CN203794042U - Novel storage picking vehicle based on multi-robot combination - Google Patents
Novel storage picking vehicle based on multi-robot combination Download PDFInfo
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- CN203794042U CN203794042U CN201420195895.4U CN201420195895U CN203794042U CN 203794042 U CN203794042 U CN 203794042U CN 201420195895 U CN201420195895 U CN 201420195895U CN 203794042 U CN203794042 U CN 203794042U
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Abstract
The utility model relates to a novel storage picking vehicle based on multi-robot combination. The novel storage picking vehicle has the main technical characteristics that an automatic robot and a boxing robot are mounted together through the connection of self industrial buses, the automatic access robot comprises an automatic access robot vehicle body, automatic access robot wheels mounted at the bottom of the vehicle body, a lifting vehicle mounted on the automatic access robot vehicle body, and a telescopic access device mounted on the lifting vehicle; the boxing robot comprises a boxing robot vehicle body, boxing robot wheels mounted at the bottom of the vehicle body, and a boxing robot drawer-type storage rack mounted on the boxing robot vehicle body. According to the utility model, the access robot and the boxing robot are assembled and mounted together through self industrial buses, so that the warehousing cargo sorting function is achieved; reciprocated transportation time during the goods handling process is effectively reduced, and the transportation cost for the robot to transport cargoes in a reciprocating manner is reduced greatly, therefore, the warehousing cargo sorting efficiency is improved integrally.
Description
Technical field
The utility model belongs to AGV technical field, especially a kind of novel storage picking car based on multirobot combination.
Background technology
Warehoused cargo sorting refers to according to the requirement of outbound list or distribution plan, by commodity from picking district or storage area choose and take out, and classify in a certain way, concentrated operation process.At present, conventionally adopt method for sorting in batches to realize warehoused cargo sorting function, that is: first sort kind and sort quantity again, storage background server carries out Classifying Sum by each shipment item of multiple delivery orders or picking list; Then, specify specialized equipment according to description of cargo batch extracting goods, and be transported to goods sorting district; Finally, by off-sorting station staff, from single variety batch goods, sorted out the quantity of each order, vanning outbound.
Prior art is conventionally different with order frequency according to goods feature, indent structure, selects different automation picking equipment, and wherein, robot picking equipment is applicable to that frequency is high, the application scenario of goods sorting large, wide in variety in batches.Robot picking equipment divides two kinds, the first robot picking equipment is the Kiva storage dispensing robot of Amazon Company, this storage dispensing robot can be carried the whole shelf that occupied article, this picking equipment be take whole shelf as access unit, effectively improved the speed conveying goods, its deficiency is: the concurrent Occupation coefficient of shelf goods is low, because, whole goods is also not all that this goods sorting is needed, those N/R products are owing to can not, by the concurrent use of other orders, making whole storage sorting Efficiency Decreasing.The second robot picking equipment is robot automatically storing and taking vehicles, this car is except having the carrying function of Kiva storage dispensing robot, also there is elevating function and telescopic access facility, the goods of certain one deck on shelf can be taken out or puts into, this robot be take pallet as access unit, draw little access object, improve the concurrent service efficiency of shelf integral goods, its deficiency is: when the assortment of article sorting is in batches many, if adopt single robot manipulation, the whole time of single robot single variety discharging of goods is just long, if adopt multirobot concurrent operations, although can significantly improve storage picking efficiency, but multirobot use cost will strengthen exponentially.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of novel storage picking car based on multirobot combination is provided, for improving the concurrent efficiency of goods sorting and reducing the use cost of robot picking equipment.
The utility model solves existing technical matters and takes following technical scheme to realize:
A kind of novel storage picking car based on multirobot combination, together with passing through the industrial bus connection of self by an automatic access machine people with a desk-kit robot, described automatic access machine people comprises automatic access machine people car body, is arranged on the automatic access machine people wheel of automatic access machine people vehicle bottom, is arranged on the lift car on automatic access machine people car body and is arranged on the telescopic access device on lift car; Described vanning robot comprises vanning robot car body, is arranged on the vanning robot wheel of vanning robot vehicle bottom and is arranged on the vanning robot drawer-type storage rack on vanning robot car body.
