CN113911608B - II type automatic handling storage system - Google Patents
II type automatic handling storage system Download PDFInfo
- Publication number
- CN113911608B CN113911608B CN202110995808.8A CN202110995808A CN113911608B CN 113911608 B CN113911608 B CN 113911608B CN 202110995808 A CN202110995808 A CN 202110995808A CN 113911608 B CN113911608 B CN 113911608B
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- carrying
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- storage
- base
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a II-type automatic carrying and storing system, which relates to the field of logistics carrying and storing equipment, and the whole system comprises four parts, namely a fixed beam multi-arm automatic carrying and storing vehicle, a storage grid, a storage channel and a storage yard which are regularly arranged, wherein the automatic carrying and storing vehicle comprises two parallel load beams, the load beams form two frames of a chassis, two Mecanum wheels are respectively arranged at the front end and the rear end of the load beams, a base is arranged on the chassis, the base is positioned in the central area of the chassis, two vertical columns are arranged right above the base, a vertical sliding device is attached to the inner side of the base, and two groups of carrying devices which are symmetrically arranged are arranged on the vertical sliding device; each container keeps relative independence and standing posture in the process of carrying; the containers can be orderly arranged according to the required rules all the time; the container which is carried and put in can be always used for storing or taking out articles.
Description
Technical Field
The invention relates to the field of logistics transportation storage equipment, in particular to a II-type automatic transportation storage system.
Background
At present, the existing logistics carrying equipment has the following common characteristics: picking up and carrying a container (also referred to as a container after it can be directly carried) from a cargo yard, and in the process of walking to a shelf and throwing the container to a cargo space or a cargo lattice on the shelf:
1. or the single-piece repeated carrying is not capable of picking up and throwing in a plurality of containers at one time, and the carrying efficiency is low.
2. Or the containers to be carried are in a state of being stacked and pressed on each other, each container cannot store or pick up articles therein at any time during carrying, that is, each container of the carrying device does not have an open technical feature during carrying.
3. Whether it is a repeated conveyance of single articles or a conveyance of mutually pressed stacks, each container cannot maintain a regular arrangement of relative positions during the conveyance movement, that is, the containers do not have the technical feature of a regular arrangement during the conveyance movement.
4. The existing equipment is in a mutually stacked and extruded state, so that each container is not relatively independent and cannot always maintain a certain standing position in carrying, and the existing equipment cannot adapt to carrying some fragile, easy-to-break and difficult-to-invert articles and occasions. That is, each container in the transport does not have the technical feature of being relatively independent and standing.
Disclosure of Invention
The invention aims to provide a II-type automatic carrying and storing system which solves the problems in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an automatic handling memory system of II type, including turning beam multi-arm automatic handling memory car, the goods check of regular arrangement, storage passageway, the goods yard of regular arrangement these four, automatic handling memory car is equipped with two load crossbeams that are parallel to each other, load crossbeam is as two frames on chassis, two Mecanum wheels are respectively installed to the front and back end on chassis, be equipped with the base on the chassis, the base is located the central region on chassis, and is equipped with the stand of two plumbs directly over, the stand itself is as the guide rail, and its inboard has the plumb slider that can slide from top to bottom, two sets of handling devices that have the symmetry to set up on the plumb slider are used for carrying the packing box.
Preferably, the carrying device comprises two transmission shafts, two rotating frames, eight auxiliary supporting claws, a double-head stepping motor and four bearing seats, wherein the two transmission shafts are respectively arranged in the two bearing seats, and the rear ends of the two transmission shafts are respectively connected with the output ends of the double-head stepping motor; the rotating frame is in a circular ring shape, and square holes at the center of the rotating frame are respectively sleeved on square shafts at the other ends of the two transmission shafts in interference fit; the rear end of the supporting claw is provided with a base hole seat, and a rear end shaft screwed and fastened by threads is arranged in the base hole seat; the rear end shaft passes through the base holes positioned at four top points of the rectangle on the annular rotating frame in a clearance fit manner, and the rear end of the rear end shaft extends out of the rotating frame; a pendant is hung on the end part of the rear end shaft extending out of the rear end shaft; the gravity of the pendant enables the supporting claw to always keep a horizontal state when the rotating frame rotates, the supporting claw is used for carrying a container, and the double-head stepping motor and the bearing seat are fixed in the vertical sliding device.
