CN109911492A - A kind of three-dimensional matrice formula warehousing system - Google Patents
A kind of three-dimensional matrice formula warehousing system Download PDFInfo
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- CN109911492A CN109911492A CN201910322087.7A CN201910322087A CN109911492A CN 109911492 A CN109911492 A CN 109911492A CN 201910322087 A CN201910322087 A CN 201910322087A CN 109911492 A CN109911492 A CN 109911492A
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- Prior art keywords
- shifting carrying
- platform
- carrying platform
- cone
- dimensional matrice
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Classifications
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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
-
- 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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The invention belongs to storage technique field, in particular to a kind of three-dimensional matrice formula warehousing system.Including computer management system, matrix form storehouse and the multiple shifting carrying platforms being set in matrix form storehouse, multiple shifting carrying platforms are arranged by two-dimensional matrix form, form digital ' Huarongdao ' mode, it can be carried out the opposite sliding of contact between two neighboring shifting carrying platform, the top stacking of each shifting carrying platform forms three-dimensional matrice, always retain a vacancy in three-dimensional matrice, as the moveable space of shifting carrying platform, one end of matrix form storehouse is equipped with cargo entrance, computer management system is moved in parallel along two-dimensional plane coordinate to cargo entrance for controlling specified shifting carrying platform, realize the disengaging of cargo.The present invention stores in a warehouse, and density is big, space utilization rate is high, relevant device structure type is simple, low cost, practical.
Description
Technical field
The invention belongs to storage technique field, in particular to a kind of three-dimensional matrice formula warehousing system.
Background technique
Currently, often occurring that storage space is limited, and type of merchandize, quantity are various in storage field, in cargo access
It cannot effectively complete in time.Its external presentation is the fixed storage of cargo, and loading transport vehicle includes AGV, RGV, storehouse manipulator, fork
Vehicle (artificial) etc. stores cargo, and logistics holding time is longer, and structure is complicated, cost is high, storage there are storage space
The problems such as density is low.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of three-dimensional matrice formula warehousing system, to solve existing storehouse
Storage structure is complicated, cost is high, storage density is low, access cargo time longer problem.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of three-dimensional matrice formula warehousing system, including computer management system, matrix form storehouse and it is set to the square
Multiple shifting carrying platforms in configuration storehouse, multiple shifting carrying platforms are arranged by two-dimensional matrix form, form digital ' Huarongdao '
Mode, can be carried out that contact is opposite to be slided between two neighboring shifting carrying platform, and the top stacking of each shifting carrying platform is formed
Three-dimensional matrice retains a vacancy in three-dimensional matrice always, as the moveable space of shifting carrying platform, the matrix form storehouse
One end be equipped with cargo entrance, the computer management system for control specified shifting carrying platform along two-dimensional plane coordinate to
Cargo entrance moves in parallel, and realizes the disengaging of cargo.
The shifting carrying platform includes platform structure frame, driving motor, driving gear, trolley, rack gear, load-carrying universal wheel
And current-collector, wherein platform structure frame is square body structure, and the adjacent two sides of one are equipped with driving gear and trolley, or
It is equipped with driving gear sum aggregate electric appliance, another two neighboring side is equipped with rack gear and current-collector, or is equipped with rack gear and wiping
Line, each driving gear pass through clutch respectively and connect with a driving motor, the driving motor and the current-collector
The bottom of electrical connection, the platform structure frame is equipped with multiple load-carrying universal wheels.
The driving gear of each shifting carrying platform side and rack gear or the matrix side of the adjacent shifting carrying platform side
Boundary's rack gear is meshed；The trolley or matrix boundaries of the current-collector of the shifting carrying platform side and the adjacent shifting carrying platform side
Trolley is connected.
Trolley on multiple shifting carrying platforms is sequentially connected, and forms closed loop.
One adjacent two sides of the platform structure frame are equipped with directive wheel, and another two neighboring side is equipped with guiding
Wheel track；The directive wheel of each shifting carrying platform side is connect with the guiding wheel track of the adjacent shifting carrying platform side.
The directive wheel and guiding wheel track are located in the middle part of the platform structure frame facet, the driving gear and rack gear
Positioned at platform structure frame facet top, the trolley and current-collector are located under the platform structure frame facet
Portion.
