CN202953062U - Automatic carrier - Google Patents
Automatic carrier Download PDFInfo
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- CN202953062U CN202953062U CN 201220673068 CN201220673068U CN202953062U CN 202953062 U CN202953062 U CN 202953062U CN 201220673068 CN201220673068 CN 201220673068 CN 201220673068 U CN201220673068 U CN 201220673068U CN 202953062 U CN202953062 U CN 202953062U
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- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 239000012530 fluid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 7
- 230000000630 rising effect Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000007514 turning Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241001397306 Proales Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Abstract
本实用新型公开了一种自动搬运车，包括车体，固定在车体上的车厢，上支撑盘，连接体，机械手结构，以及设置在车体底部的运动转向结构，设置在车体与上支撑盘之间的下升降转向结构，设置在上支撑盘与连接体之间的上转向结构，设置在连接体与机械手结构之间的剪式伸缩结构，其中下升降转向结构与上转向结构的转动轴心线均为竖直方向。在仓库及工程现场中，本实用新型的搬运车自动实现物品的夹取、搬运和存放，是现有的人工搬运货物的替代装置，减少了人的体力劳动，提高了生产效率，实现了物品搬运到存放的全过程自动化操作。
The utility model discloses an automatic transport vehicle, which comprises a vehicle body, a compartment fixed on the vehicle body, an upper support plate, a connecting body, a manipulator structure, and a movement steering structure arranged at the bottom of the vehicle body, and is arranged between the vehicle body and the upper The lower lifting steering structure between the support plates, the upper steering structure arranged between the upper supporting plate and the connecting body, and the scissor type telescopic structure arranged between the connecting body and the manipulator structure, wherein the lower lifting steering structure and the upper steering structure The axis of rotation is vertical. In warehouses and engineering sites, the transport vehicle of the utility model can automatically realize the clamping, transporting and storage of items. The whole process from handling to storage is automated.
Description
Technical field
The transport trolley that the utility model relates to, be using hydraulic pressure as the main power source of controlling and carry out, using motor as a kind of new type auto transport trolley turned to the motion-promotion force source.This Automatic Guided Vehicle can be used for article carrying in warehouse article carrying and engineering.
Background technology
In Chinese national economy, Process of Urbanization Construction and science and technology, build under the historical background of high speed development, in present warehouse, the goods major part is that volume is large, weight large, surface is dirty, the working environment in warehouse is poor, be unfavorable for that people work, as above parts many in the workshop of factory, be stained with greasy dirt, also retain some burrs above some parts, be unfavorable for a dead lift.Simultaneously, in warehouse, goods is put and is also needed to consume suitable a part of manpower.In building engineering, the many materials of operation site and article are placed scattered.At present main dependence is manually arranged and is collected, and consumed the human resources of quite a few, and there is certain potential safety hazard in site environment.Therefore, a kind of new type auto transport trolley that can replace manually completing article carrying work in warehouse carrying work and engineering of people's exigence.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of Automatic Guided Vehicle, the carrying that can be used for articles from the storeroom with deposit and the on-the-spot collection that waits the place article of building engineering with deposit, replaced mankind work, saving human resources.
The technical scheme that the utility model adopts is: a kind of Automatic Guided Vehicle, comprise car body, be fixed on the compartment on car body, the upper support dish, connector, robot manipulator structure, and the motion steering structure that is arranged on vehicle bottom, be arranged on the lower lifting steering structure between car body and upper support dish, be arranged on the upper steering structure between upper support dish and connector, be arranged on the scissors stretching structure between connector and robot manipulator structure, wherein descend the rotational axis line of lifting steering structure and upper steering structure to be vertical direction.
In warehouse and engineering site, transport trolley of the present utility model automatically realize article gripping, carry and deposit, be the replacement device of existing a dead lift goods, reduced people's manual labor, improved production efficiency, realized that article carrying is to the full process automatization operation of depositing.
Below will to structure of the present utility model, be described in detail by the specific embodiment.
