CN115838050A - Control system of connecting rod jacking type bidirectional shuttle - Google Patents
Control system of connecting rod jacking type bidirectional shuttle Download PDFInfo
- Publication number
- CN115838050A CN115838050A CN202310137525.9A CN202310137525A CN115838050A CN 115838050 A CN115838050 A CN 115838050A CN 202310137525 A CN202310137525 A CN 202310137525A CN 115838050 A CN115838050 A CN 115838050A
- Authority
- CN
- China
- Prior art keywords
- distance
- shuttle
- goods
- module
- control system
- 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.)
- Pending
Links
- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 7
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Handcart (AREA)
Abstract
The invention provides a control system of a connecting rod jacking type two-way shuttle, the control system of the connecting rod jacking bidirectional shuttle comprises a distance measuring module and a calculating module, wherein: the distance measuring module is used for measuring and recording the distance between adjacent cargos, and the measuring method of the distance measuring module comprises the following steps: s1, obtaining time T corresponding to each distance value h and i measured by two distance measuring devices C1 and C2 on one side, close to goods, of shuttle vehicle 1 、T 2 (ii) a S2, setting a coordinate C 1 (h，T 1 )、C 2 （i,T 2 ) Recording each coordinate on an XY coordinate axis; s3, generating a curve D by all coordinates 1 ，D 2 And obtaining a curve D 1 ，D 2 Peak time duration T of h And T i (ii) a S4, measuring the distance D between adjacent cargos, wherein D = [ (T) h +T i ‑|T h ‑T i |）/2]* V, V wherein is the velocity value of dolly, can prevent through this system that the shuttle from when the transport goods, because the artifical deviation that appears placing the goods to the goods shelves and lead to appearing the crowded condition between goods to the goods.
Description
Technical Field
The invention relates to the technical field of storage logistics control, in particular to a control system of a connecting rod jacking type two-way shuttle vehicle.
Background
In modern logistics storage, an automatic warehouse is used for storing articles, a large number of articles are stored in a dense area, the utilization rate of space is greatly improved, and in the dense warehouse, a bidirectional shuttle vehicle can be adopted to move in a three-dimensional warehouse along a straight line of a track and can be controlled by a program, so that a mobile robot can convey goods along a set route. In order to load and unload goods, a lifting method is widely used, and a lifting mechanism is arranged in the lifting mechanism, so that the tray can be lifted under the action of the lifting mechanism, and the tray on the upper surface is driven to lift or put down the goods shelf.
Most of the prior methods utilize a shuttle vehicle to carry goods to a goods shelf above the two-way vehicle, the shuttle vehicle lifts a tray, the tray enables the goods to be pushed upwards from the goods shelf, then the shuttle vehicle moves to place the goods on the goods shelf on the other side, the goods on one side of the goods shelf are orderly arranged to the other side of the goods shelf through the shuttle vehicle by the method, and when the shuttle vehicle carries the goods to the goods shelf above the two-way vehicle, the positions of the goods on the goods shelf are different every time, so that the distances between the goods are different after the shuttle vehicle carries the goods to the goods shelf.
Application number CN202111478004.7 discloses an intelligent logistics storage electrical control system, which belongs to the technical field of storage and logistics. The system comprises an upper computer, a trolley scheduling module, a shuttle, a lifting transfer vehicle and a grabbing transfer vehicle; the shuttle car and the transfer car realize data communication with the trolley dispatching module through the WIFI module. The shuttle car is provided with an industrial control board for collecting various data such as wireless remote control, a laser sensor, a gravity sensor, a proximity switch and the like, and the control of each actuating mechanism is realized through the internal processing of the industrial control board. The grabbing and moving vehicle is provided with 3 industrial control boards for collecting various data such as wireless remote control, laser sensors, gravity sensors, pressure sensors, proximity switches and images, and control of each actuating mechanism is realized through internal processing of the industrial control boards. The lifting and carrying vehicle is provided with 2 industrial control boards for collecting various data such as wireless remote control, laser sensors, gravity sensors, proximity switches and images, and the control of each actuating mechanism is realized through the internal processing of the industrial control boards. The trolley dispatching module is provided with 2 WIFI modules, one module is used for communication between a client side and an upper computer, the other module is used for communication between a server side and a trolley, goods are placed on a goods shelf through a lifting transfer vehicle and a grabbing transfer vehicle, the trolley is conveyed through a shuttle, but the goods are placed on the goods shelf through manually controlling the lifting transfer vehicle and the grabbing transfer vehicle, and when the stretcher at the bottom of the goods is prone to being deviated, namely the stretcher at the bottom of the goods sometimes cannot be parallel to the goods shelf or deviates from the goods shelf by a certain angle, so that the stretcher or the goods which are away from the bottom of the goods are not well controlled to collide with each other after the goods are transported and put down.