Preferably, the front section of the supporting claw is provided with an anti-slip slope, the outermost end of the anti-slip slope is provided with an anti-falling stop block, and the inner side surface of the anti-slip slope is provided with an outwards open bevel angle.
Preferably, the vertical sliding device comprises a motor supporting plate and an electric ejector rod, wherein the outer protrusions on two sides of the motor supporting plate extend into through grooves (guide rails for the motor supporting plate to move up and down) of the vertical column, the bottom of the motor supporting plate is fixedly connected with the end part of an output shaft of the electric ejector rod and can slide up and down along the vertical column under the pushing and pulling of the electric ejector rod, and the electric ejector rod is fixed on the chassis through a base.
Preferably, the automatic carrying storage vehicle can be applied to a freight site matched with the automatic carrying storage vehicle, wherein the freight site comprises storage lattices and a freight site, and the lattices are connected with the freight site through a plurality of storage channels; the cargo box (cargo) can be directly placed on the supporting claw of the fixed-beam multi-arm automatic carrier without a cargo yard, and then the carrier carries the cargo box (cargo) and puts the cargo box (cargo) into the storage cargo grid in order.
Compared with the prior art, the invention has the beneficial effects that:
1. the multi-beam multi-arm carrier is used for carrying the multi-beam multi-arm at a time, so that the multi-beam multi-arm carrier is efficient and quick;
2. the positions of the supporting claws on the automatic carrier are arranged at four vertexes of a rectangle, and the vertexes of the four rectangles fall on a circle, so that the four pairs of supporting claws are regularly arranged according to a certain interval from left to right and from top to bottom, and a certain regular arrangement can be kept between the containers when the containers are carried, even if the positions between the original containers are not regular, the positions between the containers can be tidy after the containers are put down through picking and carrying of the supporting claws, namely, the two functions of carrying and arranging are actually included in the processes of picking, carrying and putting in once;
3. in the invention, all containers on the carrier are not mutually stacked and extruded, so that each container is open to the outside, and each container on the carrier can be subjected to the operations of storing and taking articles at any time, which is not provided with the existing carrier equipment, and the use is very convenient;
4. because all containers on the carrying and storing vehicle are not mutually stacked and extruded, each container is relatively independent and keeps standing, and the carrying and storing vehicle is very suitable for carrying fragile and easily-broken articles which are not suitable for inversion, such as meal delivery vehicles of certain high-grade large banquet; carrying and storing articles needing to be stored in a closed mode, such as libraries, data libraries, cultural relics libraries and the like; some businesses need to make regular observations of items in a cargo compartment, and so on.
Drawings
FIG. 1 is a schematic view of a structure of a truck and a cargo yard according to the present invention;
FIG. 2 is a schematic view of a truck according to the present invention;
FIG. 3 is a schematic diagram of the structure of the present invention;
FIG. 4 is a schematic cross-sectional view of the present invention;
FIG. 5 is an enlarged view of the structure at B in FIG. 4;
fig. 6 is an enlarged view of the structure at C in fig. 3.