The accompanying drawing explanation
By the more specifically explanation of the preferred embodiment of the present utility model shown in accompanying drawing, above-mentioned and other purpose of the present utility model, Characteristics and advantages will be more clear.In whole accompanying drawings, identical Reference numeral is indicated identical part.Deliberately do not press actual size equal proportion convergent-divergent and draw accompanying drawing, focus on illustrating purport of the present utility model.
Fig. 1 is transport trolley integral structure schematic diagram;
Fig. 2 is transport trolley motion steering structure schematic diagram;
Fig. 3 is lifting steering structure schematic diagram under transport trolley;
Fig. 4 is steering structure schematic diagram on transport trolley;
Fig. 5 is transport trolley scissors stretching structure schematic diagram;
Fig. 6 is transport trolley robot manipulator structure schematic diagram.
The specific embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated: the present embodiment is implemented take technical solutions of the utility model under prerequisite, provided detailed embodiment, but protection domain of the present utility model is not limited to following embodiment.
The schematic diagram of transport trolley integral structure shown in figure mono-, mainly comprise: car body 2, be fixed on the compartment 1 on car body 2, upper support dish 24, connector 59, robot manipulator structure 500, be arranged on the motion steering structure 100 of described car body 2 bottoms, be arranged on the lower lifting steering structure 200 between car body 2 and upper support dish 24, be arranged on the upper steering structure 300 between upper support dish 24 and connector 59, be arranged on the scissors stretching structure 400 between connector 59 and robot manipulator structure 500.Wherein descend lifting steering structure 200 and the rotational axis line of upper steering structure 300 to be vertical direction.
Referring to Fig. 1, Fig. 2, described motion steering structure 100 comprises driving wheel 4, and described driving wheel 4 is arranged on axletree 5, and described axletree 5 is rotatably installed on the axle bracket 3 of car body 2 bottoms; Described car body 2 bottoms are provided with motor 8, are fixed with driving pulley 37 on motor 8, are fixed with driven pulley 6 on axletree 5, between described driving pulley 37 and driven pulley 6, by belt 7, are connected.
Described motion steering structure 100 also comprises two wheel flutters 12, and described two wheel flutters 12 are arranged on respectively on two steering shafts 11, and described steering shaft 11 is rotatably installed on car body 2 by front-wheel support 10; Car body 2 bottoms are rotated and are provided with pilot bar 13, and pilot bar 13 also movable (can rotate, can slide again) is connected to Linkage steering 16, and described Linkage steering 16 and two steering shafts 11 are rotationally connected; Have guide groove 14 on described pilot bar 13, the interior activity of described guide groove 14 (can rotate, can slide again) is provided with roller 15, and car body 2 bottoms also are fixed with linear electric motors 34, and described roller 15 rotates and is arranged on the motor guide rod 35 of linear electric motors 34.The motor guide rod 35 of linear electric motors 34 is flexible, drives pilot bar 13 and rotates, and then drive Linkage steering 16 motions, and Linkage steering 16 is stirred steering shaft 11 and rotated, and finally promotes turning to of wheel flutter 12.
Referring to lifting steering structure 200 under the transport trolley shown in Fig. 1 and Fig. 3, mainly comprise: rotate and be arranged on the lower support dish 9 on car body 2, be arranged on hydraulic fluid tank on described lower support dish 9 and control structure 17, vertical solution cylinder pressure 18, the apical support upper support dish 24 of described vertical solution cylinder pressure 18.Described lower support dish 9 is rotatably connected on and is fixed on the bolster 50 of car body 2 by connection bearing 49, the interior inner gear 48 that arranges of lower support dish 9, and the small machine 52 be fixed on car body 2 meshes by miniature gears 51 and inner gear 48.
Referring to steering structure 300 on the transport trolley shown in Fig. 1 and Fig. 4, mainly comprise: be fixed by a pin to the parallel connecting rod 23 on upper support dish 24, rotation is arranged on the micro hydraulic cylinder 60 on parallel connecting rod 23, described connector 59 rotates and is arranged on parallel connecting rod 23, and micro hydraulic cylinder guide rod 61 and the connector 59 of described micro hydraulic cylinder 60 are rotationally connected.
