CN204237151U - A kind of leading screw lifting device and adopt the logistics carrier of this device - Google Patents
A kind of leading screw lifting device and adopt the logistics carrier of this device Download PDFInfo
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- CN204237151U CN204237151U CN201420556290.3U CN201420556290U CN204237151U CN 204237151 U CN204237151 U CN 204237151U CN 201420556290 U CN201420556290 U CN 201420556290U CN 204237151 U CN204237151 U CN 204237151U
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- leading screw
- logistics carrier
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- lifting device
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Abstract
The utility model provides a kind of leading screw lifting device and adopts the logistics carrier of this device, and leading screw lifting device wherein comprises: lifting motor, driving Timing Belt, leading screw guide and lifting leading screw; Described lifting motor is connected with the described lifting leading screw be arranged in described leading screw guide by described driving Timing Belt, for providing the power driving the lifting of described lifting leading screw, completes lifting action.Logistics carrier of the present utility model adopts above-mentioned leading screw lifting device, is intended to improve logistics distribution center carrying and picking efficiency; Have and use flexibly, have flexibility, and the advantage that input cost is low.
Description
Technical field
The utility model relates to logistics carrier (AGV, the Automated GuidedVehicle) technical field of logistlcs technology, particularly relates to the logistics carrier adopting leading screw lifting device.
Background technology
Existing logistics carrier (AGV, Automated Guided Vehicle) be mainly used in transport operation in manufacturing shop and heavy-duty machinery, volume is large, bearing capacity is large, mainly be divided into bearing type, trailed model and from electrical forklift type, be convenient to be engaged in numerical control machining center operation with various industrial machinery, realize the overall-in-one control schema to logistics.But in logistics distribution center, the efficiency requirements for logistics carrier is high, volume requirement is little.Particularly storage and sort process, more need volume little, the logistics carrier that efficiency is high is carried handling and conveying unit, so the demand of the logistics carrier of submersible in logistics distribution center is by increasing.
Mainly there are the following problems for the logistics carrier of prior art: 1, efficiency is low.Existing logistics carrier cannot realize multirobot Collaboration, so just must come by additional equipment, and the efficiency that causes alternately repeatedly declines; 2, space waste.Because current logistics carrier carrying is large, corresponding volume is also very large, and therefore non-storage space strengthens, and logistics centre space availability ratio reduces; 3, cost is high.System cannot realize goods completely to people, need be equipped with other equipment, and investment is increased greatly; System price cost is high, does not have independent intellectual property right core technology; 4, use dumb, flexible poor.Existing logistics carrier is mainly used in manufacturing carrying, is only suitable for simple path and runs, cannot adapt to pahtfinder hard system.Reason in sum, limits its application to a certain extent.
Summary of the invention
The utility model aims to provide a kind of leading screw lifting device and adopts the logistics carrier of this device, to address the deficiencies of the prior art, and improve logistics distribution center selection and access operation efficiency at lower cost, can by narrow space, turn to flexibly, be adapted at logistics distribution center application.
In order to solve the problems of the technologies described above, the utility model embodiment provides a kind of leading screw lifting device and adopts the logistics carrier of this device, and wherein said leading screw lifting device comprises: lifting motor, driving Timing Belt, leading screw guide and lifting leading screw; Described lifting motor is connected with the described lifting leading screw be arranged in described leading screw guide by described driving Timing Belt, for providing the power driving the lifting of described lifting leading screw, completes lifting action.
In order to solve the problems of the technologies described above, the utility model embodiment still provides a kind of logistics carrier adopting leading screw lifting device, comprise: logistics carrier body, leading screw lifting device, rotary system, driving steering swivel system, location navigation and control system, electric power system, wherein: described leading screw lifting device is arranged on the vehicle frame of described logistics carrier body, comprise lifting motor, drive Timing Belt, leading screw guide and lifting leading screw; Described lifting motor is connected with the described lifting leading screw be arranged in described leading screw guide by described driving Timing Belt, for providing the power driving the lifting of described lifting leading screw, completes lifting action; Described rotary system is arranged on described logistics carrier body, is connected with described leading screw lifting device, makes the lifting object when logistics carrier rotates motionless relative to ground, collides along with logistics carrier rotates to avoid lifting object; Described driving steering swivel system is arranged at the bottom of described logistics carrier body, adopts the mode of differential steering to control turning to of logistics carrier and straight-line travelling; Described location navigation and control system, be connected with described driving steering swivel system with described leading screw lifting device, described rotary system respectively, for controlling described logistics carrier according to the walking of predetermined path, and guarantees that described logistics carrier is accurately located simultaneously; Described electric power system, is connected with control system, for providing power for operation with described leading screw lifting device, described rotary system, described driving steering swivel system, described location navigation respectively; Described logistics carrier body is submersible structure, and described cam lifting device, rotary system, driving steering swivel system, location navigation and control system and electric power system are all arranged on described logistics carrier body.
