CN207844496U - One kind being based on AGV or OMV vehicular robot palletizer systems - Google Patents
One kind being based on AGV or OMV vehicular robot palletizer systems Download PDFInfo
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- CN207844496U CN207844496U CN201720953787.2U CN201720953787U CN207844496U CN 207844496 U CN207844496 U CN 207844496U CN 201720953787 U CN201720953787 U CN 201720953787U CN 207844496 U CN207844496 U CN 207844496U
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Abstract
The utility model is related to one kind being based on AGV or OMV vehicular robot palletizer systems, include the trolley with wheel, the bottom platform on trolley, the spiral lift on the platform of bottom, robot palletizer in spiral lift upper end be set, further includes the controller for controlling spiral lift work.The trolley is AGV OMV trolleies.The utility model realizes the lift adjustment of robot palletizer by means of spiral lift, to increase the job area of robot palletizer on the basis of being combined AGV OMV trolleies with robot palletizer；It is reasonable in design, use the cooperation of spiral lift and bamboo joint type lifting Support bracket, space structure is compact, spiral lift space occupied after shrinking is smaller, solves the technical barrier that traditional elevating mechanism occupies larger bulk, and lifting force will not suddenly become smaller because of the increase of the height of lifting, and stability and security performance are higher.
Description
Technical field
The utility model is related to Palletizer technical fields, specifically a kind of to be based on AGV or OMV vehicular stacking machines
Device people's system.
Background technology
In existing shop production line, it is often necessary to stacking is carried out to cargo by robot palletizer, it is artificial to substitute
The mode of stacking, saves manpower, improves cargo transport, the efficiency of stacking.However, existing robot palletizer is mostly to fix
Formula, stacking are limited in scope, and also have mobile robot palletizer, but the height of stacking can be also restricted, and lacking can drive
The mechanism of robot palletizer lifting can then occupy larger bulk according to traditional hydraulic pressure, the mode of screw drive,
For the more demanding of construction workshop, therefore there is an urgent need to a kind of new robot palletizers, to solve the demand of stacking in workshop.
Invention content
The technical problem to be solved by the utility model is to provide one kind being based on AGV or OMV vehicular robot palletizers
System.
Technical problem to be solved in the utility model is realized using following technical scheme：
One kind being based on AGV or OMV vehicular robot palletizer systems, includes trolley with wheel, is mounted on trolley
Bottom platform, the spiral lift on the platform of bottom, robot palletizer in spiral lift upper end is set, further include using
To control the controller of spiral lift work.
The trolley is AGV OMV trolleies.
It is equipped on the bottom platform and lifts supporting bracket with the bamboo joint type for playing kinematic mount that is connected at the top of spiral lift
Frame.
It is equipped on the platform of bottom for preventing too low device to spiral lift lower limit.
Loading plate is installed at the top of the spiral lift, the position being connected with controller is installed on the loading plate and is passed
Sensor, gravity sensor.
If bamboo joint type lifting Support bracket includes the chassis being fixed on the platform of bottom, can be along chassis in axial sliding
A dry crane, the crane in bottommost and chassis axial sliding fit in several cranes, in several cranes
Axial sliding fit between two adjacent cranes.
The platform that the spiral lift includes fixed pedestal, is rotated around fixed pedestal, driving platform rotation
Motor, the storage box on platform, the spring Flat belt being stored in storage box, in the fixed pedestal and and spring
Flat belt cooperation constitutes the flute profile spring of spiral cylinder, is used to fetter the lifting of flute profile spring or contraction fortune on platform
Dynamic belt track lifting mechanism, the rail-guided frame for making spring Flat belt be engaged with flute profile spring.
It is equally distributed with holes equipped with several rows along the length direction of spring Flat belt on the spring Flat belt；It is described
Being evenly provided on flute profile spring can be with the tooth of corresponding occlusion with holes.
The belt track lifting mechanism include lifting cylinder, lifting cylinder upper edge the axis direction of itself be equipped be used for
Limit roller that is that the lifting of flute profile spring is oriented to and constituting double helical arrangement.
Further, the rail-guided frame include several guiding trestles being circumferentially distributed, be mounted on pair
Formation screw pitch is identical as spiral cylinder on the guiding trestle answered and makes spring Flat belt and flute profile bullet to squeeze spring Flat belt
Several fixture blocks of spring item occlusion.
Another kind as the utility model improves, and the rail-guided frame includes coaxially being distributed with belt track lifting mechanism
And in the cricoid outrigger of non-close, along outrigger madial wall uniform spiral distribution and screw pitch it is identical with the screw pitch of spiral cylinder
Several blocks.