Referring to Fig. 5, described scissors stretching structure 400 mainly comprises: be arranged on the micro hydraulic cylinder 70 on connector 59, be arranged on the guide rod 68 on connector 59 by bracing frame 69, be arranged on the scissors bar linkage structure on guide rod 68, the micro hydraulic cylinder guide rod 71 of micro hydraulic cylinder 70 is connected to the connecting rod 67 on the scissors bar linkage structure.
Referring to Fig. 6, robot manipulator structure 500 mainly comprises: the manipulator be connected on the scissors bar linkage structure is placed plate 80, be fixed in manipulator and place the micro hydraulic cylinder 79 on plate 80, rotation is arranged at manipulator and places the mechanical paw 75 on plate 80, and connecting rod 76, an end of described connecting rod 76 is rotationally connected to micro hydraulic cylinder guide rod 78, the other end of micro hydraulic cylinder 79 and is rotationally connected to mechanical paw 75.
This transport trolley specific implementation process is as follows:
For example when object 20, during in the transport trolley left front, start power supply, motor 8 forwards, driving pulley 37 rotates, by belt 7 by transmission of power to driven pulley 6, driven pulley 6 and axletree 5 rotate, thereby drive driving wheel 4, rotate, and realize that car body integral body travels forward.In the proal process of transport trolley, linear electric motors 34 reversions, linear electric motors guide rod 35 shrinks, roller 15, in the interior slip of guide groove 14, makes pilot bar 13 around fixing hinge turning clockwise, drives Linkage steering 16 and moves right, steering shaft 11 is followed Linkage steering 16 and is rotated, and makes wheel flutter 13 left-handed turnings.When the close object of transport trolley, close the power supply of linear electric motors 34 and motor 8, the transport trolley stop motion.
Hydraulic Pump and control structure 17 are started working, and by adjusting the hydraulic oil volume in vertical solution cylinder pressure 18, make vertical solution cylinder pressure 18 flexible, drive rising and the decline of upper support dish 24, thereby have realized rising and the decline of robot manipulator structure 500 on perpendicular.
After the above-mentioned adjustment to robot manipulator structure 500 locus, micro hydraulic cylinder 79 is started working, 78 elongations of micro hydraulic cylinder guide rod, and mechanical paw 75 opens.Then, micro hydraulic cylinder 70 is started working, and 71 elongations of micro hydraulic cylinder guide rod, promote connecting rod 67 two ends slide blocks along guide rod 68 to front slide, and the scissors bar linkage structure is stretched, and makes robot manipulator structure 500 further close to object 20.
When object 20 enters mechanical paw 75, can capture in scope, micro hydraulic cylinder guide rod 78 shrinks, mechanical paw 75 is object promptly, micro hydraulic cylinder guide rod 71 shrinks, the scissors bar linkage structure draws in, Hydraulic Pump and control structure 17 make 18 elongations of vertical solution cylinder pressure, by gripping object 20, risen, after rising to compartment 1 upper limb height, small machine 52 rotates along (contrary) hour hands, and lower support dish 9 is rotated, 61 elongations of micro hydraulic cylinder guide rod, angle between parallel connecting rod 23 and scissors bar linkage structure is reduced, shorten object 20 and arrive the just top time of compartment 1.When object 20 arrive compartments 1 just above after, micro hydraulic cylinder guide rod 78 extends, mechanical paw 75 opens, object 20 falls into compartment, completes object and collects work.
Start power supply, linear electric motors 34 and motor 8 rotate, and whole car body continues as required motion and finds next target.
The Automatic Guided Vehicle that above embodiment proposes, a kind of as transport trolley, by controlling opening and tightening to catch different sizes and difform goods of mechanical paw 75, as goods, cylindric and cubic object and some fitfull article etc. of some fitfull mechanical component, packing moulding.In addition, this money Automatic Guided Vehicle can also be regulated by hydraulic actuating cylinder, scissor-like jack rising, decline, elongation and the contraction of robot manipulator structure, thereby can be transported to the article of different spatial, and be placed in compartment, realize that article carrying is to the full process automatization operation of depositing.