In view of this, the invention provides a control system for a link-lifting type bidirectional shuttle, which can prevent a stretcher at the bottom of a cargo or the cargo from colliding when the distance between the cargo and the cargo can be controlled.
Disclosure of Invention
The invention provides a control system of a connecting rod jacking type two-way shuttle car, which aims to solve the problem that a stretcher or goods at the bottom of the goods are easy to collide when the shuttle car is carried by people placing the goods on a goods shelf.
The invention is realized by the following technical scheme:
the invention provides a control system which comprises a walking module, a lifting module, a distance measuring module, a power supply, a controller, a calculating module, a gravity sensor and a WiFi module, wherein the walking module comprises:
the distance measuring module is used for measuring and recording the distance between adjacent cargos, the distance measuring module comprises at least four distance measuring devices which are placed at four corners of the top of the shuttle car and used for measuring and recording the distance between the adjacent cargos, and the measuring method of the distance measuring module comprises the following steps:
s1, obtaining time T corresponding to each distance value h and i measured by two distance measuring devices C1 and C2 on one side, close to goods, of shuttle vehicle 1 、T 2 ；
S2, setting a coordinate C 1 (h，T 1 )、C 2 （i,T 2 ) Recording each coordinate on an XY coordinate axis;
s3, combining all coordinatesProceed to generate curve D 1 ,D 2 And obtaining a curve D 1 ，D 2 Time duration T of peak value h And T i ；
S4, measuring the distance D between adjacent goods; wherein D = [ (T) h +T i -|T h -T i |）/2]* V, wherein V is the speed value of the trolley;
the computing module is used for computing the width E of the goods shelf 1 Cargo width L, sensing difference F and sensor distance E 2 The speed value V of the trolley and the safety distance E of the shuttle car are measured 3 Wherein
Distance D-E of shuttle movement 3 Arranging the goods on a shelf on one side, D-E 3 Is distance D minus E 3 Of the distance of (c).
The shuttle car further comprises a lifting module and a walking module, wherein the lifting module is used for achieving the functions of lifting, taking and putting goods, and the walking module is used for achieving the function of horizontal walking of the shuttle car.
Furthermore, the walking module comprises a walking motor and a rotary encoder, the rotary encoder sends the rotation data of the walking motor to the calculation module, and the calculation module calculates the distance and the time corresponding to the number of turns of the motor of the shuttle vehicle through the rotary encoder of the walking motor and the distance.
Further, the lifting module includes a lift motor and a proximity switch for identifying whether the lifting mechanism is in a pick or put state.
Furthermore, the shuttle car also comprises a WiFi module, and the shuttle car is communicated with the controller through the WiFi module, so that the controller can control the remote operation of the shuttle car.
Further, the calculation module further records the time of the distance change measured by each distance meter, and judges whether the goods incline according to the time of the distance change of each distance meter.
Further, the step of the calculating module determining whether to tilt comprises:
calculating D 1 And D 2 Wherein the correlation coefficient is:
(ii) a If p is greater than 1, an inclined state is determined, in which &>
Denotes the mean value of h>
Represents the average value of i.
Further, if the value of P is less than 1, it is determined as a non-tilt state.
Further, the calculating module calculates the point positions of the four corners of the stretcher after determining that the stretcher is in the inclined state.
Further, the power supply is used for supplying power to each module of the shuttle car.
The invention has the beneficial effects that:
the control system of the connecting rod jacking type two-way shuttle car can calculate the inclined track of the stretcher at the bottom of the goods through the calculation module, generate each possible position of the stretcher in the track through the inclined track, generate the virtual model through the positions, finally calculate the maximum distance to be reserved through the virtual model, and control the distance between the stretcher at the bottom of each goods and the stretcher through calculating the maximum distance, so that the situation that the goods and the stretcher collide due to deviation caused by manual placement when the goods are manually placed on the goods shelf is prevented.