The utility model has the beneficial effects that：The utility model is being combined AGV OMV trolleies with robot palletizer
On the basis of, the lift adjustment of robot palletizer is realized by means of spiral lift, to increase the operation model of robot palletizer
It encloses；It is reasonable in design, the cooperation of spiral lift and bamboo joint type lifting Support bracket is used, space structure is compact, spiral
Elevator space occupied after shrinking is smaller, solves the technology hardly possible that traditional elevating mechanism occupies larger bulk
Topic, and lifting force will not suddenly become smaller because of the increase of the height of lifting, and stability and security performance are higher.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the entirety perspective view of the utility model；
Fig. 2 lifts the schematic diagram of Support bracket connection for the spiral lift, bamboo joint type of the utility model；
A kind of dimensional structure diagram of embodiment of the spiral lift of Fig. 3 the utility model；
Fig. 4 is a kind of internal structure schematic diagram of embodiment of the spiral lift of the utility model；
Fig. 5 is a kind of vertical view of embodiment of the spiral lift of the utility model；
Fig. 6 is a kind of birds-eye perspective of embodiment of the spiral lift of the utility model；
Fig. 7 is that a kind of embodiment of the spiral lift of the utility model removes the main view perspective after fixed pedestal
Figure；
Fig. 8 is a kind of structural schematic diagram of the storage box bracket of embodiment of the spiral lift of the utility model；
The motor and structural schematic diagram when worm screw, the cooperation of driving force input mechanism that Fig. 9 is the utility model；
Figure 10 is the dimensional structure diagram of the another embodiment of the spiral lift of the utility model；
Figure 11 is the front view of the another embodiment of the spiral lift of the utility model；
Figure 12 is the half sectional view of the another embodiment of the spiral lift of the utility model；
Figure 13 is the full sectional view of the another embodiment of the spiral lift of the utility model.
Specific implementation mode
In order to make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, under
It is expanded on further in face of the utility model.
As shown in Figures 1 to 9, a kind of to be based on AGV or OMV vehicular robot palletizer systems, include with the small of wheel
Vehicle 17, the spiral lift 23 on bottom platform 18, is arranged in spiral lift the bottom platform 18 on trolley 17
The robot palletizer 22 of 23 upper ends further includes the controller for controlling the work of spiral lift 23.By means of the shifting of trolley 17
The dynamic designated position that can be transported to robot palletizer 22 carries out operation, when needing to adjust the operation height of robot palletizer,
It is worked using controller control spiral lift 23, you can the height of synchronous change robot palletizer meets stacking requirement.
After spiral lift 23 is packed up completely, spatial altitude can be down to very low the utility model, be greatly saved
Space, without occupying larger spatial volume as traditional hydraulic cylinder type elevating mechanism；
The controller is PLC.
The trolley 17 is that either movement voluntarily may be implemented using AGV OMV trolleies in OMV trolleies to AGV, is met
The requirement of robot palletizer movement, degree of flexibility are high.
It is equipped with to be connected with 23 top of spiral lift on the bottom platform 18 and plays the bamboo joint type lifting branch of kinematic mount
Bracketing frame.Elevating movement can be played while as spiral lift 23 lifts using bamboo joint type lifting Support bracket auxiliary
Supporting role is helped, the stability of device is improved.
It is equipped on bottom platform 18 for preventing too low device 20 to 23 lower limit of spiral lift.
The anti-too low device 20 is column.
The top of the spiral lift 23 is equipped with loading plate 26, is equipped on the loading plate 26 and is connected with controller
Position sensor 27, gravity sensor 28.The loading plate 26 is equipped with robot base 29, and the robot palletizer 22 is installed
On robot base 29.
The weight that the utility model is carried using the detection of gravity sensor 28 is overweight to prevent；Using position sensor 27
To measure height when lifting；Using anti-too low device 20 can prevent robot palletizer downward across after lower limit position to spiral shell
Rotation elevator 23 damages in itself, plays the role of security protection.
Bamboo joint type lifting Support bracket includes the chassis 19a being fixed on bottom platform 18, can be along chassis 19a axis
To several cranes 19b of sliding, the crane 19b and chassis 19a in several cranes 19b in bottommost is axial
It is slidably matched, the crane 19b in top is connected with loading plate 26 in several cranes 19b, several cranes
Axial sliding fit between two adjacent crane 19b in 19b.