And, described lift car comprises lift car motor, lift car chain, lift car sprocket wheel, lift car column and lift car cargo loading plate, four lift car columns are vertically mounted on four jiaos of places of accessor robot car body upper surface, described lift car motor is packed in the top of a side lift car column, this lift car motor connects axle drive shaft by belt, coder for testing the speed is installed on axle drive shaft, four lift car chains and axle drive shaft mesh together, wherein two lift car chains are positioned at the front side of automatic access machine people car body and two forward terminals by lift car sprocket wheel and lift car cargo loading plate are solidly installed, other two lift car chains are positioned at the rear side of moving body and two aft terminals by lift car sprocket wheel and lift car cargo loading plate are solidly installed, in lift car cargo loading plate upper surface both sides, being respectively arranged with elongate in shape and width is the wheel groove of cargo loading plate width, side at a wheel groove of lift car cargo loading plate is provided with lift car code reader, and its lower surface both sides and centre are respectively arranged with two elongate in shape and width is the flexible hook installation groove of picking and the flexible hook installation of the vanning groove of cargo loading plate width, four jiaos at lift car cargo loading plate are all provided with lift car guide piece and are installed together with lift car column chute.
And, described lift car guide piece comprises a pair of pipe link and track adjusting wheel, a pair of pipe link is arranged on drift angle both sides of lift car cargo loading plate, and described track adjusting wheel is arranged between a pair of pipe link by the axis of guide, and this track adjusting wheel is inlaid in lift car column chute.
And, described telescopic access device comprises telescopic picking hook, telescopic vanning hook, the horizontal push-pull device at fixed of picking, the horizontal push-pull device at fixed of casing, the longitudinal jacking system of picking and longitudinal jacking system of casing, and described telescopic picking hook and telescopic vanning hook respectively level are arranged in the telescopic picking hook installation groove and telescopic vanning hook installation groove that falls the setting of car cargo loading plate bottom; The horizontal push-pull device at fixed of described picking and the horizontal push-pull device at fixed of vanning are arranged on respectively telescopic picking hook and install in groove and telescopic vanning hook installation groove and be installed together with hook, and two horizontal push-pull device at fixed are respectively used to push-and-pull hook and do horizontal cross motion; The longitudinal jacking system of described picking and the longitudinal jacking system of vanning are arranged on respectively the telescopic picking hook of hook bottom separately and install in groove and telescopic vanning hook installation groove, and longitudinally jacking system is used for driving hook to move up and down.
And, described vanning robot drawer-type storage rack comprises vanning shelf front and back support beam, vanning shelf left and right support beam, vanning shelf support baseboard, vanning shelf support post and vanning shelf tray guide rail, before and after two vanning shelf, support beam and two vanning shelf left and right support beam is packed in respectively both sides, front and back and the left and right sides of four vanning shelf support post upper ends, vanning shelf tray guide rail is the symmetrical inner side that is arranged on left and right shelf support post from top to bottom, the vanning robot drawer-type storage rack pallet that can move forward and backward along shelf tray guide rail is installed on every pair of shelf tray guide rail.
And, described vanning robot drawer-type storage rack pallet comprises pallet drawer, pallet load-bearing flank, described pallet load-bearing flank is arranged on pallet drawer both sides, at the uniform row's pallet roller that is provided with in the bottom of each pallet load-bearing flank, the square hole of two row's push-and-pull pallets before and after the lower surface of pallet drawer is shaped with, front row is picking push-and-pull pallet square hole, and rear row is vanning push-and-pull pallet square hole.
