CN110092130A - Carrier - Google Patents
Carrier Download PDFInfo
- Publication number
- CN110092130A CN110092130A CN201910522854.9A CN201910522854A CN110092130A CN 110092130 A CN110092130 A CN 110092130A CN 201910522854 A CN201910522854 A CN 201910522854A CN 110092130 A CN110092130 A CN 110092130A
- Authority
- CN
- China
- Prior art keywords
- drive
- wheel
- driving device
- rotary part
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of carriers, including car body, the first wheel, the second wheel, first wheel and the second wheel interval are arranged, carrier further include: first driving device, first driving device is arranged on the car body, the output shaft of first driving device is connect with the first wheel, to drive the first vehicle wheel rotation；Second driving device, the second driving device are arranged on the car body, and the output shaft of the second driving device is connect with the second wheel, to drive the second vehicle wheel rotation；Rotary part, between the first wheel and the second wheel, rotary part can be rotatably set rotary part at least partially around predetermined vertical axis, have supporting part on rotary part, and supporting part is used for arrangement of goods；Rotation drive device, rotation drive device and rotary part are drivingly connected, to drive rotary part and cargo to rotate.Carrier of the invention solves the problems, such as that automatic guided vehicle in the prior art is poor to the position and direction control effect of cargo in turning.
Description
Technical field
The present invention relates to means of transport fields, in particular to a kind of carrier.
Background technique
Automatic guided vehicle (AGV) is widely used in Automatic Warehouse, for realizing to the automatic transporting of cargo, mentions significantly
The high operational efficiency in warehouse.
Existing automatic guided vehicle is poor to the position and direction control effect of cargo in turning.It is existing that nobody removes
Fortune vehicle is usually moved in curves in turning, and then causes the track of cargo transport irregular, and in automatic guided vehicle turning, Che Shang
Cargo can be rotated together with vehicle body, cause the placement angle of cargo irregular.It is relatively mixed that this does not only result in cargo transport process
Disorderly, and it is unfavorable for follow up device to the crawl of cargo and puts.
Summary of the invention
The main purpose of the present invention is to provide a kind of carriers, are being turned with solving automatic guided vehicle in the prior art
When the poor problem of the position and direction control effect to cargo.
To achieve the goals above, the present invention provides a kind of carrier, including car body, the first wheel, the second wheel,
One wheel and the second wheel interval are arranged, carrier further include: and first driving device, first driving device are arranged on the car body,
The output shaft of first driving device is connect with the first wheel, to drive the first vehicle wheel rotation；Second driving device, the second driving dress
It installs on the car body, the output shaft of the second driving device is connect with the second wheel, to drive the second vehicle wheel rotation；Rotating part
Part, between the first wheel and the second wheel, rotary part can be rotated rotary part at least partially around predetermined vertical axis
Ground is arranged, and has supporting part on rotary part, and supporting part is used for arrangement of goods；Rotation drive device, rotation drive device and rotation
Rotation member is drivingly connected, to drive rotary part and cargo to rotate.
Further, carrier further includes the first controller, the first controller and first driving device, the second driving device
And the equal communication connection of rotation drive device, with by the first controller control first driving device, the second driving device and
The movement of rotation drive device.
Further, the outside wall surface of rotary part is toothed around, and rotation drive device includes: rotary drive motor, rotation
Driving motor is arranged on the car body；The output shaft of rotary drive gear, rotary drive motor is connect with rotary drive gear, to drive
The gear teeth of dynamic rotary drive gear rotation, rotary drive gear and rotary part outside wall surface cooperate, to drive rotary part to rotate.
Further, carrier further includes lifting drive, and lifting drive and rotary part are drivingly connected, to drive
Dynamic rotary part and cargo rise or fall.
Further, carrier further includes second controller, and second controller and first driving device, the second driving fill
It sets, rotation drive device and the equal communication connection of lifting drive, to control first driving device, the by second controller
The movement of two driving devices, rotation drive device and lifting drive.
Further, lifting drive includes: lifting driving motor, and the setting of lifting driving motor is on the car body；First
Lifting driving gear, the output shaft for going up and down driving motor is connect with the first lifting driving gear, with driving the first lifting sliding tooth
Wheel rotation；Second lifting driving gear, the second lifting driving gear is engaged with the first lifting driving gear, to pass through the first lifting
Drive the dynamic second lifting sliding tooth wheel rotation of gear band；Lead screw, lead screw is connect with the second lifting driving gear, to pass through second liter
Drop driving gear band moves lead screw rotation；Screw, screw are mounted on lead screw, and screw is connect with rotary part, to rotate in lead screw
When, it is vertically moving by driving screw, to drive rotary part and cargo to rise or fall.