The platform structure frame is set on carrying bottom surface, and it is fixed to be equipped between the platform structure frame and carrying bottom surface
Position mechanism.
The positioning mechanism includes the positioning axis of cone, positioning cone seat, guiding slide and positions axis of cone telescoping drive mechanism, wherein
Positioning axis of cone telescoping drive mechanism is set to the platform structure base of frame and output end is equipped with the positioning axis of cone, the positioning
Cone seat is set on the carrying bottom surface, and the positioning axis of cone telescoping drive mechanism driving positioning axis of cone is stretched out and the locating cone
Seat grafting, realizes the positioning of the platform structure frame.
The platform structure base of frame is equipped with the guiding slide for being oriented to the positioning axis of cone, described fixed
The position axis of cone is slidably connected in the guiding slide.
Piler manipulator is set at the cargo entrance of the matrix form storehouse, and the piler manipulator is used for goods
The pick-and-place of object.
The invention has the advantages and beneficial effects that: a kind of three-dimensional matrice formula warehousing system provided by the invention, storage space
Using digital ' Huarongdao ' form.There are multiple shifting carrying platforms to be closely contacted with each other in storage space, is arranged by matrix form；It
Between can be carried out that intimate contact is opposite to be slided；Firstly, improving storage space storage cargo density, maximum utilizes which
Space.Secondly, it includes AGV, RGV, storehouse manipulator, fork truck that the shifting carrying platform for being loaded with cargo, which is moved instead of loading transport vehicle,
The flowing of (artificial) etc., greatly shortens logistics route, improves the speed of access cargo.
The each shifting carrying platform of the present invention is a independently-controlled unit, obtains power supply by trolley, passes by rack-and-pinion
It is dynamic to be moved, can any combination diversified forms three-dimensional storage format.The storehouse being made of multiple shifting carrying platform controlled cells
Storage form is convenient for automation control and intelligent management, has distinctive feature in the application of unmanned storage field.
Warehousing system of the invention, storage density is big, space utilization rate is high, relevant device structure type is simple, low cost,
It is practical.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of shifting carrying platform in the present invention；
Fig. 3 is the rearview of Fig. 2；
Fig. 4 is the axonometric drawing of shifting carrying platform in the present invention；
Fig. 5 is the top view of shifting carrying platform in the present invention；
Fig. 6 is the structural schematic diagram of positioning mechanism in the present invention；
Fig. 7 is the connection schematic diagram of two neighboring shifting carrying platform in the present invention；
Fig. 8 (a) -8 (j) is that cargo selectively enters and leaves procedure chart in freight house in the embodiment of the present invention one；
Fig. 9 (a) -9 (h) is that cargo enters and leaves procedure chart in order in freight house in the embodiment of the present invention two.
In figure: 1 is matrix form storehouse；2 be shifting carrying platform, and 201 be loading table top, and 202 be platform structure frame, 203
To drive gear, 204 be trolley, and 205 be directive wheel, and 206 be carrying bottom surface, and 207 be rack gear, and 208 be to be oriented to wheel track, 209
To position cone seat, 210 be load-carrying universal wheel, and 211 be the positioning axis of cone, and 212 be current-collector, and 213 be guiding slide；3 be vacancy；4
For piler manipulator.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1, a kind of three-dimensional matrice formula warehousing system provided by the invention, including computer management system, matrix
Formula storehouse 1 and the multiple shifting carrying platforms 2 being set in matrix form storehouse 1, multiple shifting carrying platforms 2 by two-dimensional matrix form into
Row arrangement forms digital ' Huarongdao ' mode.It can be carried out the opposite sliding of contact between two neighboring shifting carrying platform 2, each transfer is flat
The top stacking of platform 2 forms three-dimensional matrice, retains a vacancy always in three-dimensional matrice, moveable as shifting carrying platform 2
Space, one end of matrix form storehouse 1 are equipped with cargo entrance, and computer management system is for controlling specified shifting carrying platform 2
It is moved in parallel along two-dimensional plane coordinate to cargo entrance, realizes the disengaging of cargo.