And, the connection mode of described automatic access machine people and vanning robot is: in automatic access machine people car body one side, be provided with automatic access machine people contact groove, this contact groove is provided with automatic access machine people bus interface magnetic pole and automatic access machine people's bus interface contact; A side at vanning robot car body is provided with vanning robot contact groove, this contact groove is provided with vanning robot bus interface magnetic pole and vanning robot bus interface contact, and vanning robot bus interface magnetic pole and vanning robot bus interface contact are attracted and eject by automatic access machine people bus interface magnetic pole and automatic access machine people's bus interface contact: thus by two pairs of magnetic poles, join and realize two groups of contacts and join.
Advantage of the present utility model and good effect are:
The utility model is combined and installed together picking robot and the industrial bus of vanning robot by self form unified control circuit, realized warehoused cargo sorting function: both can single variety according to goods lattice picking, improve the concurrent scheduling efficiency of shelf integral goods, again can be when single variety disperses picking, the integrated vanning of many kinds is carried out in original place, effectively shortened the round handling time in portage process, greatly reduce robot and come and go the traffic cost conveying goods, overcome the bottle diameter problem of the sorting speed raising of restriction warehoused cargo, the warehoused cargo sorting efficiency having improved on the whole.
Accompanying drawing explanation
Fig. 1 is main TV structure schematic diagram of the present utility model;
Fig. 2 is side-looking structural representation of the present utility model;
Fig. 3 is automatic access machine people's structural representation;
Fig. 4 is the birds-eye view of lifting mode cargo loading plate;
Fig. 5 a is the installation site schematic diagram of telescopic picking hook and telescopic vanning hook;
Fig. 5 b is the installation site schematic diagram of the horizontal push-pull device at fixed of picking and the longitudinal jacking system of picking;
Fig. 5 c is the installation site schematic diagram of the horizontal push-pull device at fixed of vanning and the longitudinal jacking system of vanning;
Fig. 6 is the structural representation of vanning robot;
Fig. 7 a is the lateral plan of drawer type tray
Fig. 7 b is the upward view of drawer type tray;
Fig. 8 is annexation schematic diagram between two kinds of robots of the present utility model;
Fig. 9 hooks up goods the treating process schematic diagram of lifting mode cargo loading plate from ground shelf;
Figure 10 is from the counter treating process schematic diagram of shifting picking car self shelf onto of lifting mode cargo loading plate by goods;
1-1-1: automatic access machine people car body; 1-1-2; Automatic access machine people wheel; 1-1-3: automatic access machine people contact groove; 1-1-3-1: automatic access machine people bus interface magnetic pole; 1-1-3-2 automatic access machine people's bus interface contact; 1-2-0: coder; 1-2-1: lift car motor; 1-2-2: lift car chain; 1-2-3: lift car sprocket wheel; 1-2-4: lift car column; 1-2-5: lift car cargo loading plate; 1-2-6: lift car cargo loading plate wheel groove; 1-2-7: lift car cargo loading plate camera; 1-2-8: telescopic picking hook is installed groove; 1-2-9: telescopic vanning hook is installed groove; 1-2-10: track adjusting wheel; 1-2-11: pipe link; 2-1-1: vanning robot car body; 2-1-2: vanning robot wheel; 2-1-3: vanning robot contact groove; 2-1-3-1 vanning robot bus interface magnetic pole; 2-1-3-2: vanning robot bus interface contact; 2-2-0: support beam before and after vanning shelf; 2-2-1: vanning shelf left and right support beam; 2-2-2: vanning shelf support post; 2-2-3: vanning shelf guide rail; 2-2-4: vanning shelf drawer type pallet; 2-2-4-1: pallet drawer; 2-2-4-2 picking push-and-pull pallet square hole; 2-2-4-3 vanning push-and-pull pallet square hole; 2-2-4-4 pallet load-bearing flank; 2-2-4-5 pallet roller; 2-2-5: goods; 2-2-6: vanning shelf stay bearing plate; 3-1-1: telescopic picking hook; 3-2-1: the horizontal push-pull device at fixed of picking; 3-3-1: the longitudinal jacking system of picking; 3-1-2: telescopic vanning hook; 3-2-2: the horizontal push-pull device at fixed of casing; 3-3-2: longitudinal jacking system of casing.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model embodiment is further described.