Further, carrier includes mounting plate, and lead screw is installed in rotation on mounting plate；Mounting plate is equipped with connection
Part, mounting plate are connect by connector with car body.
Further, connector includes that sequentially connected first connection branch, the second connection branch with third connect branch；
There is clamping gap, clamping gap is used for and the wedging position card on car body between first connection branch and third connection branch
It connects；Connector further includes third connector, and the first connection branch, third connection branch, the wedging position on car body are all provided with useful
In the mounting hole passed through for third connector.
Further, rotary part is equipped with the first aperture opened up along the vertical direction, and lead screw is at least partly plugged in
In first aperture；Lead screw is equipped with the second aperture opened up along the axial direction of lead screw.
Further, supporting part is cirque structure, and the main part of supporting part and rotary part is detachably connected.
The carrier to apply the technical scheme of the present invention includes car body, the first wheel, the second wheel, the first wheel and second
The setting of wheel interval, carrier further include: first driving device, first driving device are arranged on the car body, first driving device
Output shaft connect with the first wheel, to drive the first vehicle wheel rotation；Second driving device, the second driving device are arranged in car body
On, the output shaft of the second driving device is connect with the second wheel, to drive the second vehicle wheel rotation；Rotary part, rotary part position
Between the first wheel and the second wheel, rotary part can be rotatably set at least partially around predetermined vertical axis, rotating part
There is supporting part, supporting part is used for arrangement of goods on part；Rotation drive device, rotation drive device and rotary part driving connect
It connects, to drive rotary part and cargo to rotate.When carrier is turned, first driving device and the second driving device are respectively driven
First wheel and the second wheel rotate in the opposite direction, central point pirouette of such car body around the first wheel and the second wheel
It is dynamic；Rotation drive device drives rotary part rotation, is offset with the rotation of car body, keeps the cargo on supporting part quiet with respect to ground
Only, to accurately be controlled the position and direction of cargo in carrier turning, keep transportational process more effective, and have
It to the crawl of cargo and is put conducive to follow up device, solves automatic guided vehicle in the prior art in turning to the position of cargo
Set the problem poor with direction controlling effect.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of the embodiment of carrier according to the present invention；
Fig. 2 shows the structural schematic diagrams at the first visual angle of the partial structurtes of the embodiment of carrier according to the present invention；
Fig. 3 shows the structural schematic diagram at the second visual angle of the partial structurtes of the embodiment of carrier according to the present invention；
Fig. 4 shows the lead screw of the embodiment of carrier according to the present invention and the structural schematic diagram of screw；
Fig. 5 shows the structural schematic diagram of the connector of the embodiment of carrier according to the present invention.
Wherein, the above drawings include the following reference numerals:
1, car body；2, the first wheel；3, the second wheel；4, rotary part；41, supporting part；42, the first aperture；5, it rotates
Driving device；51, rotary drive motor；52, rotary drive gear；6, lifting drive；61, driving motor is gone up and down；62,
One lifting driving gear；63, the second lifting driving gear；64, lead screw；641, the second aperture；65, screw；7, mounting plate；8, even
Fitting；81, the first connection branch；82, the second connection branch；83, third connects branch；84, third connector；85, between being clamped
Gap；9, cargo.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 to Fig. 5 is please referred to, the present invention provides a kind of carrier, including car body 1, the first wheel 2, the second wheel 3,
First wheel 2 and the second wheel 3 interval are arranged, carrier further include: first driving device, first driving device are arranged in car body
On 1, the output shaft of first driving device is connect with the first wheel 2, to drive the rotation of the first wheel 2；Second driving device, second
Driving device is arranged on car body 1, and the output shaft of the second driving device is connect with the second wheel 3, to drive 3 turns of the second wheel
It is dynamic；Rotary part 4, rotary part 4 between the first wheel 2 and the second wheel 3, rotary part 4 at least partially around predetermined
Vertical axis can be rotatably set, and have supporting part 41 on rotary part 4, and supporting part 41 is used for arrangement of goods 9；Rotation driving dress
5 are set, rotation drive device 5 and rotary part 4 are drivingly connected, to drive rotary part 4 and cargo 9 to rotate.Carrier turning
When, first driving device and the second driving device respectively drives the first wheel 2 and the second wheel 3 rotates in the opposite direction, this
Sample car body 1 is rotated around the central point original place of the first wheel 2 and the second wheel 3；Rotation drive device 5 drives rotary part 4 to rotate,
It is offset with the rotation of car body 1, keeps the cargo 9 on supporting part 41 static with respect to ground, thus in carrier turning, to cargo
Position and direction are accurately controlled, and keep transportational process more effective, and are conducive to follow up device to the crawl of cargo and are put,
Solve the problems, such as that automatic guided vehicle in the prior art is poor to the position and direction control effect of cargo in turning.