In the figure: 1-a load beam;
2-chassis; 3-Mecanum wheel; 5-a base; 6-stand columns;
7-a vertical sliding device; 71-a motor support plate; 72-an electric ejector rod;
8-a carrying device; 81-a transmission shaft; 82-a turret; 83-holding claws; 84-double-ended stepper motor; 85-bearing blocks; 86-anti-slip ramp; 87-rear end shaft; 88-suspending drop; 8-an anti-falling stop block; 810-a base hole seat;
9-freight site; 91-warehouse goods grid; 92-yard; 93-warehouse channel.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 6, the present invention provides a technical solution: the utility model provides an automatic handling storage system of II type, includes four parts of automatic handling storage car of restraint multiarm, regular arrangement's goods check, warehouse passageway, regular arrangement's goods yard, automatic handling storage car is equipped with two load crossbeams 1 that are parallel to each other, load crossbeam 1 is as two frames on chassis 2, two Mecanum wheels 3 are respectively installed at both ends around load crossbeam 1, be equipped with base 5 on the chassis 2, base 5 is located the central region on chassis 2, and is equipped with the stand 6 of two plumbs directly over, stand 6 itself is as the guide rail, and its inboard has the plumb slider 7 that can plumb from top to bottom, there are two sets of handling devices 8 of symmetry setting on the plumb slider 7 to be used for carrying the packing box.
In this embodiment, the carrying device 8 includes two transmission shafts 81, two rotating frames 82, eight auxiliary supporting claws 83, a double-ended stepping motor 84, and four bearing seats 85, the two transmission shafts 81 are respectively installed in the two bearing seats 85, and the rear ends of the transmission shafts are connected with the output ends of the double-ended stepping motor 84; the two rotating frames 82 are annular and are respectively sleeved on the square shaft at the other end of the transmission shaft 81 in an interference fit manner of square holes at the central positions of the rotating frames; a base hole seat 810 is arranged at the rear end of the supporting claw 83, and a rear end shaft 87 screwed and fastened by threads is arranged in the base hole seat 810; the rear end shaft 87 passes through the base holes of the four rectangular top points on the annular rotating frame 82 in a clearance fit manner, the rotating frame 82 is outwards extended from the rear end of the rear end shaft 87, a suspending drop 88 is suspended on the outwards extended end of the rear end shaft 87, the supporting claw 83 is always kept in a horizontal state when the rotating frame 82 rotates due to the gravity of the suspending drop 88, the supporting claw 83 is used for carrying a container, the double-headed stepping motor 84 and the bearing seat 85 are fixed in the vertical sliding device 7, one rotating frame 82 is called as a bundle, one auxiliary supporting claw 83 is 1 arm, the rotating frame 82 comprises two symmetrically arranged rotating frames, and 4 auxiliary supporting claws 83 are arranged on each rotating frame, so the embodiment can be named as follows: beam-turning 2x 2 arm automatic carrying storage vehicle.
In this embodiment, the Mecanum wheel 3 is a purchasing part which is composed of a hub and rollers surrounding the hub, and the axes of the rollers of the Mecanum wheel 3 form an angle of 45 degrees with the axis of the hub. A plurality of small wheels, called rollers, are obliquely distributed on the rim of the hub, so that the wheels can slide transversely. The roller is again a small unpowered roller, and the envelope of each small roller is cylindrical when the wheel rotates about a fixed wheel axis so that the wheel can roll forward continuously. The four Mecanum wheels 3 can all independently operate, and the operating states of the four wheels are mutually combined, so that the device loaded on the Mecanum wheels 3 can realize front-back, left-right movement and autorotation by remote control operation. The electric ejector rod 4 is also a market purchase part, and the control mode of the electric ejector rod is also remote control, so that the lifting of the carrying claw 7 is controlled. The double-ended stepper motor 84 is also remotely operable to control the double-ended stepper motor 84 and thus the rotation of the turret 82.
In this embodiment, the front section of the supporting claw 83 is provided with an anti-slip slope 86, the outermost end of the anti-slip slope 86 is provided with an anti-drop stop block 8, so that the cargo box is effectively prevented from loosening and sliding due to jolt or motion inertia caused by uneven ground in the process of carrying the cargo box, and the anti-drop stop block 8 arranged at the outermost end of the anti-slip slope 86 can further ensure the safety of the cargo box; the inside surface of the skid-proof ramp 86 is provided with an outwardly open bevel angle that can accommodate a less than normal posture of each container in the cargo area.