Piler manipulator 4 is set at the cargo entrance of matrix form storehouse 1, and piler manipulator 4 is for cargo
It picks and places.
As shown in Figure 2-5, shifting carrying platform 2 includes platform structure frame 202, driving motor, driving gear 203, trolley
204, rack gear 207, load-carrying universal wheel 210 and current-collector 212, wherein platform structure frame 202 is square body structure, and one is adjacent
Two sides are equipped with driving gear 203 and trolley 204, or are equipped with driving gear 203 and current-collector 212；Another adjacent two
A side is equipped with rack gear 207 and current-collector 212, or is equipped with rack gear 207 and trolley 204, each that gear 203 is driven to lead to respectively
It crosses clutch to connect with a driving motor, driving motor is electrically connected with current-collector 212, and the bottom of platform structure frame 202 is equipped with
Multiple load-carrying universal wheels 210.
As shown in fig. 7, the driving gear 203 of each 2 side of shifting carrying platform and the rack gear 3 of adjacent 2 side of shifting carrying platform
Or matrix boundaries rack gear is meshed；The trolley 204 of the current-collector 212 of 2 side of shifting carrying platform and adjacent 2 side of shifting carrying platform or
Matrix boundaries trolley is connected, and the trolley 204 on multiple shifting carrying platforms 2 is sequentially connected, and forms closed loop.
The adjacent two sides of the one of platform structure frame 202 are equipped with directive wheel 205, and another two neighboring side, which is equipped with, leads
To wheel track 208；The directive wheel 205 of each 2 side of shifting carrying platform is connect with the guiding wheel track 208 of adjacent 2 side of shifting carrying platform.
Directive wheel 205 and guiding wheel track 208 are located in the middle part of the side of platform structure frame 202, drive gear 203 and rack gear
207 are located at the side surface upper part of platform structure frame 202, and trolley 204 and current-collector 212 are located at the side of platform structure frame 202
Face lower part.
In the embodiment of the present invention, driving gear 203, trolley 204 and directive wheel 205 are set to platform structure frame
202 the same side, and directive wheel 205 is located between driving gear 203 and trolley 204.Rack gear 207, guiding 208 sum aggregate of wheel track
Electric appliance 212 is set to the same side of platform structure frame 202, and is oriented to wheel track 208 between rack gear 207 and current-collector 212.
Trolley 204 and current-collector 212 are located at the opposite sides of platform structure frame 202.
Platform structure frame 202 is set on carrying bottom surface 206, is set between platform structure frame 202 and carrying bottom surface 206
There is positioning mechanism.
As shown in fig. 6, positioning mechanism includes that the positioning axis of cone 211, positioning cone seat 209, guiding slide 212 and the positioning axis of cone are stretched
Contracting driving mechanism, wherein positioning axis of cone telescoping drive mechanism is set to 202 bottom of platform structure frame and output end is equipped with positioning
The axis of cone 211, positioning cone seat 209 are set on carrying bottom surface 206, and the positioning axis of cone telescoping drive mechanism driving positioning axis of cone 211 is stretched
Out with positioning 209 grafting of cone seat, the positioning of platform structure frame 202 is realized.202 bottom of platform structure frame is equipped with for fixed
The guiding slide 212 that the position axis of cone 211 is oriented to, the positioning axis of cone 211 are slidably connected in guiding slide 212.
The shape of platform structure frame 202 can be cuboid, and square can also be used.In the embodiment of the present invention, platform
Two groups of positioning mechanisms are equipped between structural framing 202 and carrying bottom surface 206.
The present invention is pressed into realization automatically and is accurately positioned using biconial locating shaft and ground bipyramid hole positioning cone seat.Transfer is flat
Shifting carrying platform 2 is positioned at position when shifting carrying platform 2 does not move by platform positioning mechanism, when shifting carrying platform 2 needs mobile
Its positioning mechanism is detached from terrestrial positioning cone seat 9, since its adjacent shifting carrying platform 2 is in positioning states, so with higher
Position precision.
2 directive wheels 205 of shifting carrying platform and guiding wheel track 208 are in close contact, and are accurately moved to shifting carrying platform 2 along direction of advance
It is dynamic that guiding constraint is provided.Shifting carrying platform 2 can only be moved in parallel along two-dimensional matrix coordinate direction, and all shifting carrying platform orientation are kept not
Become.