Specifically, the first wheel 2 is arranged in parallel with the second wheel 3.Preferably, the axis of the first wheel 2 and the second wheel 3
Axis be overlapped.Preferably, the first wheel 2 and the second wheel 3 are symmetrically disposed in the two sides of rotary part 4.
Specifically, carrier further includes the first controller, the first controller and first driving device, the second driving device with
And the equal communication connection of rotation drive device 5, to control first driving device, the second driving device and rotation by the first controller
The movement of rotary driving device 5.First driving device, the second driving device and rotation is accurately controlled by the first controller to drive
The movement of dynamic device 5, can accurately control the rotation of car body 1 Yu rotary part 4, effectively be controlled the direction of cargo.
As shown in Figure 1 to Figure 3, the outside wall surface of rotary part 4 is toothed around, and rotation drive device 5 includes: rotation driving electricity
Machine 51, rotary drive motor 51 are arranged on car body 1；Rotary drive gear 52, the output shaft of rotary drive motor 51 and rotation
Gear 52 is driven to connect, to drive rotary drive gear 52 to rotate, the gear teeth of rotary drive gear 52 and 4 outside wall surface of rotary part
Cooperation, to drive rotary part 4 to rotate.
As shown in figure 3, carrier further includes lifting drive 6, lifting drive 6 and rotary part 4 are drivingly connected,
To drive rotary part 4 and cargo 9 to rise or fall.The height of cargo can be controlled by lifting drive 6.
Specifically, carrier further includes second controller, second controller and first driving device, the second driving device,
Rotation drive device 5 and the equal communication connection of lifting drive 6, to control first driving device, the by second controller
The movement of two driving devices, rotation drive device 5 and lifting drive 6.
As shown in Figure 3 and Figure 4, lifting drive 6 includes: lifting driving motor 61, and the lifting setting of driving motor 61 exists
On car body 1；First lifting driving gear 62, the output shaft for going up and down driving motor 61 are connect with the first lifting driving gear 62, with
Driving the first lifting driving gear 62 rotates；Second lifting driving gear 63, the second lifting driving gear 63 and the first lifting are driven
Moving gear 62 engages, to drive the second lifting driving gear 63 to rotate by the first lifting driving gear 62；Lead screw 64, lead screw 64
It is connect with the second lifting driving gear 63, to drive lead screw 64 to rotate by the second lifting driving gear 63；Screw 65, screw 65
Be mounted on lead screw 64, screw 65 is connect with rotary part 4, with lead screw 64 rotate when, by driving screw 65 along vertical side
To movement, to drive rotary part 4 and cargo 9 to rise or fall.
As shown in Figure 1 to Figure 3, carrier includes mounting plate 7, and lead screw 64 is installed in rotation on mounting plate 7；Mounting plate
7 are equipped with connector 8, and mounting plate 7 is connect by connector 8 with car body 1.
As shown in figure 5, connector 8 includes that sequentially connected first connection branch 81, second connects branch 82 and third company
Meet branch 83；There is clamping gap 85, clamping gap 85 is used for and vehicle between first connection branch 81 and third connection branch 83
Wedging position clamping on body 1；Connector 8 further includes third connector 84, first connects branch 81, third connects branch 83,
Wedging position on car body 1 is equipped with the mounting hole for passing through for third connector 84.By making to be clamped gap 85 and car body 1
Wedging position clamping, and reinforced by the third connector 84 being threaded through in mounting hole, mounting plate 7 can be made steadily
It is connect with car body 1.
As shown in Fig. 2, rotary part 4 is equipped with the first aperture 42 opened up along the vertical direction, lead screw 64 is at least partly
It is plugged in the first aperture 42；Lead screw 64 is equipped with the second aperture 641 opened up along the axial direction of lead screw 64.