In this embodiment, the vertical sliding device 7 includes a motor supporting plate 71 and an electric supporting rod 72, the outer protrusions on two sides of the motor supporting plate 71 extend into through grooves (guide rail tracks for the motor supporting plate to move up and down) in the upright column 6, the bottom of the motor supporting plate 71 is fixedly connected with the end part of the output shaft of the electric supporting rod 72 and can slide up and down along the upright column 6 under the push-pull of the electric supporting rod 72, the electric supporting rod 72 is fixed on the chassis 2 through the base 5, and the electric supporting rod 72 drives the whole motor supporting plate 71 to move up and down.
The automatic carrying storage cart can be applied to a matched freight site 9, the freight site 9 comprises a storage cargo lattice 91 and a cargo site 92, and the cargo lattice 91 and the cargo site 92 are connected through a plurality of storage channels 93, because the storage cargo lattice 91 is orderly arranged, and can be divided into two cases according to whether the cargoes are carried from the cargo site 92 or not: when the goods are not conveyed from the goods yard 92, the goods can be placed in the goods lattice 91 in order due to the goods lattice 91 being orderly arranged when the goods are placed in the storage goods lattice 91 through the supporting claws 83; when the goods need be carried from the goods yard 92, the goods are orderly placed in the goods yard 92 in advance, the goods are sequentially carried into the goods grid 91 through the supporting claws 83, and the goods are orderly placed, and the two processes are carried back and forth on the storage channel 93 through the set storage channel 93 by the remote control operation beam-turning 2x4 arm automatic carrying and storing vehicle, so that the goods are carried back and forth between the storage goods grid 91 and the goods yard 92.
Working principle: when the remote control Mecanum wheel 3 is used, the chassis 2 is controlled by the remote control Mecanum wheel to easily and freely move back and forth, laterally move left and right and automatically rotate at any degree, the electric ejector rod 72 drives the whole carrying device 8 to slide up and down in the motor supporting plate 71 so that the carrying vehicle can lift heavy objects upwards or carry goods downwards, the size of the rotating frame 82 is determined according to the sizes of adjacent goods positions or goods grids up and down, laterally and horizontally, and thus 4 containers can be put into a plurality of adjacent goods positions or goods grids on the goods grid at one time, such as: the regular pentagon vertex distribution, regular hexagon vertex distribution and the like are more required to be regularly arranged, a pair of supporting claws 83 are respectively arranged on four vertex positions of a rectangle on the rotating frame 82, the pair of supporting claws are called as an arm, that is, four pairs of supporting claws 83 are arranged on each rotating frame 82, a proper hanging weight 88 is required to be hung on the rear end shaft of each supporting claw 83 through the other end of the base Kong Waishen of the rotating frame 82, the supporting claws 83 are always in a horizontal posture to ensure that the supporting claws 83 can normally pick up a container, the supporting claws 83 pick up the container after the container is picked up by the supporting claws 83 due to the action of gravity, the container held by the supporting claws 83 is always in the posture of being hung on the supporting claws 83 unchanged, in the process, one end of the container lifted by the supporting claws 83 can be located on an anti-slip slope 86 because the anti-slip slope 86 is gradually increased from inside to outside, the container can be in an integrally inwards inclined state, the container can be effectively prevented from loosening and falling off due to inertia or movement caused by uneven ground in the process of the transporting process, and the safety of the container can be further ensured by the anti-slip stop block 8 arranged at the outermost end of the anti-slip slope 86. In addition, before the carrier picks up the goods from the goods yard 92, the goods yard is also arranged to be placed at a certain left-right interval, so that the carrier can pick up 2 containers at one time when picking up the goods; the remote control double-headed stepper motor 84 controls the rotation of the turret 82 to turn to the appropriate position and 2 additional payoff claws pick up 2 containers, after which the remote control Mecanum wheel 3 turns around to do the same, and another turret 82 picks up another 4 containers. Of course, for irregularly spaced containers, the rotation of the turret may also be controlled to pick up containers one by one. Whether or not the containers are placed according to the intervals, 8 cargoes can be carried at a time; in the whole carrying process, as the containers are in a state of opening to the outside, each container on the carrying and storing vehicle can be used for storing and taking articles at any time; and because each container is kept relatively independent and standing in the carrying process, stacking extrusion is avoided, and the carrying device is particularly suitable for carrying fragile and easy-to-break articles which are not easy to invert, and is very convenient and efficient.