Although the utility model with preferred embodiment openly as above; but it is not for limiting claim; any those skilled in the art are not within breaking away from spirit and scope of the present utility model; can make possible change and modification, the scope that therefore protection domain of the present utility model should be defined with the utility model claim is as the criterion.
Claims (7)
1. an Automatic Guided Vehicle, comprise car body, characterized by further comprising: be fixed on the compartment on car body, the upper support dish, connector, robot manipulator structure, and the motion steering structure that is arranged on vehicle bottom, be arranged on the lower lifting steering structure between car body and upper support dish, be arranged on the upper steering structure between upper support dish and connector, be arranged on the scissors stretching structure between connector and robot manipulator structure, wherein descend the rotational axis line of lifting steering structure and upper steering structure to be vertical direction.
2. Automatic Guided Vehicle as claimed in claim 1, is characterized in that, described motion steering structure comprises: driving wheel, and described driving wheel is arranged on axletree, and described axletree is rotatably installed on the axle bracket of vehicle bottom; Described vehicle bottom is provided with motor, is fixed with driving pulley on motor, is fixed with driven pulley on axletree, between described driving pulley and driven pulley, by belt, is connected.
3. Automatic Guided Vehicle as claimed in claim 2, is characterized in that, described motion steering structure also comprises: two wheel flutters, and described two wheel flutters are arranged on respectively on two steering shafts, and described steering shaft is rotatably installed on car body by front-wheel support; Vehicle bottom rotates and is provided with pilot bar, and pilot bar also is articulated to Linkage steering, and described Linkage steering and two steering shafts are rotationally connected; Have guide groove on described pilot bar, in described guide groove, be movably set with roller, vehicle bottom also is fixed with linear electric motors, and described roller rotates and is arranged on the motor guide rod of linear electric motors.
4. Automatic Guided Vehicle as claimed in claim 1, it is characterized in that, described lower lifting steering structure comprises: rotate and to be arranged on the lower support dish on car body, be arranged on hydraulic fluid tank on described lower support dish and control structure, vertical solution cylinder pressure, the apical support upper support dish of described vertical solution cylinder pressure; Described lower support dish is rotatably connected on and is fixed on the bolster of car body by connection bearing, in the lower support dish, inner gear is set, and the small machine be fixed on car body meshes by miniature gears and inner gear.
5. Automatic Guided Vehicle as claimed in claim 1, it is characterized in that, described upper steering structure comprises: be fixed on the parallel connecting rod on the upper support dish, rotation is arranged on the micro hydraulic cylinder on parallel connecting rod, described connector rotates and is arranged on parallel connecting rod, and micro hydraulic cylinder guide rod and the connector of described micro hydraulic cylinder are rotationally connected.
6. Automatic Guided Vehicle as claimed in claim 1, it is characterized in that, described scissors stretching structure comprises: be arranged on the micro hydraulic cylinder on connector, be arranged on the guide rod on connector by bracing frame, be arranged on the scissors bar linkage structure on guide rod, the micro hydraulic cylinder guide rod of micro hydraulic cylinder is connected to the connecting rod on the scissors bar linkage structure.