In a preferred embodiment, described rotary system comprises turning motor, swiveling gear and revolution pallet; Described turning motor drives described revolution pallet to rotate by described swiveling gear, drives the lifting object that described revolution pallet is placed to produce gyroscopic movement, to make when described logistics carrier turns to, guarantees that lifting object is relative to ground static.
In a preferred embodiment, around described revolution pallet, be also provided with at least two line slideways, time to guarantee described revolution pallet lifting, do straight-line motion.
In a preferred embodiment, described driving steering swivel system comprises: coder, suspension system, drive motor and drive wheel and support wheel; Described drive system by the described drive wheel of described drive motor drive installation in the middle of described logistics carrier body, thus drives described cardan wheel, and described logistics carrier accomplish linear is travelled and spinning movement; Described suspension system drives continuous and effective for ensureing; Described coder controls the differential steering for controlling described logistics carrier.
In a preferred embodiment, before and after described driving steering swivel system adopts, support wheel is four cardan wheels, middle two-wheeled is six wheel constructions of drive wheel, and described cardan wheel along with the motion having turned to turning of described drive wheel, thus realizes the driving steering mode of differential steering.
In a preferred embodiment, described location navigation and control system comprise inertial navigation unit and pattern recognition device, be arranged at the center anterior position below described logistics carrier body, after identifying that ground image mark and inertial navigation information merge, logistics carrier is positioned and controls to navigate.
In a preferred embodiment, described location navigation and control system also comprise: measurement mechanism, for measuring the kinematic parameter of lifting object relative to ground space, to guarantee the pivotal angle of described turning motor of described rotary system, then under given initial condition (IC), extrapolate navigation parameter, guide described logistics carrier to arrive destination.
In a preferred embodiment, described location navigation and control system also comprise: wireless router, for receiving the control signal of WLAN, thus realize carrying out collaborative work by WLAN control multiple stage logistics carrier.
In a preferred embodiment, the logistics carrier of described employing leading screw lifting device also comprises: multiple anticollision sensor, being arranged at described logistics carrier body surrounding, colliding for avoiding described logistics carrier and surrounding devices.
The logistics carrier of the employing leading screw lifting device of the utility model technique scheme has following beneficial effect: improve logistics distribution center selection efficiency, its cost is low; Use flexibly, have flexibility; Described logistics carrier volume is little, occupies little to logistics centre area, improves the degree of utilization of logistics centre.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of leading screw lifting device of the utility model embodiment;
Fig. 2 is a kind of logistics carrier structural schematic block diagram adopting leading screw lifting device of the utility model embodiment;
Fig. 3 is a kind of structural representation adopting the logistics carrier of leading screw lifting device of the utility model application example.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
As shown in Figure 1, Fig. 1 is the structural representation of a kind of leading screw lifting device of the utility model embodiment, and wherein said leading screw lifting device comprises: lifting motor 27, driving Timing Belt 28, leading screw guide 23 and lifting leading screw 22; Described lifting motor 27 is connected with the described lifting leading screw 22 be arranged in described leading screw guide 23 by described driving Timing Belt 28, for providing the power driving the lifting of described lifting leading screw 22, completes lifting action.
Refer to Fig. 2 and Fig. 3 again, Fig. 2 is a kind of logistics carrier structured flowchart adopting leading screw lifting device of the utility model embodiment, Fig. 3 is a kind of structural representation adopting the logistics carrier of leading screw lifting device of the utility model application example, as shown in the figure, the logistics carrier of this employing leading screw lifting device comprises: logistics carrier body 11, leading screw lifting device 13, rotary system 12, driving steering swivel system 16, location navigation and control system 14, electric power system 15.