A novel storage picking car based on multirobot combination, as shown in Figures 1 and 2, is connected and composed by an automatic access machine people and a desk-kit robot.Fig. 1 has provided the contextual transparent view of two robots, the artificial banding machine device of front-seat machine people wherein, and rear robot is vanning robot; Fig. 2 is the lateral plan of Fig. 1, and wherein, left part is automatic access machine people, and right side is divided into vanning robot, and two robots are combined and installed together and are formed unified combined control circuit by the industrial bus of self.
As shown in Figure 3, automatic access machine people comprise automatic access machine people car body 1-1-1, be arranged on automatic access machine people vehicle bottom automatic access machine people wheel 1-1-2, be arranged on the lift car on moving accessor robot car body and be arranged on the telescopic access device on lift car.Below the structure of lift car and telescopic access device is described respectively:
Lift car comprises lift car motor 1-2-1, lift car chain 1-2-2, lift car sprocket wheel 1-2-3, lift car column 1-2-4 and lift car cargo loading plate 1-2-5, four lift car column 1-2-4 are vertically mounted on four jiaos of places of car body upper surface, described lift car motor is packed in the top of a side lift car column, this lift car motor connects axle drive shaft by belt, coder 1-2-0 for testing the speed is installed on axle drive shaft, four lift car chains and axle drive shaft mesh together, wherein two lift car chains are positioned at the front side of automatic access machine people car body and two forward terminals by lift car sprocket wheel and lift car cargo loading plate are solidly installed, other two lift car chains are positioned at the rear side of moving body and two aft terminals by lift car sprocket wheel and lift car cargo loading plate are solidly installed.As shown in Figure 4, in lift car cargo loading plate upper surface both sides, be respectively arranged with the wheel groove 1-2-6 that elongate in shape and width are cargo loading plate width, in the side of a wheel groove of lift car cargo loading plate, lift car code reader 1-2-7 be installed; Its lower surface both sides and centre are respectively arranged with two elongate in shape and width is the flexible hook installation groove 1-2-8 of picking and the flexible hook installation of the vanning groove 1-2-9 of cargo loading plate width; Four jiaos at lift car cargo loading plate are all provided with lift car guide piece and are installed together with lift car column chute.Described lift car guide piece comprises a pair of pipe link 1-2-11 and track adjusting wheel 1-2-10, described a pair of pipe link is arranged on drift angle both sides of lift car cargo loading plate, described track adjusting wheel is arranged between a pair of pipe link by the axis of guide, and this track adjusting wheel is inlaid in lift car column chute.
Described telescopic access device, as shown in Fig. 5 a, Fig. 5 b, Fig. 5 c, comprises telescopic picking hook 3-1-1, telescopic vanning hook 3-1-2, the horizontal push-pull device at fixed 3-2-1 of picking, the horizontal push-pull device at fixed 3-2-2 that cases, the longitudinal jacking system 3-3-1 of picking and longitudinal jacking system 3-3-2 that cases.Described telescopic picking hook and telescopic vanning hook respectively level are arranged in the telescopic picking hook installation groove and telescopic vanning hook installation groove that falls the setting of car cargo loading plate bottom; The horizontal push-pull device at fixed of described picking and the horizontal push-pull device at fixed of vanning are arranged on respectively telescopic picking hook and install in groove and telescopic vanning hook installation groove and be installed together with hook, and two horizontal push-pull device at fixed are respectively used to push-and-pull hook and do horizontal cross motion; The longitudinal jacking system of described picking and the longitudinal jacking system of vanning are arranged on respectively the telescopic picking hook of hook bottom separately and install in groove and telescopic vanning hook installation groove, and longitudinally jacking system is used for driving hook to move up and down.