7. Automatic Guided Vehicle as claimed in claim 1, it is characterized in that, described robot manipulator structure comprises: manipulator is placed plate, be fixed in manipulator and place the micro hydraulic cylinder on plate, rotation is arranged at manipulator and places the mechanical paw on plate, and connecting rod, an end of described connecting rod is rotationally connected to micro hydraulic cylinder guide rod, the other end of micro hydraulic cylinder and is rotationally connected to mechanical paw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220673068 CN202953062U (en) | 2012-12-07 | 2012-12-07 | Automatic carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220673068 CN202953062U (en) | 2012-12-07 | 2012-12-07 | Automatic carrier |
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| Publication Number | Publication Date |
|---|---|
| CN202953062U true CN202953062U (en) | 2013-05-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220673068 Expired - Fee Related CN202953062U (en) | 2012-12-07 | 2012-12-07 | Automatic carrier |
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Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103778844A (en) * | 2014-01-21 | 2014-05-07 | 燕山大学 | Non-track split-type hydraulic motor train unit experimental platform and a steering control system thereof |
| CN103941736A (en) * | 2014-05-07 | 2014-07-23 | 山东理工大学 | Novel intelligent carrier and control method thereof |
| CN104493829A (en) * | 2014-12-26 | 2015-04-08 | 浙江工业大学 | Visual supermarket robot |
| CN104723318A (en) * | 2015-03-10 | 2015-06-24 | 苏州英达瑞机器人科技有限公司 | Autonomous working robot system |
| CN104842336A (en) * | 2015-03-03 | 2015-08-19 | 深圳市广明科技有限公司 | Multi-joint robot for mounting and demounting ground wires |
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
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| CN105416361A (en) * | 2015-12-11 | 2016-03-23 | 上海珍岛信息技术有限公司 | Trash can carrying trolley |
| CN105729439A (en) * | 2015-02-09 | 2016-07-06 | 美的集团股份有限公司 | Management system of electric appliances |
| CN105881522A (en) * | 2016-03-10 | 2016-08-24 | 济南大学 | Material carrying mechanical arm structure and moving type kitchen carrying robot with material carrying mechanical arm structure |
| CN106239470A (en) * | 2016-08-24 | 2016-12-21 | 合肥凌翔信息科技有限公司 | A kind of automatic guided vehicle QR alignment system |
| CN106428263A (en) * | 2016-10-27 | 2017-02-22 | 桂林电子科技大学 | Full-automatic express delivery trolley |
| CN106514605A (en) * | 2016-12-05 | 2017-03-22 | 顺丰科技有限公司 | Robot |
| CN106585769A (en) * | 2017-01-24 | 2017-04-26 | 淮海工学院 | Automatic navigation transport vehicle for materials in machining process of thin-wall aluminium alloy housing |
| CN106826748A (en) * | 2017-01-20 | 2017-06-13 | 大连海洋大学 | Multi-angle free grasp handling robot based on hydraulic control |
| CN107032113A (en) * | 2017-06-08 | 2017-08-11 | 广东嘉铭智能科技有限公司 | A kind of bulb produces feeder apparatus |
| CN107054195A (en) * | 2017-05-02 | 2017-08-18 | 岳西县科盛机电有限公司 | A kind of automation transport vehicle |
| CN108584412A (en) * | 2018-03-30 | 2018-09-28 | 山东七星实业有限公司 | A kind of lining transfer robot |
| CN108673465A (en) * | 2018-04-12 | 2018-10-19 | 江炎秋 | A kind of rotation transfer robot |
| CN108862114A (en) * | 2018-09-03 | 2018-11-23 | 贺婷 | A kind of logistics goods handling system |
| CN108972588A (en) * | 2018-08-29 | 2018-12-11 | 上海常仁信息科技有限公司 | Intelligence backtracks the robot of charging |
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| CN110921296A (en) * | 2019-11-13 | 2020-03-27 | 徐州泓吉环锻科技有限公司 | Auxiliary material replacing equipment for connecting rod forging, punching and trimming |
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| CN112174039A (en) * | 2020-09-16 | 2021-01-05 | 山东中衡光电科技有限公司 | Underground intelligent installation carrier based on parallel mechanism and carrying method |