In a preferred embodiment of the present utility model, logistics carrier body 11 is submersible structure; Leading screw lifting device 13, is positioned at the top of logistics carrier body 11, for carrying out lifting to lifting object (mainly referring to Logistic Unit in the present embodiment); Rotary system 12, is positioned at the top of logistics carrier, for changing the direction of lifting object conveying.
In a preferred embodiment of the present utility model, rotary system 12 comprises: turning motor 29 (band brake), swiveling gear 31 and revolution pallet 30; When described leading screw lifting device logistics carrier turns to, for avoiding appearing at narrow space by the Logistic Unit of lifting not along with described logistics carrier body rotates the phenomenon that to collide with other objects, described turning motor 29 (band brake) drives described revolution pallet 30 by described swiveling gear 31, Logistic Unit is turned round, and its principle utilizes relative motion to guarantee the relative ground static of Logistic Unit.
In real work, at least two line slideways 20 can also be provided with around described revolution pallet 30, time to guarantee 30 lifting of described revolution pallet, do straight-line motion.
Drive steering swivel system 16 to be positioned at the bottom of logistics carrier body 11, adopt the driving steering mode of differential steering to carry out driving and turning to; Location navigation and control system 14 are with described leading screw lifting device 13, rotary system 12 and drive steering swivel system 16 to be connected, for driving the logistics carrier of described employing leading screw lifting device and control; Electric power system 15 respectively with leading screw lifting device 13, rotary system 12, drive steering swivel system 16, location navigation to be connected with control system 14, for providing work electricity consumption to each system above-mentioned.
In a preferred embodiment of the present utility model, steering swivel system 16 is driven to comprise: coder, suspension 24, drive motor and drive wheel 25 and support wheel 26; Described drive system by the drive wheel of described drive motor drive installation in centre, accomplish linear, spinning movement.Suspension system ensures to drive continuous and effective.The differential steering of described leading screw lifting device logistics carrier is controlled according to described coder.The differential steering of described leading screw lifting device logistics carrier is controlled by described coder.
In a preferred embodiment of the present utility model, drive steering swivel system 16, before and after adopting, support wheel is four cardan wheels, and middle two-wheeled is six wheel constructions of drive wheel, described cardan wheel followed by described turning to of drive wheel and rotates, thus the driving realizing differential steering turns to.
In a preferred embodiment of the present utility model, location navigation and control system 14 comprise: inertial navigation unit and pattern recognition device, be installed on the center anterior position below described logistics carrier body, after identifying that ground image mark and inertial navigation information merge, logistics carrier is positioned and controls to navigate.
In a preferred embodiment of the present utility model, location navigation and control system 14 also comprise: measurement mechanism, to guarantee the pivotal angle of described turning motor, and for measuring the kinematic parameter of carrier relative to ground space, then under given initial condition (IC), extrapolate navigation parameter, guide described leading screw lifting device logistics carrier to arrive destination.
In a preferred embodiment of the present utility model, location navigation and control system 14 also comprise: wireless router, carry out collaborative work for being controlled multiple stage leading screw lifting device logistics carrier by WLAN.
In a preferred embodiment of the present utility model, electric power system 15 adopts ferric phosphate lithium cell.
In a preferred embodiment of the present utility model, leading screw lifting device logistics carrier also comprises: be positioned at described logistics carrier body surrounding and be provided with multiple anticollision sensor, avoid described logistics carrier and other objects to collide.
Technique scheme has following beneficial effect: improve this device volume of logistics distribution center selection efficiency little, use flexibly, have flexibility; Cost is low, can more effectively utilize logistics distribution center area.
Below for application example, the utility model embodiment technique scheme is described in detail:
The utility model application example by logistics carrier body, leading screw lifting device, rotary system, driving steering swivel system, location navigation and control system, electric power system etc. six part form, as shown in Figure 3, Fig. 3 is a kind of structural representation adopting the logistics carrier of leading screw lifting device of the utility model application example, wherein, logistics carrier adopts submersible design, logistics distribution center can be used in, be adapted at using in narrow space, its order that can accept upper computer is in logistics distribution center operation.This submersible logistics carrying logistics carrier controls navigation by inertial navigation and Quick Response Code and realizes indoor positioning, traveling mechanism is six wheel mechanisms, front and back four-wheel is support wheel 26, middle two-wheeled is drive motor and drive wheel 25, driving steering mode is differential steering, multiple stage logistics carrier work compound can be realized, this logistics carrier is mainly for the discrepancy library access of logistics distribution center, the job design such as selection, it operates in the bottom of Logistic Unit, in the realization walking of narrow space and can turn to, adopt the mode to Logistic Unit lifting, revolution pallet 30 is arranged at top, revolution pallet 30 and steering hardware relative motion, collide with other article to avoid handling and conveying unit to follow logistics carrier rotation, separately in described logistics carrier body surrounding, anticollision sensor is housed, avoids colliding with other article.