Based on the above, the multi-beam multi-arm carrier can carry out multi-beam multi-arm at the same time, and is efficient and quick; in the invention, the positions of the supporting claws on the automatic carrier are arranged at four vertexes of a rectangle, and the vertexes of the four rectangles fall on a circle, so that the four supporting claws are regularly arranged according to a certain left-right and up-down interval, so that when each bundle (rotating frame) carries the containers, the four supporting claws can always keep a certain regular arrangement between the containers, even if the positions between the original containers are not regular, the containers can be orderly placed between the containers through picking and carrying the supporting claws after the containers are put down, namely, the two functions of carrying and arranging are actually included in the processes of picking, carrying and putting in one time; in the invention, all containers on the carrier are not mutually stacked and extruded, so that each container is open to the outside, and each container on the carrier can be used for storing and taking articles at any time, which is not provided with the existing carrier equipment, and the use is very convenient; because all containers on the carrying and storing vehicle are not mutually stacked and extruded, each container is relatively independent and keeps standing, and the carrying and storing vehicle is very suitable for carrying and arranging some fragile and easy-to-break articles which are not easy to invert, such as a dinner carrying vehicle of a high-grade large banquet; carrying and storing articles needing to be stored in a closed mode, such as libraries, data libraries, cultural relics libraries and the like; some businesses require periodic observations of the product inside the container, and so on.
It will be appreciated by those skilled in the art that the present invention can be carried out in other embodiments without departing from the spirit or essential characteristics thereof. Accordingly, the above disclosed embodiments are illustrative in all respects, and not exclusive. All changes that come within the scope of the invention or equivalents thereto are intended to be embraced therein.
Claims (1)
1. A type II automated handling storage system, characterized in that: the system comprises four parts of a beam-turning multi-arm automatic carrying storage vehicle, storage lattices arranged regularly, storage channels and goods yards arranged regularly; the automatic beam-turning multi-arm carrying storage vehicle is characterized in that: the automatic carrying storage vehicle comprises two parallel load beams (1), wherein the load beams (1) form two frames of a chassis (2), two Mecanum wheels (3) are respectively arranged at the front end and the rear end of the load beams (1), a base (5) is arranged on the chassis (2), the base (5) is positioned in the central area of the chassis (2) and is provided with two vertical columns (6) right above, the vertical columns (6) are used as guide rails, a vertical sliding device (7) is attached to the inner sides of the vertical columns, and two groups of carrying devices (8) which are symmetrically arranged are used for carrying a container are arranged on the vertical sliding device (7);
the carrying device (8) comprises two transmission shafts (81), two rotating frames (82), eight auxiliary supporting claws (83), a double-head stepping motor (84) and two bearing seats (85), wherein the two transmission shafts (81) are respectively arranged in the two bearing seats (85) and the rear ends of the two transmission shafts are respectively connected with the output ends of the double-head stepping motor (84); the rotating frame (82) is in a circular ring shape, and square holes at the center of the rotating frame are respectively sleeved on square shafts at the other ends of the two transmission shafts (81) in interference fit; a base hole seat (810) is arranged at the rear end of the supporting claw (83), and a rear end shaft (87) screwed and fastened is arranged in the base hole seat (810); the rear end shaft (87) passes through the base holes on the annular rotating frame (82) at four vertex positions of the rectangle in a clearance fit way, and the rear end of the rear end shaft extends out of the rotating frame (82); a pendant (88) is hung on the end part of the rear end shaft (87) which extends out; the suspending drop (88) enables the supporting claw (83) to always keep a horizontal state when the rotating frame (82) rotates; the supporting claw (83) is used for carrying a container, and the double-head stepping motor (84) and the bearing seat (85) are fixed in the vertical sliding device (7);