Multiple shifting carrying platforms 2, which are arranged closely in a two-way array, constitutes the removable array of digital Huarong Road type, transfer
The positioning mechanism of platform 2 is positioned at position when platform does not move, by shifting carrying platform 2, when shifting carrying platform 2 needs mobile
Its positioning mechanism is detached from terrestrial positioning cone seat 209, since its adjacent shifting carrying platform 2 is in positioning states position with higher
Precision, the shifting carrying platform 2 takes electricity by trolley 204 under the constraint of guiding wheel track 208, and motor-driven gear rack gear, which pushes, to be moved
Carrying platform 2 travels forward.
When shifting carrying platform 2 is mobile, the four direction arbitrarily contacted movement may be selected, instruct when receiving towards a direction
When walking, two sides shifting carrying platform 2 is still within positioning states, and motor-driven gear is being determined along direction of advance on travelling platform at this time
It is rolled on the good platform rack gear in position, the shifting carrying platform 2 is driven to move along direction of advance；With the rack gear on the shifting carrying platform 2 of walking
The driving gear and motor rotating part being meshed are disengaged and (are realized by clutch), become driven gear.
When cargo storage, there is a shifting carrying platform 2 in place at the cargo entrance of matrix form storehouse 1, stack mechanical arm 4
Cargo is moved on shifting carrying platform 2；After scanning by two-dimensional bar code, the information of cargo and shifting carrying platform 2 is stored in compliant tube
Reason system, the shifting carrying platform 2 for being loaded with cargo are moved along planning path to designated position according to the instruction of computer management system；Together
When other shifting carrying platforms 2 in the planning path it is mobile to vacancy direction according to the instruction of computer management system, to carry
There is the shifting carrying platform 2 of cargo to merge out walking space.
When cargo takes out, the shifting carrying platform 2 for being loaded with the cargo can be according to the instruction of computer management system, according to calculating
It is mobile that machine management system calculates the optimal path at cargo entrance；The other transfers being located in the optimal path simultaneously are flat
Platform 2 is mobile to vacancy according to the instruction of computer management system, merges out walking space to be loaded with the shifting carrying platform 2 of the cargo.
Be loaded with the cargo shifting carrying platform 2 be moved at cargo entrance after, stack mechanical arm 4 at cargo entrance will
Cargo takes out, and after two-dimensional bar code scans, computer management system records 2 information of shifting carrying platform for taking out goods；It takes
After goods, which moves to designated position according to computer management system instruction.
Embodiment one
The shifting carrying platform 2 that number is 01 in freight house is as follows along two-dimensional plane coordinate selectivity discrepancy process:
Going out at inlet for freight house has a vacancy, and above the shifting carrying platform 2 that number is 01 is that number is 05,08
Shifting carrying platform 2, as shown in Fig. 8 (a)；The shifting carrying platform 2 that number is 05,08 is translated to inlet direction out, the shifting that number is 01
It leaves room above carrying platform 2, as shown in Fig. 8 (b)；The shifting carrying platform 2 that number is 01 is moved upward in the vacancy of top, such as
Shown in Fig. 8 (c)；The shifting carrying platform 2 that number is 02,11 is moved to the right the vacancy for 2 lower section of shifting carrying platform that number is 01, such as schemes
Shown in 8 (d)；The shifting carrying platform 2 that number is 05 is displaced downwardly to vacancy, as shown in Fig. 8 (e)；The shifting carrying platform 2 that number is 08,01 to
It moves left to inlet out, as shown in Fig. 8 (f)；The shifting carrying platform 2 that number is 11 is moved upward to vacancy, as shown in Fig. 8 (g)；
The shifting carrying platform 2 that number is 05,02 moves right to vacancy, as shown in Fig. 8 (h)；The shifting carrying platform 2 that number is 08 moves down
To vacancy, as shown in Fig. 8 (i)；The shifting carrying platform 2 that number is 01 is moved to the left out inlet, by stack mechanical arm 4 to its into
The access of crudely-made articles object.