Concrete composition system and structure as follows in detail:
1. drive steering swivel system
Described driving steering swivel system is made up of coder, suspension system 24, drive motor and drive wheel 25 and support wheel 26.Drive steering swivel system by the drive motor described drive wheel of drive installation in centre respectively, accomplish linear, spinning movement.Suspension system ensures to drive continuous and effective.The differential steering of described logistics carrier is controlled by described coder.Four cardan wheels 26 in front and back, can realize 360o curve along with drive motor and turning to of drive wheel 25.
2. leading screw lifting device
Described leading screw lifting device comprises: lifting motor 27, driving Timing Belt 28, leading screw guide 23 and lifting leading screw 22; Lifting leading screw 22 is arranged in leading screw guide 23, and leading screw guide 23 can guide lifting leading screw 22 at linear motion, and has the function of protection, and described lifting motor 27 drives lifting leading screw 22 to complete lifting action by driving Timing Belt 28.
3. rotary system
Described rotary system comprises: turning motor 29 (band brake), swiveling gear 31 and revolution pallet 30, when the logistics carrier of described employing leading screw lifting device turns to, for guaranteeing that narrow space is not collided with other article along with described logistics carrier body rotation by the Logistic Unit of lifting, described turning motor 29 drives described revolution pallet 30 by described swiveling gear 31, Logistic Unit is turned round, and Logistic Unit is relative to ground static to utilize relative motion to guarantee.
4. location navigation and control system
Described location navigation and control system logistics carrier adopt inertial navigation and image-guidance, and install camera in the center anterior position of car body bottom, it can identify floor marking fast; Described inertial navigation technology utilizes inertial measurement unit to measure the kinematic parameter of carrier relative to inertial space, then according to given initial condition (IC), extrapolates navigation parameter, guides described logistics carrier to arrive destination; What native system adopted is integrated inertial navigation circuit card, and it has the advantages such as stable performance, volume are little; In addition, inertial navigation also can realize the function controlling turning motor degreeof turn.Wireless router is equipped with in described control system inside, can realize controlling the collaborative work of multiple stage dolly by WLAN.
5. electric power system
Described electric power system adopts storage battery to provide stable kinetic energy for described logistics carrier, and storage battery can adopt high-performance iron phosphate lithium battery, and it has, and charging rate is fast, long service life, lightweight, energy density is high, safety performance advantages of higher.
Claims (10)
1. a leading screw lifting device, is characterized in that, this leading screw lifting device comprises:
Lifting motor, driving Timing Belt, leading screw guide and lifting leading screw;
Described lifting motor is connected with the described lifting leading screw be arranged in described leading screw guide by described driving Timing Belt, for providing the power driving the lifting of described lifting leading screw, completes lifting action.
2. one kind adopts the logistics carrier of leading screw lifting device, it is characterized in that, the logistics carrier of this employing leading screw lifting device comprises: logistics carrier body, leading screw lifting device, rotary system, driving steering swivel system, location navigation and control system, electric power system, wherein:
Described leading screw lifting device is arranged on the vehicle frame of described logistics carrier body, comprises lifting motor, drives Timing Belt, leading screw guide and lifting leading screw; Described lifting motor is connected with the described lifting leading screw be arranged in described leading screw guide by described driving Timing Belt, for providing the power driving the lifting of described lifting leading screw, completes lifting action;
Described rotary system is arranged on described logistics carrier body, is connected with described leading screw lifting device, makes the lifting object when logistics carrier rotates motionless relative to ground, collides along with logistics carrier rotates to avoid lifting object;
Described driving steering swivel system is arranged at the bottom of described logistics carrier body, adopts the mode of differential steering to control turning to of logistics carrier and straight-line travelling;
Described location navigation and control system, be connected with described driving steering swivel system with described leading screw lifting device, described rotary system respectively, for controlling described logistics carrier according to the walking of predetermined path, and guarantees that described logistics carrier is accurately located simultaneously;
Described electric power system, is connected with control system, for providing power for operation with described leading screw lifting device, described rotary system, described driving steering swivel system, described location navigation respectively;
Described logistics carrier body is submersible structure, and described cam lifting device, rotary system, driving steering swivel system, location navigation and control system and electric power system are all arranged on described logistics carrier body.