an anti-slip slope (86) is arranged at the front section of the supporting claw (83), an anti-falling stop block (8) is arranged at the outermost end of the anti-slip slope (86), and an outwards open oblique angle is arranged on the inner side surface of the anti-slip slope (86);
the vertical sliding device (7) comprises a motor supporting plate (71) and an electric ejector rod (72), wherein two sides of the motor supporting plate (71) are outwards protruded into upper and lower through grooves (serving as guide rails) of the upright post (6), the bottom of the motor supporting plate (71) is fixedly connected with the top output end of the electric ejector rod (72), the motor supporting plate can slide up and down along the upright post (6) under the push and pull of the electric ejector rod (72), and the electric ejector rod (72) is fixed on the chassis (2) through the base (5);
the automatic carrying storage vehicle can be applied to a matched freight site (9), the freight site (9) comprises a storage cargo grid (91) and a cargo yard (92), and the cargo grid (91) and the cargo yard (92) are connected through a plurality of storage channels (93); the cargo box (cargo) can be directly placed to the supporting claw on the beam-turning multi-arm automatic carrier without a cargo yard, and then the carrier carries the cargo box (cargo) and puts the cargo box (cargo) into the storage cargo grid in order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110995808.8A CN113911608B (en) | 2021-08-27 | 2021-08-27 | II type automatic handling storage system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110995808.8A CN113911608B (en) | 2021-08-27 | 2021-08-27 | II type automatic handling storage system |
Publications (2)
| Publication Number | Publication Date |
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| CN113911608A CN113911608A (en) | 2022-01-11 |
| CN113911608B true CN113911608B (en) | 2023-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110995808.8A Active CN113911608B (en) | 2021-08-27 | 2021-08-27 | II type automatic handling storage system |
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| CN (1) | CN113911608B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| USD996486S1 (en) * | 2021-06-17 | 2023-08-22 | Autostore Technology AS | Remotely operated storage vehicle |
| CN116873436B (en) * | 2023-07-24 | 2024-04-30 | 广东豪德数控装备股份有限公司 | Panel handling device and panel warehouse system |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2001253279A1 (en) * | 2000-04-09 | 2001-10-23 | Robert D. Lichti Sr. | Moving crank mechanism |
| JP4716468B2 (en) * | 2001-05-31 | 2011-07-06 | 株式会社イトーキ | Transport mechanism and automatic warehouse equipped with the same |
| JP5204357B2 (en) * | 2001-07-19 | 2013-06-05 | 株式会社イトーキ | Automatic warehouse |
| CN203173250U (en) * | 2012-10-24 | 2013-09-04 | 山东兰剑物流科技股份有限公司 | Rotary counter type intelligent selection dolly |
| FR3007957B1 (en) * | 2013-07-05 | 2016-03-04 | Syleps | AUTOMATED STORAGE |
| US10246256B1 (en) * | 2017-11-21 | 2019-04-02 | Amazon Technologies, Inc. | Parallel axis, rotary conveyance mechanism |
| CN109335999B (en) * | 2018-09-14 | 2020-09-15 | 同济大学 | Light carrying trolley |
| CN110482098B (en) * | 2019-07-18 | 2023-12-08 | 深圳市海柔创新科技有限公司 | Goods taking and placing method based on transfer robot and system |
| CN212244810U (en) * | 2020-03-09 | 2020-12-29 | 深圳市海柔创新科技有限公司 | Transfer robot and transfer system having the same |
| CN112408260A (en) * | 2020-11-18 | 2021-02-26 | 成都天佑慧达智能科技有限公司 | Omnidirectional movement multi-box taking transport vehicle |
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2021
- 2021-08-27 CN CN202110995808.8A patent/CN113911608B/en active Active
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| CN113911608A (en) | 2022-01-11 |
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