There are two types of embodiments for the spiral lift of the utility model, as follows respectively：
Embodiment one：
As shown in Figures 3 to 8, the spiral lift 23 includes fixed pedestal, around the flat of fixed pedestal rotation
Platform, driving platform rotation motor 24, the storage box 6 on platform, the spring Flat belt 1 being stored in storage box 6,
Coordinate in fixed pedestal and with spring Flat belt 1 and constitutes the flute profile spring 2 of spiral cylinder, is used on platform
Fetter the belt track lifting mechanism 3 of 2 lifting of flute profile spring or contractile motion, for making spring Flat belt 1 and flute profile spring 2
The rail-guided frame 4 of occlusion.Motor 24 drives platform to rotate, and then belt track lifting mechanism 3 is driven to rotate, belt track lifting machine
Structure 3 makes flute profile spring 2 be lifted under the guiding role of belt track lifting mechanism 3, and 1 spiral of sync pulling spring Flat belt is climbed
It rises, spring Flat belt 1 is engaged with flute profile spring 2 and forms spiralling cylinder under the squeezing-pushing action of track leading truck 4.
On the spring Flat belt 1 the equally distributed 1a with holes of several rows is equipped with along the length direction of spring Flat belt 1；
Be evenly provided on the flute profile spring 2 can occlusion corresponding with 1a with holes tooth 2a.Process of the flute profile spring 2 in rising
In so that new tooth 2a is bitten on spring Flat belt 1 in new 1a with holes, you can realize that the continuous of spiral cylinder is risen.
The belt track lifting mechanism 3 includes lifting cylinder 3a, is set along the axis direction of itself on lifting cylinder 3a
It is useful for lifting limit roller 3b that is being oriented to and constituting double helical arrangement to flute profile spring 2.Double helical arrangement
On two limit roller 3b coordinated in pairs between spacing be more than the thickness of flute profile spring 2.The flute profile spring 2 exists
The rotary force of lifting cylinder 3a is lifted up under driving along the limit roller 3b of double helical arrangement.The utility model uses
The guiding that the limit roller 3b of double helical arrangement lifts flute profile spring 2, effectively prevents flute profile spring 2
Shaking in lifting process and dislocation ensure that the accuracy and stability of movement, can just make tooth 2a and 1a couples with holes in this way
It should be engaged.
The fixed pedestal includes elevating mechanism pedestal 10, is vertically installed on elevating mechanism pedestal 10 by revolute pair
The stress support staving 5 at end, several mounting brackets 11 that degree of freedom is turned round for limiting flute profile spring 2.The utility model
Mounting bracket 11 can prevent flute profile spring 2 from being turned round during lifting, if flute profile spring 2 turns round, meeting
Cause 2 idle running of spring Flat belt 1 and flute profile spring without having ascending motion, i.e. idle running can lead to not realize lifting work(
Energy.
The lifting cylinder 3a is mounted on stress support staving 5 upper end, the limit roller 3b can around with lifting post
The junction of body 3a rotates.
Further, the limit roller 3b is roller bearing.
The driving force input mechanism 8 is worm gear, and worm screw 25, the worm screw 25 and worm gear are equipped on the motor 24
Cooperation realizes that power transmits.
The platform includes the storage box that is mounted on fixed pedestal upper end and can be rotated relatively freely between storage box 6
Bracket 7, mounted on 7 lower face of storage box bracket and the driving force input mechanism 8 that is used cooperatively with motor 25.Motor 24 drives
Power input mechanism 8, to drive storage box bracket 7, you can belt track lifting mechanism 3 is driven to rotate.
7 upper end of storage box bracket is circumferentially evenly provided with several for matching with 6 bottom of storage box
The storage box bottom bearings 14 of conjunction.It is uniformly disposed with several on the circumferencial direction of the storage box 6 and is mounted on storage box
The storage box external bearings frame 13 of 7 upper end of bracket.The benefit of such structure design is：Ensure that storage box 6 can be flat with spring
The elastic strength of flat rubber belting 1 arbitrarily rotates.
The recessing groove 15 that the when of being lifted for flute profile spring 2 passes through is offered on the storage box bracket 7, just can guarantee in this way
The elevating movement of flute profile spring 2 and the rotary motion of storage box bracket 7 are not interfered, reasonable in design.
The rail-guided frame 4 includes several guiding trestles 4a being circumferentially distributed, is led mounted on corresponding
It is identical as spiral cylinder and make spring Flat belt 1 and flute profile spring to squeeze spring Flat belt 1 that screw pitch is formed on holder 4a
Several fixture blocks 4b that item 2 is engaged.The fixture block 4b be staggered on spring Flat belt 1 be engaged with flute profile spring 2 position and with bullet
The lateral surface of spring Flat belt 1 offsets, and can make spring Flat belt 1 gradually close to flute profile spring 2 using fixture block 4b and finally make
Spring Flat belt 1 is interlocked with flute profile spring 2.