Drawings
FIG. 1 is a schematic view of a control system for a link-lift type two-way shuttle of the present invention;
FIG. 2 is a structural view of a lifting mechanism of a control system of the link-lifting type two-way shuttle of the present invention;
fig. 3 is a mechanical structure diagram of the interior of the shuttle car of the control system of the link lifting type two-way shuttle car of the invention;
FIG. 4 is a schematic view of a virtual model of the computing module of the control system of the link-lift type two-way shuttle of the present invention;
FIG. 5 is a schematic view of another virtual model of the computing module of the control system of the link-lift type two-way shuttle of the present invention;
FIG. 6 is a curve D of the control system of the link-lift type two-way shuttle of the present invention 2 A drawing;
FIG. 7 is a curve D of the control system of the link-lift type two-way shuttle of the present invention 1 A drawing;
FIG. 8 is a step diagram of a ranging method of the control system of the link-lifting type two-way shuttle of the present invention;
the implementation, functional features and advantages of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
In order to more clearly and completely describe the technical scheme of the invention, the invention is further described with reference to the accompanying drawings.
Referring to fig. 1-8, the control system of the present invention includes a walking module 20, a lifting module 10, a distance measuring module 30, a power supply 80, a controller 70, a calculating module 60, a gravity sensor 50, and a WiFi module 40, wherein:
the walking module 20 is used for the horizontal walking function of the shuttle vehicle; the lifting module 10 is used for realizing a lifting goods taking function; the lifting module 10 is used for realizing the functions of lifting, picking and placing goods; the shuttle car communicates with the controller 70 through the WiFi module 40, thereby enabling the controller 70 to control the remote operation of the shuttle car; the power supply 80 is used for supplying power to each module of the shuttle vehicle; the distance measuring module 30 is used for measuring and recording the distance between adjacent cargos, the distance measuring module 30 comprises at least four distance measuring devices 31 which are placed at four corners of the top of the shuttle car and used for measuring and recording the distance between the adjacent cargos, and the measuring method of the distance measuring module 30 comprises the following steps:
s1, obtaining time T corresponding to each distance value h and i measured by two distance measuring devices C1 and C2 on one side, close to goods, of shuttle vehicle 1 、T 2 ；
S2, setting a coordinate C 1 (h，T 1 )、C 2 （i,T 2 ) And is marked on the XY coordinate axisRecording each coordinate;
s3, generating a curve D by all coordinates 1 ,D 2 And obtaining a curve D 1 ，D 2 Time duration T of peak value h And T i ；
S4, measuring the distance D between adjacent cargos, wherein D = [ (T) h +T i -|T h -T i |）/2]* V, wherein V is the speed value of the trolley;
the calculation module 60 is used for calculating the width E of the pallet 1 1 Width of goods L, sensing difference F and sensor distance E 2 The speed value V of the trolley and the safety distance E of the shuttle car are measured 3 In which
Distance D-E of shuttle movement 3 Arranging the goods on a shelf on one side, D-E 3 Is distance D minus E 3 The distance of (c).
In this embodiment, with reference to FIGS. 1-7, D-E 3 Subtracting E from the distance D 3 F is the time difference between the two sensors on the two sides multiplied by the speed value V of the trolley, for example, when the upper left detector detects a cargo, and the lower left sensor detects the cargo after 3 seconds, the value of F is 3V, and the sensor distance E is 2 The distance from the upper left sensor to the lower left sensor, the width L of the goods is the width L of the stretcher, the width E of the shelf 1 is the distance from the front and back of the shelf 1, referring to fig. 4, the width L of the goods and the distance D between adjacent goods refer to the width and distance of the stretcher 2, that is, a stretcher 2 is usually placed at the bottom of the goods, wherein the distance from the range finder to the goods actually refers to the distance between the stretcher 2 and the range finder, the tracks on two sides of the stretcher 2 are derived by calculating the point positions of four corners, the positions of the stretcher 2 on the track, the leftmost position and the rightmost position of the shelf 1 are calculated by the tracks, the virtual model is generated by the leftmost position and the rightmost position, and the safety distance E required by the stretcher 2 is calculated by the virtual model 3 Then subtracting E from the distance D between two adjacent goods 3 I.e. the actual distance the load needs to be transported, whereNo collision of goods in distance, T 1 And T 2 The value of the record is recorded when the shuttle car starts to move, the record is stopped