Further, supporting part 41 is cirque structure, and supporting part 41 and the main part of rotary part 4 detachably connect
It connects.
It can be seen from the above description that the above embodiments of the present invention realized the following chievements:
Carrier of the invention includes car body 1, the first wheel 2, the second wheel 3, and the first wheel 2 and the second wheel 3 are spaced
Setting, carrier further include: first driving device, first driving device are arranged on car body 1, the output shaft of first driving device
It is connect with the first wheel 2, to drive the rotation of the first wheel 2；Second driving device, the second driving device are arranged on car body 1, the
The output shaft of two driving devices is connect with the second wheel 3, to drive the rotation of the second wheel 3；Rotary part 4, rotary part 4 are located at
Between first wheel 2 and the second wheel 3, rotary part 4 can be rotatably set at least partially around predetermined vertical axis, rotating part
There is supporting part 41, supporting part 41 is used for arrangement of goods 9 on part 4；Rotation drive device 5, rotation drive device 5 and rotary part
4 are drivingly connected, to drive rotary part 4 and cargo 9 to rotate.When carrier is turned, first driving device and the second driving dress
It sets and respectively drives the first wheel 2 and the second wheel 3 rotates in the opposite direction, such car body 1 is around the first wheel 2 and the second wheel
3 central point original place rotation；Rotation drive device 5 drives rotary part 4 to rotate, and is offset with the rotation of car body 1, makes supporting part 41
On cargo 9 with respect to ground it is static, thus carrier turning when, the position and direction of cargo are accurately controlled, are made
Transportational process is more effective, and is conducive to follow up device to the crawl of cargo and puts, and solves unmanned carrying in the prior art
Vehicle poor problem of the position and direction control effect to cargo in turning.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of carrier, including car body (1), the first wheel (2), the second wheel (3), which is characterized in that first wheel
(2) it is arranged with second wheel (3) interval, the carrier further include:
First driving device, the first driving device are arranged on the car body (1), the output shaft of the first driving device
It is connect with first wheel (2), to drive first wheel (2) to rotate；
Second driving device, second driving device are arranged on the car body (1), the output shaft of second driving device
It is connect with second wheel (3), to drive second wheel (3) to rotate；
Rotary part (4), the rotary part (4) are described between first wheel (2) and second wheel (3)
Rotary part (4) can be rotatably set at least partially around predetermined vertical axis, have supporting part on the rotary part (4)
(41), the supporting part (41) is used for arrangement of goods (9)；
Rotation drive device (5), the rotation drive device (5) and rotary part (4) are drivingly connected, to drive the rotating part
Part (4) and the cargo (9) rotation.
2. carrier according to claim 1, which is characterized in that the carrier further includes the first controller, and described
One controller and the first driving device, second driving device and the rotation drive device (5) equal communication connection,
To control the first driving device, second driving device and the rotation drive device by first controller
(5) movement.
3. carrier according to claim 1, which is characterized in that the outside wall surface of the rotary part (4) is toothed around, institute
Stating rotation drive device (5) includes:
Rotary drive motor (51), the rotary drive motor (51) are arranged on the car body (1)；
The output shaft of rotary drive gear (52), the rotary drive motor (51) is connect with the rotary drive gear (52),
To drive the rotary drive gear (52) to rotate, the rotary drive gear (52) and the rotary part (4) outside wall surface
Gear teeth cooperation, to drive the rotary part (4) to rotate.
4. carrier according to claim 1, which is characterized in that the carrier further includes lifting drive (6), institute
It states lifting drive (6) and the rotary part (4) to be drivingly connected, to drive the rotary part (4) and the cargo
(9) it rises or falls.
5. carrier according to claim 4, which is characterized in that the carrier further includes second controller, and described
Two controllers and the first driving device, second driving device, the rotation drive device (5) and the lifting are driven
Dynamic device (6) equal communication connection, to control the first driving device by the second controller, second driving fills
It sets, the movement of the rotation drive device (5) and the lifting drive (6).