Further, the fixture block 4b quantity installed on each guiding trestle 4a is two or three.
The cylindrical axis that the flute profile spring 2 stacks supports the axis of staving 5 to overlap with stress.The utility model
Flute profile spring 2 be stacked together after, the tooth of tooth 2a in each screw pitch and the same position in adjacent screw pitch is vertical
It is overlapped on direction, is that the tooth 2a after flute profile spring 2 is stacked together constitutes rows of perpendicular straight arranged strips, then leads in this way
It crosses mounting bracket 11 to be stuck between strip and strip, you can prevent flute profile spring 2 from being turned round during lifting.
The upper end of the spiral cylinder is connected with fixed chuck 9 at the top of lifting body, and fixed chuck 9 is upper at the top of lifting body
End is connected with loading plate 26.
The upper end of the elevating mechanism pedestal 10 is equipped with fixed seat 16.
Embodiment two：
As shown in Figure 10 to Figure 13, the spiral lift 23 includes fixed pedestal, around the rotation of fixed pedestal
Platform, the motor 24 of driving platform rotation, the storage box 6 on platform, the spring Flat belt being stored in storage box 6
1, coordinate the flute profile spring 2 of composition spiral cylinder in fixed pedestal and with spring Flat belt 1, used on platform
In the belt track lifting mechanism 3 of the lifting of constraint flute profile spring 2 or contractile motion, for making spring Flat belt 1 and flute profile spring
The rail-guided frame 4 that item 2 is engaged.Motor 24 drives platform to rotate, and then belt track lifting mechanism 3 is driven to rotate, and belt track is lifted
Rising mechanism 3 makes flute profile spring 2 be lifted under the guiding role of belt track lifting mechanism 3, and 1 spiral shell of sync pulling spring Flat belt
Rotation is soaring, and spring Flat belt 1 is engaged with flute profile spring 2 and is formed spiralling under the squeezing-pushing action of track leading truck 4
Cylinder.
On the spring Flat belt 1 the equally distributed 1a with holes of several rows is equipped with along the length direction of spring Flat belt 1；
Be evenly provided on the flute profile spring 2 can occlusion corresponding with 1a with holes tooth 2a.Process of the flute profile spring 2 in rising
In so that new tooth 2a is bitten on spring Flat belt 1 in new 1a with holes, you can realize that the continuous of spiral cylinder is risen.
The belt track lifting mechanism 3 includes lifting cylinder 3a, is set along the axis direction of itself on lifting cylinder 3a
It is useful for lifting limit roller 3b that is being oriented to and constituting double helical arrangement to flute profile spring 2.Double helical arrangement
On two limit roller 3b coordinated in pairs between spacing be more than the thickness of flute profile spring 2.The flute profile spring 2 exists
The rotary force of lifting cylinder 3a is lifted up under driving along the limit roller 3b of double helical arrangement.The utility model uses
The guiding that the limit roller 3b of double helical arrangement lifts flute profile spring 2, effectively prevents flute profile spring 2
Shaking in lifting process and dislocation ensure that the accuracy and stability of movement, can just make tooth 2a and 1a couples with holes in this way
It should be engaged.
The fixed pedestal includes elevating mechanism pedestal 10, is vertically installed on elevating mechanism pedestal 10 by revolute pair
The stress at end supports staving 5.
The lower end of the platform, which is equipped with, to be connected and with the stress of fixed pedestal support staving 5 will be in superposed state
The outer cage 101 that covers of flute profile spring 2.
The lifting cylinder 3a is mounted on stress support staving 5 upper end, the limit roller 3b can around with lifting post
The junction of body 3a rotates.
Further, the limit roller 3b is roller bearing.
The driving force input mechanism 8 is worm gear, and worm screw 25, the worm screw 25 and worm gear are equipped on the motor 24
Cooperation realizes that power transmits.
The platform includes by outer cage 101 mounted on fixed pedestal upper end and can relatively certainly between storage box 6
By rotate storage box bracket 7, mounted on 7 lower face of storage box bracket and the driving force input mechanism that is used cooperatively with motor 25
8.Motor 24 drives driving force input mechanism 8, to drive storage box bracket 7, you can belt track lifting mechanism 3 is driven to rotate.