As shown in Figure 6, described vanning robot comprises vanning robot car body 2-1-1, vanning robot wheel 2-1-2 and vanning robot drawer-type storage rack, described vanning robot drawer-type storage rack comprises vanning shelf front and back support beam 2-2-0, vanning shelf left and right support beam 2-1-1, vanning shelf support baseboard 2-2-6, vanning shelf support post 2-2-2 and vanning shelf tray guide rail 2-2-3, before and after two vanning shelf, support beam and two vanning shelf left and right support beam is packed in respectively both sides, front and back and the left and right sides of four vanning shelf support post upper ends, vanning shelf tray guide rail is the symmetrical inner side that is arranged on left and right shelf support post from top to bottom, the vanning robot drawer-type storage rack pallet 2-2-4 that can move forward and backward along shelf tray guide rail is installed on every pair of shelf tray guide rail.As shown in Fig. 7 a and Fig. 7 b, described vanning robot drawer-type storage rack pallet comprises pallet drawer 2-2-4-1, pallet load-bearing flank 2-2-4-4, described pallet load-bearing flank is arranged on pallet drawer both sides, at the uniform row's pallet roller 2-2-4-5 that is provided with in the bottom of each pallet load-bearing flank, the square hole of two row's push-and-pull pallets before and after the lower surface of pallet drawer is shaped with, first row is picking push-and-pull pallet square hole 2-2-4-2, and second row is vanning push-and-pull pallet square hole 2-2-4-3.
Automatic access machine people and vanning robot are combined and installed together and are formed combined control circuit by the industrial bus of self.As shown in Figure 8, in automatic access machine people car body one side, be provided with the automatic access machine people contact groove 1-1-3 being connected with AGV robot control circuit, this contact groove is active contact groove and is provided with automatic access machine people bus interface magnetic pole 1-1-3-1 and automatic access machine people's bus interface contact 1-1-3-2; A side at vanning robot car body is provided with vanning robot contact groove 2-1-3, and this contact groove is passive type contact groove and is provided with vanning robot bus interface magnetic pole 2-1-3-1 and vanning robot bus interface contact 2-1-3-2.When automatic access machine people's car body approaches with vanning robot car body, vanning robot bus interface magnetic pole and vanning robot bus interface contact are attracted and eject by automatic access machine people bus interface magnetic pole and automatic access machine people's bus interface contact: by two pairs of magnetic poles (N, S) thus join and realize two groups of contacts and join, because contact is connected with automatic access machine people's bus and is connected with the bus of vanning robot, when two groups of contact junction are combined, two groups of buses also and together, thereby realized by the contact groove on two robots and contact making device two AGV robots have been connected to the target on common industrial bus.
As shown in Figure 9, storage picking car picking process is as follows:
1. telescopic picking hook is in initial condition, and now, hook is imbedded in hook groove the inside;
2. telescopic picking hook is laterally released, and now, hook is released by level, and its position arrives the below of the first row square hole of pallet just.
3. telescopic picking hook is by the jack-up that makes progress, and now, hook is by the jack-up that makes progress, and its position just arrives pallet square hole and hooks pallet.
4. in the normal place that telescopic picking hook is set pallet uncinate gyrus to cargo loading plate;
As shown in figure 10, storage picking car vanning process is as follows:
5. when telescopic picking hook pushes back on cargo loading plate by goods, telescopic vanning hook is aimed at the second row square hole of pallet just, now, vanning hook is jacked to second row square hole entrance, and picking hook is fallen from jack-up becoming at first row square hole place.
6. the second row square hole that telescopic vanning hook hooks pallet starts pallet to move right on vanning shelf;
7. the second row square hole that telescopic vanning hook hooks pallet moves to pallet on the target location of shelf.