Embodiment two
The shifting carrying platform 2 that number is 05,08,10 in freight house successively reach in order cargo go out inlet process it is as follows:
Freight house goes out at inlet to have a vacancy, and the shifting carrying platform 2 of number 05,08,10 is located at inlet side, such as
Shown in Fig. 9 (a)；The shifting carrying platform 2 that number is 05,08,10 is moved to out to the left at inlet, as shown in Fig. 9 (b)；Number is
Vacancy is moved on 04 shifting carrying platform 2, as shown in Fig. 9 (c)；The shifting carrying platform 2 that number is 02,11,01 moves right to vacancy,
As shown in Fig. 9 (d)；The shifting carrying platform 2 that number is 05 is displaced downwardly to vacancy, as shown in Fig. 9 (e)；The transfer that number is 08,10,04
Platform 2 is moved to the left out inlet, as shown in Fig. 9 (f)；The shifting carrying platform 2 that number is 01 moves up, number 05,02,11
Shifting carrying platform 2 moves right, as shown in Fig. 9 (g)；The shifting carrying platform 2 that number is 08 moves down, as shown in Fig. 9 (h).
The present invention maximizes cargo storage density in storage space using digital ' Huarongdao ' mode, and is loaded with cargo
The mobile flowing instead of traditional loading transport vehicle of shifting carrying platform 2, greatly shortens logistics route, improves the effect of access cargo
Rate.
Warehousing system storage density of the invention is big, space utilization rate is high, relevant device structure type is simple, low cost,
It is practical, it is able to achieve the automation, intelligent access and management of cargo.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of three-dimensional matrice formula warehousing system, which is characterized in that including computer management system, matrix form storehouse (1) and
The multiple shifting carrying platforms (2) being set in the matrix form storehouse (1), multiple shifting carrying platforms (2) by two-dimensional matrix form into
Row arrangement forms digital ' Huarongdao ' mode, can be carried out contact between two neighboring shifting carrying platform (2) and slide relatively, each described
The top stacking of shifting carrying platform (2) forms three-dimensional matrice, retains a vacancy always in three-dimensional matrice, as shifting carrying platform
(2) moveable space, one end of the matrix form storehouse (1) are equipped with cargo entrance, and the computer management system is used
It is moved in parallel along two-dimensional plane coordinate to cargo entrance in the specified shifting carrying platform (2) of control, realizes the disengaging of cargo.
2. three-dimensional matrice formula warehousing system according to claim 1, which is characterized in that the shifting carrying platform (2) includes flat
Platform structural framing (202), driving motor, driving gear (203), trolley (204), rack gear (207), load-carrying universal wheel (210)
And current-collector (212), wherein platform structure frame (202) is square body structure, and the adjacent two sides of one are equipped with driving gear
(203) and trolley (204), or it is equipped with driving gear (203) and current-collector (212), another two neighboring side are equipped with
Rack gear (207) and current-collector (212), or it is equipped with rack gear (207) and trolley (204), each driving gear (203) is respectively
It is connect by clutch with a driving motor, the driving motor is electrically connected with the current-collector (212), the platform knot
The bottom of structure frame (202) is equipped with multiple load-carrying universal wheels (210).
3. three-dimensional matrice formula warehousing system according to claim 2, which is characterized in that each shifting carrying platform (2) side
The driving gear (203) in face is meshed with the rack gear (3) of the adjacent shifting carrying platform (2) side or matrix boundaries rack gear；Institute
State the current-collector (212) of shifting carrying platform (2) side and the trolley (204) of adjacent shifting carrying platform (2) side or matrix side
Boundary's trolley is connected.
4. three-dimensional matrice formula warehousing system according to claim 3, which is characterized in that on multiple shifting carrying platforms (2)
Trolley (204) be sequentially connected, formed closed loop.
5. three-dimensional matrice formula warehousing system according to claim 2, which is characterized in that the platform structure frame (202)
An adjacent two sides be equipped with directive wheel (205), another two neighboring side be equipped with guiding wheel track (208)；It is each described
The directive wheel (205) of shifting carrying platform (2) side is connect with the guiding wheel track (208) of the adjacent shifting carrying platform (2) side.