6. carrier according to claim 4, which is characterized in that lifting drive (6) includes:
It goes up and down driving motor (61), the lifting driving motor (61) is arranged on the car body (1)；
First lifting driving gear (62), the output shaft of lifting driving motor (61) and the first lifting driving gear
(62) it connects, to drive the first lifting driving gear (62) rotation；
Second lifting driving gear (63), second lifting driving gear (63) are nibbled with first lifting driving gear (62)
It closes, to drive the second lifting driving gear (63) rotation by first lifting driving gear (62)；
Lead screw (64), the lead screw (64) connect with second lifting driving gear (63), to be driven by second lifting
Moving gear (63) drives lead screw (64) rotation；
Screw (65), the screw (65) are mounted on the lead screw (64), and the screw (65) and the rotary part (4) are even
It connects, with when the lead screw (64) rotate, by driving the screw (65) vertically moving, to drive the rotating part
Part (4) and the cargo (9) rise or fall.
7. carrier according to claim 6, which is characterized in that the carrier includes mounting plate (7), the lead screw
(64) it is installed in rotation on the mounting plate (7)；The mounting plate (7) is equipped with connector (8), the mounting plate (7)
It is connect by the connector (8) with the car body (1).
8. carrier according to claim 7, which is characterized in that the connector (8) includes sequentially connected first company
Meet branch (81), the second connection branch (82) connects branch (83) with third；First connection branch (81) and the third
Connecting has clamping gap (85) between branch (83), clamping gap (85) is used for and the clamping portion on the car body (1)
Position clamping；The connector (8) further includes third connector (84), first connection branch (81), third connection point
Wedging position in portion (83), the car body (1) is equipped with the mounting hole for passing through for the third connector (84).
9. carrier according to claim 6, which is characterized in that the rotary part (4) is equipped with and opens along the vertical direction
If the first aperture (42), the lead screw (64) is at least partly plugged in first aperture (42)；The lead screw (64)
It is equipped with the second aperture (641) opened up along the axial direction of the lead screw (64).
10. carrier according to claim 9, which is characterized in that the supporting part (41) is cirque structure, described to hold
Load portion (41) and the main part of the rotary part (4) are detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910522854.9A CN110092130B (en) | 2019-06-17 | 2019-06-17 | Transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910522854.9A CN110092130B (en) | 2019-06-17 | 2019-06-17 | Transport vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110092130A true CN110092130A (en) | 2019-08-06 |
| CN110092130B CN110092130B (en) | 2021-06-29 |
Family
ID=67451000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910522854.9A Active CN110092130B (en) | 2019-06-17 | 2019-06-17 | Transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110092130B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0737630A1 (en) * | 1995-04-11 | 1996-10-16 | Gec Alsthom Systemes Et Services Sa | Self-propelled vehicle with telescopic forks for handling loaded pallets in warehouses and warehouse |
| CN203776395U (en) * | 2014-03-30 | 2014-08-20 | 邱锦辉 | Multifunctional dining table |
| CN104129591A (en) * | 2013-11-20 | 2014-11-05 | 上海快仓智能科技有限公司 | Unmanned automatic carrying system for warehoused articles |
| CN205397170U (en) * | 2016-02-02 | 2016-07-27 | 吕涛 | Store in a warehouse intelligent transfer robot and handling system |
| CN105947506A (en) * | 2016-05-31 | 2016-09-21 | 芜湖智久机器人有限公司 | Intelligent transfer robot for warehouse |
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN206358714U (en) * | 2016-11-29 | 2017-07-28 | 科思通自动化设备（苏州）有限公司 | Store in a warehouse robot |
-
2019
- 2019-06-17 CN CN201910522854.9A patent/CN110092130B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0737630A1 (en) * | 1995-04-11 | 1996-10-16 | Gec Alsthom Systemes Et Services Sa | Self-propelled vehicle with telescopic forks for handling loaded pallets in warehouses and warehouse |
| CN104129591A (en) * | 2013-11-20 | 2014-11-05 | 上海快仓智能科技有限公司 | Unmanned automatic carrying system for warehoused articles |
| CN203776395U (en) * | 2014-03-30 | 2014-08-20 | 邱锦辉 | Multifunctional dining table |
| CN205397170U (en) * | 2016-02-02 | 2016-07-27 | 吕涛 | Store in a warehouse intelligent transfer robot and handling system |
| CN105947506A (en) * | 2016-05-31 | 2016-09-21 | 芜湖智久机器人有限公司 | Intelligent transfer robot for warehouse |
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN206358714U (en) * | 2016-11-29 | 2017-07-28 | 科思通自动化设备（苏州）有限公司 | Store in a warehouse robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110092130B (en) | 2021-06-29 |
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