3. the logistics carrier adopting leading screw lifting device as claimed in claim 2, is characterized in that:
Described rotary system comprises turning motor, swiveling gear and revolution pallet; Described turning motor drives described revolution pallet to rotate by described swiveling gear, drives the lifting object that described revolution pallet is placed to produce gyroscopic movement, to make when described logistics carrier turns to, guarantees that lifting object is relative to ground static.
4. adopt the logistics carrier of leading screw lifting device as claimed in claim 3, it is characterized in that:
Also be provided with at least two line slideways around described revolution pallet, time to guarantee described revolution pallet lifting, do straight-line motion.
5. the logistics carrier adopting leading screw lifting device as claimed in claim 2, it is characterized in that, described driving steering swivel system comprises:
Coder, suspension system, drive motor and drive wheel and support wheel;
Described drive system by the described drive wheel of described drive motor drive installation in the middle of described logistics carrier body, thus drives described support wheel, and described logistics carrier accomplish linear is travelled and spinning movement; Described suspension system drives continuous and effective for ensureing; Described coder controls the differential steering for controlling described logistics carrier.
6. the logistics carrier adopting leading screw lifting device as claimed in claim 5, is characterized in that:
Before and after described driving steering swivel system adopts, support wheel is four cardan wheels, and middle two-wheeled is six wheel constructions of drive wheel, and described cardan wheel along with the motion having turned to turning of described drive wheel, thus realizes the driving steering mode of differential steering.
7. the logistics carrier adopting leading screw lifting device as claimed in claim 2, is characterized in that:
Described location navigation and control system comprise inertial navigation unit and pattern recognition device, be arranged at the center anterior position below described logistics carrier body, after identifying that ground image mark and inertial navigation information merge, logistics carrier is positioned and controls to navigate.
8. the logistics carrier adopting leading screw lifting device as claimed in claim 7, it is characterized in that, described location navigation and control system also comprise:
Measurement mechanism, for measuring the kinematic parameter of lifting object relative to ground space, to guarantee the pivotal angle of described turning motor of described rotary system, then under given initial condition (IC), extrapolate navigation parameter, guide described logistics carrier to arrive destination.
9. the logistics carrier adopting leading screw lifting device as claimed in claim 8, it is characterized in that, described location navigation and control system also comprise:
Wireless router, for receiving the control signal of WLAN, thus realizes carrying out collaborative work by WLAN control multiple stage logistics carrier.
10. the logistics carrier of the employing leading screw lifting device as described in any one of claim 2-9, is characterized in that, the logistics carrier of described employing leading screw lifting device also comprises:
Multiple anticollision sensor, being arranged at described logistics carrier body surrounding, colliding for avoiding described logistics carrier and surrounding devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420556290.3U CN204237151U (en) | 2014-09-25 | 2014-09-25 | A kind of leading screw lifting device and adopt the logistics carrier of this device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420556290.3U CN204237151U (en) | 2014-09-25 | 2014-09-25 | A kind of leading screw lifting device and adopt the logistics carrier of this device |
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| CN204237151U true CN204237151U (en) | 2015-04-01 |
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| CN201420556290.3U Expired - Fee Related CN204237151U (en) | 2014-09-25 | 2014-09-25 | A kind of leading screw lifting device and adopt the logistics carrier of this device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105253509A (en) * | 2015-10-30 | 2016-01-20 | 国网山东省电力公司烟台供电公司 | Control device used for walking positioning of multi-penetrating trolley of electrodynamometer storehouse |