It is emphasized that; embodiment described in the utility model is illustrative; rather than determinate; therefore the utility model comprises and is not limited to the embodiment described in the specific embodiment; every other embodiments that drawn according to the technical solution of the utility model by those skilled in the art, belong to the scope that the utility model is protected equally.
Claims (7)
1. a novel storage picking car based on multirobot combination, it is characterized in that: together with passing through the industrial bus connection of self by an automatic access machine people with a desk-kit robot, described automatic access machine people comprises automatic access machine people car body, is arranged on the automatic access machine people wheel of automatic access machine people vehicle bottom, is arranged on the lift car on automatic access machine people car body and is arranged on the telescopic access device on lift car; Described vanning robot comprises vanning robot car body, is arranged on the vanning robot wheel of vanning robot vehicle bottom and is arranged on the vanning robot drawer-type storage rack on vanning robot car body.
2. the novel storage picking car based on multirobot combination according to claim 1, it is characterized in that: described lift car comprises lift car motor, lift car chain, lift car sprocket wheel, lift car column and lift car cargo loading plate, four lift car columns are vertically mounted on four jiaos of places of accessor robot car body upper surface, described lift car motor is packed in the top of a side lift car column, this lift car motor connects axle drive shaft by belt, coder for testing the speed is installed on axle drive shaft, four lift car chains and axle drive shaft mesh together, wherein two lift car chains are positioned at the front side of automatic access machine people car body and two forward terminals by lift car sprocket wheel and lift car cargo loading plate are solidly installed, other two lift car chains are positioned at the rear side of moving body and two aft terminals by lift car sprocket wheel and lift car cargo loading plate are solidly installed, in lift car cargo loading plate upper surface both sides, being respectively arranged with elongate in shape and width is the wheel groove of cargo loading plate width, side at a wheel groove of lift car cargo loading plate is provided with lift car code reader, and its lower surface both sides and centre are respectively arranged with two elongate in shape and width is the flexible hook installation groove of picking and the flexible hook installation of the vanning groove of cargo loading plate width, four jiaos at lift car cargo loading plate are all provided with lift car guide piece and are installed together with lift car column chute.
3. the novel storage picking car based on multirobot combination according to claim 2, it is characterized in that: described lift car guide piece comprises a pair of pipe link and track adjusting wheel, a pair of pipe link is arranged on drift angle both sides of lift car cargo loading plate, described track adjusting wheel is arranged between a pair of pipe link by the axis of guide, and this track adjusting wheel is inlaid in lift car column chute.
4. the novel storage picking car based on multirobot combination according to claim 1, it is characterized in that: described telescopic access device comprises telescopic picking hook, telescopic vanning hook, the horizontal push-pull device at fixed of picking, the horizontal push-pull device at fixed of casing, the longitudinal jacking system of picking and longitudinal jacking system of casing, described telescopic picking hook and telescopic vanning hook respectively level are arranged in the telescopic picking hook installation groove and telescopic vanning hook installation groove that falls the setting of car cargo loading plate bottom; The horizontal push-pull device at fixed of described picking and the horizontal push-pull device at fixed of vanning are arranged on respectively telescopic picking hook and install in groove and telescopic vanning hook installation groove and be installed together with hook, and two horizontal push-pull device at fixed are respectively used to push-and-pull hook and do horizontal cross motion; The longitudinal jacking system of described picking and the longitudinal jacking system of vanning are arranged on respectively the telescopic picking hook of hook bottom separately and install in groove and telescopic vanning hook installation groove, and longitudinally jacking system is used for driving hook to move up and down.
