are located at the same of production line
End；Magnetic orbit close to production line is shipment magnetic orbit, and the magnetic orbit far from production line is demobilization magnetic orbit, shipment
The guide direction of magnetic orbit and demobilization magnetic orbit is opposite；It is equipped with the unidirectional magnetic orbit of U-shaped around every production line, it is described
The beginning of the unidirectional magnetic orbit of U-shaped connects shipment magnetic orbit, and end connects demobilization magnetic orbit, and two adjacent U-shapeds are unidirectional
The guide direction of magnetic orbit is on the contrary, the adjacent guide direction same section of the adjacent unidirectional magnetic orbit of two U-shapeds shares；
The latter end of the unidirectional magnetic orbit of U-shaped and shipment magnetic orbit intersection are by adding unidirectional arc magnetic orbit section and shipment
Magnetic orbit connection is diverted on shipment magnetic orbit so as to AGV trolley.
2. oriented magnetic orbit arragement construction according to claim 1, it is characterised in that: near shipment magnetic orbit beginning
Production line the beginning of the unidirectional magnetic orbit of U-shaped and the link position of shipment magnetic orbit be located at the production line close to shipment magnetic
The side at property track beginning.
3. oriented magnetic orbit arragement construction according to claim 1, it is characterised in that: along the length direction of production line,
The two sides of production line are respectively separated equipped with several stations, are equipped with material laydown area corresponding to each station, every production line
In station and material laydown area are centered around by the unidirectional magnetic orbit of corresponding U-shaped, jljl expects that laydown area matching is equipped with and the U-shaped list
Magnetropism track connection unidirectional discrepancy magnetic orbit so as to when AGV trolley delivery can by unidirectionally enter and leave magnetic orbit traveling
To closer to the position of material laydown area consequently facilitating unloading.
4. oriented magnetic orbit arragement construction according to claim 3, it is characterised in that: any two adjacent production line it is adjacent
The material laydown area of side is staggered along production line length direction, and the unidirectional of setting is matched with the material laydown area being staggered
Entering and leaving magnetic orbit is also in be staggered.
5. oriented magnetic orbit arragement construction according to claim 1, it is characterised in that: relative to shipment magnetic orbit and return
Empty magnetic orbit position, by unidirectional between the other end of production line, the unidirectional magnetic orbit of the identical U-shaped of guide direction
It connects magnetic orbit to be connected, the unidirectional connection magnetic orbit is parallel with shipment magnetic orbit and demobilization magnetic orbit.
6. any one of -5 oriented magnetic orbit arragement construction according to claim 1, it is characterised in that: shipment magnetic orbit
Beginning connects material general assembly with the end of demobilization magnetic orbit and unloads area.
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| CN110370448A (en) * | 2019-07-26 | 2019-10-25 | 广东技术师范大学天河学院 | A kind of assembled architecture material production line assembly |
| CN112180846A (en) * | 2019-07-05 | 2021-01-05 | 杭州海康机器人技术有限公司 | Task scheduling method, device and system for automatic guided transport vehicle |
| CN114137924A (en) * | 2021-11-30 | 2022-03-04 | 重庆华世丹农业装备制造有限公司 | Assembly production system |
| CN115009857A (en) * | 2022-04-22 | 2022-09-06 | 江苏匠准数控机床有限公司 | Workpiece carrying and conveying method and device |
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