after the shuttle car moves from one side of the goods arranged on the goods shelf 1 to one side of the goods carried by the goods shelf 1, when the shuttle car moves from one side of the goods arranged on the goods shelf to one side of the goods carried by the goods shelf 1, the distance D between the goods is measured, then the shuttle car lifts the goods, the goods are moved to one side of the goods arranged on the goods shelf 1 through the measured distance D between the goods, and the conveying between the goods is finished, T in the figure h And T i The values of h and i of the time interval are represented by the value of the distance-measuring device 31 measured during the time interval, the maximum value of the distance-measuring device 31 during the movement of the shuttle, the distance measured when the distance-measuring device 31 leaves the stretcher 2 at the bottom of the load, curve D 1 ，D 2 Peak time duration T of h And T i Representing the duration of this maximum, in short the time taken for the distance meter to move from the bottom of one stretcher 2 to the bottom of the other stretcher 2, [ (T) h +T i -|T h -T i |）/2]* V represents the minimum distance between two adjacent goods measured by the two distance measuring devices 31, that is, the safe distance between the goods, and no collision occurs when the goods are moved by the minimum distance, similarly, when the distance measuring devices 31 are located at the bottom of the goods, the distance measured by the distance measuring devices 31 is significantly reduced relative to the maximum value of the distance measuring devices 31, and it is determined whether the shuttle is located at the bottom of the stretcher 2 (i.e., the goods) according to the change of the value of the distance measuring devices 31, the shuttle includes a lifting mechanism, a car body and a traveling mechanism, wherein the lifting mechanism includes a rotating wheel 17, a first connecting rod 18, a second connecting rod 13, two third connecting rods 14, two fixing seats 16, two lifting blocks 15 and two guide posts 19, one end of the first connecting rod 18 is movably connected with the rotating wheel 17, the other end of the first connecting rod 13 is movably connected with the second connecting rod 13, the other end of the second connecting rod 13 is movably connected with the third connecting rod 14, one side of the top of the fixing seats 16 is fixedly connected with the guide posts 19, the other side is movably connected with the third connecting rod 14, the lifting block 15 is movably connected with the third connecting rod 14, the rotating wheel 17 adopts an eccentric wheel, and the lifting motor 11 drives the rotating wheel 17 to rotate the rotating wheel 17 to move the first connecting rod 18, and push the first connecting rod 18 to moveThe second connecting rod 13 is moved, after the second connecting rod 13 moves, the bending angle of the third connecting rod 14 is driven to change, after the third connecting rod 14 bends, the lifting block 15 is driven to move longitudinally towards the direction of the guide post 19, when the third connecting rod 14 inclines towards one side, the lifting block 15 is in a lowering state, when the third connecting rod 14 is in a vertical state, the lifting block 15 is under the supporting force of the guide post 19 and the supporting force of the third connecting rod 14, and is in a lifting state, the lifting block 15 is lifted by the lifting mechanism to complete goods delivery, the lifting block 15 is lowered to complete goods delivery, the lifting block 15 is driven to lift by the operation of the first connecting rod 18, the second connecting rod 13 and the third connecting rod 14 to deliver goods, and the situation of damage is not easy to occur while the efficiency is higher, wiFi module 40 can carry out the long-range control shuttle transportation goods, gravity sensor 50 measures the weight of goods, and the speed of controlling the shuttle according to weight prevents the condition that the goods dropped when the speed was too fast to appear in the shuttle, calculation module 60 is located controller 70, walking module 20, lift module 10, ranging module 30, power 80, gravity sensor 50, wiFi module 40, all set up in the shuttle, controller 70 comes the long-range control shuttle to shuttle transport goods through WiFi, power 80 places inside the shuttle, through ranging module 30, calculation module 60 carries out the concurrent operation, can control the distance between the goods of every transport, when the condition of extrusion and collision appears in the stretcher 2 that prevents the goods bottom, can also save the space of goods shelves 1, can place more goods.
In this embodiment, the walking module 20 includes a walking motor 21 and a rotary encoder 22, the rotary encoder 22 transmits the rotation data of the walking motor 21 to the calculation module 60, and the calculation module 60 calculates the distance and time corresponding to the number of turns of the shuttle motor through the rotary encoder 22 of the walking motor 21 and the distance.