5. the novel storage picking car based on multirobot combination according to claim 1, it is characterized in that: described vanning robot drawer-type storage rack comprises vanning shelf front and back support beam, vanning shelf left and right support beam, vanning shelf support baseboard, vanning shelf support post and vanning shelf tray guide rail, before and after two vanning shelf, support beam and two vanning shelf left and right support beam is packed in respectively both sides, front and back and the left and right sides of four vanning shelf support post upper ends, vanning shelf tray guide rail is the symmetrical inner side that is arranged on left and right shelf support post from top to bottom, the vanning robot drawer-type storage rack pallet that can move forward and backward along shelf tray guide rail is installed on every pair of shelf tray guide rail.
6. the novel storage picking car based on multirobot combination according to claim 5, it is characterized in that: described vanning robot drawer-type storage rack pallet comprises pallet drawer, pallet load-bearing flank, described pallet load-bearing flank is arranged on pallet drawer both sides, at the uniform row's pallet roller that is provided with in the bottom of each pallet load-bearing flank, the square hole of two row's push-and-pull pallets before and after the lower surface of pallet drawer is shaped with, front row is picking push-and-pull pallet square hole, and rear row is vanning push-and-pull pallet square hole.
7. the novel storage picking car based on multirobot combination according to claim 1, it is characterized in that: the connection mode of described automatic access machine people and vanning robot is: in automatic access machine people car body one side, be provided with automatic access machine people contact groove, this contact groove is provided with automatic access machine people bus interface magnetic pole and automatic access machine people's bus interface contact; A side at vanning robot car body is provided with vanning robot contact groove, this contact groove is provided with vanning robot bus interface magnetic pole and vanning robot bus interface contact, and vanning robot bus interface magnetic pole and vanning robot bus interface contact are attracted and eject by automatic access machine people bus interface magnetic pole and automatic access machine people's bus interface contact: thus by two pairs of magnetic poles, join and realize two groups of contacts and join.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420195895.4U CN203794042U (en) | 2014-04-21 | 2014-04-21 | Novel storage picking vehicle based on multi-robot combination |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420195895.4U CN203794042U (en) | 2014-04-21 | 2014-04-21 | Novel storage picking vehicle based on multi-robot combination |
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| Publication Number | Publication Date |
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| CN203794042U true CN203794042U (en) | 2014-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420195895.4U Withdrawn - After Issue CN203794042U (en) | 2014-04-21 | 2014-04-21 | Novel storage picking vehicle based on multi-robot combination |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104003089A (en) * | 2014-04-21 | 2014-08-27 | 无锡普智联科高新技术有限公司 | Storage picking car based on multi-robot combination |
| CN110282330A (en) * | 2018-12-29 | 2019-09-27 | 杭州慧盈智能科技有限公司 | A kind of storage transfer robot and its working method |
| CN113460553A (en) * | 2017-03-15 | 2021-10-01 | 伯克希尔格雷股份有限公司 | System and method for storing, retrieving and processing objects including stackable semi-circular towers |
| CN113460553B (en) * | 2017-03-15 | 2023-12-01 | 伯克希尔格雷运营股份有限公司 | System and method for storing, retrieving and processing objects including stackable semi-circular towers |
-
2014
- 2014-04-21 CN CN201420195895.4U patent/CN203794042U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104003089A (en) * | 2014-04-21 | 2014-08-27 | 无锡普智联科高新技术有限公司 | Storage picking car based on multi-robot combination |
| CN104003089B (en) * | 2014-04-21 | 2016-03-16 | 无锡普智联科高新技术有限公司 | A kind of storage picking car based on multirobot combination |
| CN113460553A (en) * | 2017-03-15 | 2021-10-01 | 伯克希尔格雷股份有限公司 | System and method for storing, retrieving and processing objects including stackable semi-circular towers |
| CN113460553B (en) * | 2017-03-15 | 2023-12-01 | 伯克希尔格雷运营股份有限公司 | System and method for storing, retrieving and processing objects including stackable semi-circular towers |
| CN110282330A (en) * | 2018-12-29 | 2019-09-27 | 杭州慧盈智能科技有限公司 | A kind of storage transfer robot and its working method |
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