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
| CN105712253A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent transportation vehicle system with jacking function |
| CN105712249A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent carrying vehicle system adopting screw rod for jacking |
| CN105947506A (en) * | 2016-05-31 | 2016-09-21 | 芜湖智久机器人有限公司 | Intelligent transfer robot for warehouse |
| CN106005927A (en) * | 2016-05-31 | 2016-10-12 | 芜湖智久机器人有限公司 | Rotary lifting mechanism |
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN106425643A (en) * | 2016-08-05 | 2017-02-22 | 浙江日发航空数字装备有限责任公司 | Transfer system for aircraft part machining |
| CN107054964A (en) * | 2017-06-25 | 2017-08-18 | 天津市山石机器人有限责任公司 | Underbody seat jacking apparatus is carried in a kind of submersible homing guidance |
| CN107673273A (en) * | 2017-09-22 | 2018-02-09 | 上海托华机器人有限公司 | A kind of floor truck |
| CN107915019A (en) * | 2016-10-09 | 2018-04-17 | 浙江国自机器人技术有限公司 | A kind of method of stock article management system, transfer robot and its Transport cargo rack |
| CN108116824A (en) * | 2016-11-29 | 2018-06-05 | 科思通自动化设备（苏州）有限公司 | Store in a warehouse robot |
| CN108773814A (en) * | 2018-08-20 | 2018-11-09 | 广东嘉腾机器人自动化有限公司 | Lifting mechanism and unmanned floor truck |
| CN109693917A (en) * | 2019-02-26 | 2019-04-30 | 东风汽车集团有限公司 | A kind of truck coil inserting apparatus based on integrated form RGV and can automatic offline truck the big slide plate line of automobile interior decoration |
| CN110723234A (en) * | 2018-07-17 | 2020-01-24 | 杭州海康机器人技术有限公司 | Automatic guide transport vechicle |
| CN112408264A (en) * | 2020-11-20 | 2021-02-26 | 宁夏职业技术学院（宁夏广播电视大学） | Lead screw lifting device and logistics carrying vehicle adopting same |
-
2014
- 2014-09-25 CN CN201420556290.3U patent/CN204237151U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105253509A (en) * | 2015-10-30 | 2016-01-20 | 国网山东省电力公司烟台供电公司 | Control device used for walking positioning of multi-penetrating trolley of electrodynamometer storehouse |
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
| CN105712253A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent transportation vehicle system with jacking function |
| CN105712249A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent carrying vehicle system adopting screw rod for jacking |
| CN105712249B (en) * | 2016-05-05 | 2018-04-06 | 北京极智嘉科技有限公司 | The intelligent conveyor system jacked using leading screw |
| CN105947506A (en) * | 2016-05-31 | 2016-09-21 | 芜湖智久机器人有限公司 | Intelligent transfer robot for warehouse |
| CN106005927A (en) * | 2016-05-31 | 2016-10-12 | 芜湖智久机器人有限公司 | Rotary lifting mechanism |
| CN105947506B (en) * | 2016-05-31 | 2018-08-07 | 芜湖智久机器人有限公司 | A kind of warehouse Intelligent transfer robot |
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN106425643A (en) * | 2016-08-05 | 2017-02-22 | 浙江日发航空数字装备有限责任公司 | Transfer system for aircraft part machining |
| CN107915019A (en) * | 2016-10-09 | 2018-04-17 | 浙江国自机器人技术有限公司 | A kind of method of stock article management system, transfer robot and its Transport cargo rack |
| CN108116824A (en) * | 2016-11-29 | 2018-06-05 | 科思通自动化设备（苏州）有限公司 | Store in a warehouse robot |
| CN107054964A (en) * | 2017-06-25 | 2017-08-18 | 天津市山石机器人有限责任公司 | Underbody seat jacking apparatus is carried in a kind of submersible homing guidance |
| CN107673273A (en) * | 2017-09-22 | 2018-02-09 | 上海托华机器人有限公司 | A kind of floor truck |
| CN110723234A (en) * | 2018-07-17 | 2020-01-24 | 杭州海康机器人技术有限公司 | Automatic guide transport vechicle |
| CN108773814A (en) * | 2018-08-20 | 2018-11-09 | 广东嘉腾机器人自动化有限公司 | Lifting mechanism and unmanned floor truck |
| CN108773814B (en) * | 2018-08-20 | 2024-04-19 | 广东嘉腾机器人自动化有限公司 | Lifting mechanism and unmanned carrying trolley |
| CN109693917A (en) * | 2019-02-26 | 2019-04-30 | 东风汽车集团有限公司 | A kind of truck coil inserting apparatus based on integrated form RGV and can automatic offline truck the big slide plate line of automobile interior decoration |
| CN112408264A (en) * | 2020-11-20 | 2021-02-26 | 宁夏职业技术学院（宁夏广播电视大学） | Lead screw lifting device and logistics carrying vehicle adopting same |
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