6. three-dimensional matrice formula warehousing system according to claim 5, which is characterized in that the directive wheel (205) and guiding
Wheel track (208) is located in the middle part of the side of the platform structure frame (202), and the driving gear (203) and rack gear (207) are located at
The side surface upper part of the platform structure frame (202), the trolley (204) and current-collector (212) are located at the platform structure
The side lower of frame (202).
7. three-dimensional matrice formula warehousing system according to claim 2, which is characterized in that the platform structure frame (202)
It is set in carrying bottom surface (206), positioning mechanism is equipped between the platform structure frame (202) and carrying bottom surface (206).
8. three-dimensional matrice formula warehousing system according to claim 7, which is characterized in that the positioning mechanism includes locating cone
Axis (211), positioning cone seat (209), guiding slide (212) and positioning axis of cone telescoping drive mechanism, drive wherein the positioning axis of cone is flexible
Motivation structure is set to platform structure frame (202) bottom and output end is equipped with the positioning axis of cone (211), the positioning cone seat
(209) it is set on the carrying bottom surface (206), the positioning axis of cone telescoping drive mechanism driving positioning axis of cone (211) is stretched out
With positioning cone seat (209) grafting, the positioning of the platform structure frame (202) is realized.
9. three-dimensional matrice formula warehousing system according to claim 8, which is characterized in that the platform structure frame (202)
Bottom is equipped with the guiding slide (212) for being oriented to the positioning axis of cone (211), and the positioning axis of cone (211) is sliding
It is dynamic to be connected in the guiding slide (212).
10. three-dimensional matrice formula warehousing system according to claim 1, which is characterized in that the matrix form storehouse (1)
Piler manipulator (4) are set at cargo entrance, the piler manipulator (4) is used for the pick-and-place of cargo.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910322087.7A CN109911492B (en) | 2019-04-22 | 2019-04-22 | Three-dimensional matrix type warehousing system |
| PCT/CN2019/085624 WO2020215366A1 (en) | 2019-04-22 | 2019-05-06 | Three-dimensional matrix-type storage system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910322087.7A CN109911492B (en) | 2019-04-22 | 2019-04-22 | Three-dimensional matrix type warehousing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109911492A true CN109911492A (en) | 2019-06-21 |
| CN109911492B CN109911492B (en) | 2020-10-09 |
Family
ID=66978060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910322087.7A Expired - Fee Related CN109911492B (en) | 2019-04-22 | 2019-04-22 | Three-dimensional matrix type warehousing system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109911492B (en) |
| WO (1) | WO2020215366A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111358185A (en) * | 2020-03-01 | 2020-07-03 | 重庆大学 | Liftable intelligent storage wardrobe |
| WO2020215365A1 (en) * | 2019-04-22 | 2020-10-29 | 中国科学院沈阳自动化研究所 | Transfer platform for storage |
| CN114001254A (en) * | 2021-11-15 | 2022-02-01 | 盐城工学院 | Test concentration contrast display device for potential step method and display method thereof |
| CN114401909A (en) * | 2019-06-27 | 2022-04-26 | 格莱姆机器人公司 | Three-dimensional modular system for moving standard elements within a three-dimensional structure of the cellular type |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024000069A1 (en) * | 2022-06-28 | 2024-01-04 | Reid Frederick | Nested 3d storage |
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| WO2020215365A1 (en) * | 2019-04-22 | 2020-10-29 | 中国科学院沈阳自动化研究所 | Transfer platform for storage |
| CN114401909A (en) * | 2019-06-27 | 2022-04-26 | 格莱姆机器人公司 | Three-dimensional modular system for moving standard elements within a three-dimensional structure of the cellular type |
| CN114401909B (en) * | 2019-06-27 | 2023-10-27 | 格莱姆机器人公司 | Modular system for displacement of stored items |
| CN111358185A (en) * | 2020-03-01 | 2020-07-03 | 重庆大学 | Liftable intelligent storage wardrobe |
| CN114001254A (en) * | 2021-11-15 | 2022-02-01 | 盐城工学院 | Test concentration contrast display device for potential step method and display method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020215366A1 (en) | 2020-10-29 |
| CN109911492B (en) | 2020-10-09 |
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