In the specific implementation: the walking module 20 further comprises a driving wheel 23, a rotating shaft and a driven wheel 24, the driven wheel 24 is movably connected with the vehicle body, the walking motor 21 drives the rotating shaft to rotate, the rotating shaft drives the driving wheel 23 to rotate, so that the walking of the shuttle vehicle is completed, the rotary encoder 22 is used for sending data of the walking motor 21 to the calculating module 60, the calculating module 60 can calculate the rotating time and the moving distance of the shuttle vehicle corresponding to the number of rotating turns, for example, the rotating angle is measured by the shuttle vehicle rotary encoder 22, the moving distance corresponding to the shuttle vehicle is measured by the rotating angle, the speed of the shuttle vehicle is calculated, the moving distance of the shuttle vehicle can be better controlled through the walking module 20, and the distance between the goods is simpler to control when the goods are transported.
In this embodiment, the step of determining whether the tilt is determined by the calculating module includes:
the step of the calculation module determining whether to tilt comprises:
calculating D 1 And D 2 Wherein the correlation coefficient:
(ii) a If p is greater than 1, an inclination status is determined, wherein->
Denotes the mean value of h>
Represents the average value of i.
And the calculation module calculates the point positions of four corners of the stretcher after judging that the stretcher is in the inclined state.
In the specific implementation: judging the correlation degree of the two curves through the correlation coefficient, and if the correlation degree of the two curves is more than 1, indicating that C is 1 And C 2 If the stretcher 2 is not detected at the same time, the stretcher 2 is in an inclined state, the time difference of the distance change of the two distance meters 31 is calculated according to the distance change time of the two distance meters 31 after the inclined state is judged, the moving distance of the shuttle car in the time difference is calculated according to the time difference and the corresponding speed of the shuttle car, and more distance needs to be reserved when the shuttle car is inclined, namely the shuttle car needs to drive the moving D-E 3 The collision of the goods can be guaranteed by the distance to prevent the collision of the goods.
In the present embodiment, if the value of P is less than 1, it is determined as the non-tilt state.
In the specific implementation: if the value of P is less than 1, then C is indicated 1 And C 2 When the stretcher 2 is detected almost at the same time, that is, the stretcher 2 is in a non-inclined state, it is indicated that the central point of the stretcher 2 is a position half of the width of the stretcher 2, and the shuttle vehicle directly moves by the distance D, for example, the width of the stretcher 2 is 100cm, and the distance of the distance meter 31 of the shuttle vehicle is 40cm, when the four distance meters 31 of the shuttle vehicle move to the bottom of the shuttle vehicle, the shuttle vehicle moves by 10cm again and just moves to the bottom of the stretcher 2.
In this embodiment, the lift module 10 includes a lift motor 11 and a proximity switch 12, the proximity switch 12 being used to identify whether the lift mechanism is in a pick or put state.
In the specific implementation: proximity switch 12 is used for discerning the distance between shuttle top backup pad and the shuttle, discerns elevating system through the distance between backup pad and the shuttle and is in getting goods state or putting the goods state to accomplish the transport goods.
Of course, the present invention may have other embodiments, and based on the embodiments, other embodiments obtained by persons skilled in the art without any creative work are within the protection scope of the present invention.
Claims (10)
1. The control system of the connecting rod jacking type two-way shuttle vehicle is characterized by comprising a distance measuring module and a calculating module, wherein:
the distance measuring module is used for measuring and recording the distance between adjacent cargos, the distance measuring module comprises at least four distance measuring devices which are placed at four corners of the top of the shuttle car and used for measuring and recording the distance between the adjacent cargos, and the measuring method of the distance measuring module comprises the following steps:
s1, obtaining time T corresponding to each distance value h and i measured by two distance measuring devices C1 and C2 on one side, close to goods, of shuttle vehicle 1 、T 2 ；
S2, setting a coordinate C 1 (h，T 1 )、C 2 （i,T 2 ) Recording each coordinate on an XY coordinate axis;
S3generating a curve D by all coordinates 1 ,D 2 And obtaining a curve D 1 ，D 2 Peak time duration T of h And T i ；
S4, measuring the distance D between adjacent cargos, wherein D = [ (T) h +T i -|T h -T i |）/2]* V, wherein V is the speed value of the trolley;
the computing module is used for computing the width E of the goods shelf 1 Cargo width L, sensing difference F and sensor distance E 2 Speed value V of the trolley and measuring the safe distance E of the shuttle 3 Wherein
Shuttle car moving distance D-E 3 Arranging the goods on a shelf on one side, D-E 3 Is distance D minus E 3 The distance of (c).