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| CN117182869A (en) * | 2023-11-08 | 2023-12-08 | 北京建工环境修复股份有限公司 | Hydraulic manipulator and application thereof in agricultural contaminated land |
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2012
- 2012-12-07 CN CN 201220673068 patent/CN202953062U/en not_active Expired - Fee Related
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| CN103778844B (en) * | 2014-01-21 | 2016-10-12 | 燕山大学 | Trackless Split Hydraulic EMU Experimental Platform |
| CN103778844A (en) * | 2014-01-21 | 2014-05-07 | 燕山大学 | Non-track split-type hydraulic motor train unit experimental platform and a steering control system thereof |
| CN103941736A (en) * | 2014-05-07 | 2014-07-23 | 山东理工大学 | Novel intelligent carrier and control method thereof |
| CN103941736B (en) * | 2014-05-07 | 2017-06-30 | 山东理工大学 | A kind of intelligent carrier and its control method |
| CN104493829A (en) * | 2014-12-26 | 2015-04-08 | 浙江工业大学 | Visual supermarket robot |
| CN105729439B (en) * | 2015-02-09 | 2018-01-02 | 美的集团股份有限公司 | The management system of electrical equipment |
| CN105729439A (en) * | 2015-02-09 | 2016-07-06 | 美的集团股份有限公司 | Management system of electric appliances |
| CN104842336A (en) * | 2015-03-03 | 2015-08-19 | 深圳市广明科技有限公司 | Multi-joint robot for mounting and demounting ground wires |
| CN104723318A (en) * | 2015-03-10 | 2015-06-24 | 苏州英达瑞机器人科技有限公司 | Autonomous working robot system |
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN105195852A (en) * | 2015-09-21 | 2015-12-30 | 东港市华瑞彩钢有限公司 | CNC cutting machine |
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| CN106428263A (en) * | 2016-10-27 | 2017-02-22 | 桂林电子科技大学 | Full-automatic express delivery trolley |
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| CN106826748A (en) * | 2017-01-20 | 2017-06-13 | 大连海洋大学 | Multi-angle free grasp handling robot based on hydraulic control |
| CN106585769A (en) * | 2017-01-24 | 2017-04-26 | 淮海工学院 | Automatic navigation transport vehicle for materials in machining process of thin-wall aluminium alloy housing |
| CN107054195A (en) * | 2017-05-02 | 2017-08-18 | 岳西县科盛机电有限公司 | A kind of automation transport vehicle |
| CN107032113A (en) * | 2017-06-08 | 2017-08-11 | 广东嘉铭智能科技有限公司 | A kind of bulb produces feeder apparatus |
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| CN108673465A (en) * | 2018-04-12 | 2018-10-19 | 江炎秋 | A kind of rotation transfer robot |
| CN108972588A (en) * | 2018-08-29 | 2018-12-11 | 上海常仁信息科技有限公司 | Intelligence backtracks the robot of charging |
| CN108972588B (en) * | 2018-08-29 | 2022-03-11 | 付小芹 | Robot capable of intelligently finding back to charge |
| CN108862114A (en) * | 2018-09-03 | 2018-11-23 | 贺婷 | A kind of logistics goods handling system |
| CN111717478A (en) * | 2018-09-17 | 2020-09-29 | 福州市长乐区汇智科技服务有限公司 | Packaging method of express box packaging machine |
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| CN110642188B (en) * | 2019-08-30 | 2022-08-02 | 兰州石化职业技术学院 | Cargo carrying robot and carrying method thereof |
| CN110642187A (en) * | 2019-09-11 | 2020-01-03 | 杭州易博特科技有限公司 | Automatic tray transportation method, system and equipment |
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| CN113400342A (en) * | 2020-03-16 | 2021-09-17 | 杭州有容智控科技有限公司 | Portable telescopic device |
| CN111547627A (en) * | 2020-05-28 | 2020-08-18 | 温州市纯源机械科技有限公司 | Cart capable of automatically operating, loading and unloading |
| CN112174039A (en) * | 2020-09-16 | 2021-01-05 | 山东中衡光电科技有限公司 | Underground intelligent installation carrier based on parallel mechanism and carrying method |
| CN112174039B (en) * | 2020-09-16 | 2022-03-29 | 山东中衡光电科技有限公司 | Underground intelligent installation carrier based on parallel mechanism and carrying method |
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| CN117182869B (en) * | 2023-11-08 | 2024-01-05 | 北京建工环境修复股份有限公司 | Hydraulic manipulator and application thereof in agricultural contaminated land |
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