2. The control system of the link-jacking two-way shuttle car according to claim 1, further comprising a lifting module and a walking module, wherein the lifting module is used for realizing the functions of lifting and picking up goods and putting down goods, and the walking module is used for the function of horizontal walking of the shuttle car.
3. The control system of the link-lifting type two-way shuttle according to claim 2, wherein the walking module comprises a walking motor and a rotary encoder, the rotary encoder transmits rotation data of the walking motor to the calculation module, and the calculation module calculates distance and time corresponding to the number of turns of the motor of the shuttle through the rotary encoder of the walking motor and the distance.
4. The control system of a link-lift two-way shuttle of claim 3, wherein the lift module includes a lift motor and a proximity switch for identifying whether the lift mechanism is in a pick or put state.
5. The control system of the link-lifting type bidirectional shuttle car according to claim 1, further comprising a WiFi module, wherein the shuttle car communicates with the controller through the WiFi module, so that the controller controls the remote operation of the shuttle car.
6. The control system of the link-lift type two-way shuttle according to claim 1, wherein the calculation module further records the time of the distance change measured by each distance meter and determines whether the cargo is inclined by the time of the distance change of each distance meter.
7. The control system of a link-lift type two-way shuttle according to claim 6, wherein the step of determining whether to tilt by the calculation module comprises:
calculating D 1 And D 2 Wherein the correlation coefficient:
(ii) a If p is greater than 1, determining a tilt state, wherein
The average value of h is shown as,
represents the average value of i.
8. The control system of a link-lift type two-way shuttle according to claim 7, wherein the non-tilted state is determined if the value of P is less than 1.
9. The control system of the link-lift type bidirectional shuttle according to claim 7, wherein the calculating module calculates the positions of the four corners of the stretcher after determining that the stretcher is in the inclined state.
10. The control system of the link-lift two-way shuttle car according to claim 1, further comprising a power source for powering the various modules of the shuttle car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310137525.9A CN115838050A (en) | 2023-02-20 | 2023-02-20 | Control system of connecting rod jacking type bidirectional shuttle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310137525.9A CN115838050A (en) | 2023-02-20 | 2023-02-20 | Control system of connecting rod jacking type bidirectional shuttle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115838050A true CN115838050A (en) | 2023-03-24 |
Family
ID=85579922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310137525.9A Pending CN115838050A (en) | 2023-02-20 | 2023-02-20 | Control system of connecting rod jacking type bidirectional shuttle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115838050A (en) |
-
2023
- 2023-02-20 CN CN202310137525.9A patent/CN115838050A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101489718B1 (en) | Article storage facility and method of operating the same | |
| CN108861289B (en) | Warehouse and order completion system | |
| AU2021227695B2 (en) | Materials handling vehicle and goods storage and retrieval system comprising mobile storage carts, transporters, and materials handling vehicles | |
| CN108146960B (en) | Automatic article storing and taking device | |
| CN209922137U (en) | Automatic intensive warehousing system | |
| AU2021227696B2 (en) | System comprising a multilevel warehouse racking system comprising tote transfer zones, materials handling vehicles, and transporters, and methods of use thereof | |
| JP4784594B2 (en) | Travel control method for transport cart | |
| CN210233078U (en) | Goods is got and is put robot | |
| JP2009143714A (en) | Article storage facility | |
| WO2019154433A2 (en) | Item transportation robot and control method therefor | |
| JP5288167B2 (en) | Goods storage equipment | |
| JP6298315B2 (en) | Transport cart | |
| CN115838050A (en) | Control system of connecting rod jacking type bidirectional shuttle | |
| JP6298316B2 (en) | Transport cart | |
| CN212314610U (en) | Storage robot | |
| CN212023749U (en) | Standing curing system | |
| CN111762496A (en) | Storage robot and working method thereof | |
| JP5257668B2 (en) | Goods storage equipment | |
| JPH04341406A (en) | Connecting device | |
| CN114590514A (en) | Electronic commerce selects goods device | |
| CN117361007A (en) | Goods shelf, logistics system control method and storage medium | |
| JP5495081B2 (en) | Goods storage equipment | |
| CN115258714A (en) | Transfer robot module | |
| TW202348519A (en) | Track sensor arrangement | |
| CN115535927A (en) | Gantry type transfer robot and cargo loading control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20230324 |
|
| RJ01 | Rejection of invention patent application after publication |