7 upper end of storage box bracket is circumferentially evenly provided with several for matching with 6 bottom of storage box
The storage box bottom bearings 14 of conjunction.It is uniformly disposed with several on the circumferencial direction of the storage box 6 and is mounted on storage box
The storage box external bearings frame 13 of 7 upper end of bracket.The benefit of such structure design is：Ensure that storage box 6 can be flat with spring
The elastic strength of flat rubber belting 1 arbitrarily rotates.
The rail-guided frame 4 include with belt track lifting mechanism 3 it is coaxial distribution and in the cricoid outrigger 4c of non-close,
Along the madial wall uniform spiral distribution of outrigger 4c and screw pitch several block 4d identical with the screw pitch of spiral cylinder.
Further, the block 4d is staggered on spring Flat belt 1 and is engaged position and flat with spring with flute profile spring 2
It offsets with 1 lateral surface, can make spring Flat belt 1 gradually close to flute profile spring 2 using block 4d and finally makes spring flat
Flat rubber belting 1 is interlocked with flute profile spring 2.
The outrigger 4c is equipped with notch 102, during track leading truck 4 rotates, the bullet in storage box 6
Spring Flat belt 1 may pass through notch 102 and enter in rail-guided frame 4, to be engaged with flute profile spring 2, structure design
Rationally, it will not cause to interfere during the motion.
The cylindrical axis that the flute profile spring 2 stacks supports the axis of staving 5 to overlap with stress.The utility model
Flute profile spring 2 be stacked together after, the tooth of tooth 2a in each screw pitch and the same position in adjacent screw pitch is vertical
It is overlapped on direction, is that the tooth 2a after flute profile spring 2 is stacked together constitutes rows of perpendicular straight arranged strips in this way.
The upper end of the spiral cylinder is connected with fixed chuck 9 at the top of lifting body, and fixed chuck 9 is upper at the top of lifting body
End is connected with loading plate 26.
When work, starts trolley, robot palletizer is transported to designated position, subsequent robot palletizer can carry out stacking
Processing；When needing to adjust the height of robot palletizer, starting PLC, control motor 24 drives driving force input mechanism 8 to rotate,
So that robot base 29 moves up or down, and synchronous drive robot palletizer moves up and down, and changes stacking machine
The working depth of device people, you can carry out new stacking processing；In palletization, position sensor 27, gravity sensor 28 can be real
When feedback signal to PLC, to facilitate the monitoring to whole equipment.
Basic principles, main features, and advantages of the present invention has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Only the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model also has
Various changes and modifications, these various changes and improvements fall within the scope of the claimed invention.The requires of the utility model
Protection domain is defined by the appending claims and its equivalent thereof.
Claims (10)
1. one kind being based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：Include trolley (17) with wheel,
Bottom platform (18) on trolley (17), is arranged in spiral liter the spiral lift (23) on bottom platform (18)
The robot palletizer (22) of drop machine (23) upper end further includes the controller for controlling spiral lift (23) work.
2. according to claim 1 a kind of based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
Trolley (17) is AGV OMV trolleies.
3. according to claim 1 a kind of based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
It is equipped on bottom platform (18) and lifts Support bracket with the bamboo joint type for playing kinematic mount that is connected at the top of spiral lift (23).
4. according to claim 1 a kind of based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：Bottom is flat
It is equipped on platform (18) for preventing too low device (20) to spiral lift (23) lower limit.
5. according to claim 3 a kind of based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
Bamboo joint type lifting Support bracket include be fixed on chassis (19a) on bottom platform (18), can be along chassis (19a) in axial sliding
Several cranes (19b), axial sliding fit between two adjacent cranes (19b) in several cranes (19b).
6. it is according to any one of claims 1-5 a kind of based on AGV or OMV vehicular robot palletizer systems, it is special
Sign is：The platform that the spiral lift (23) includes fixed pedestal, is rotated around fixed pedestal, driving platform rotation
Motor (24), the storage box (6) on platform, the spring Flat belt (1) being stored in storage box (6), mounted in fix
Coordinate in formula pedestal and with spring Flat belt (1) and constitutes the flute profile spring (2) of spiral cylinder, is used to fetter on platform
Flute profile spring (2) lift or contractile motion belt track lifting mechanism (3), for making spring Flat belt (1) and flute profile spring
The rail-guided frame (4) of item (2) occlusion.
7. according to claim 6 a kind of based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
It is equally distributed (1a) with holes equipped with several rows along the length direction of spring Flat belt (1) on spring Flat belt (1)；The tooth
Be evenly provided on type spring (2) can occlusion corresponding with (1a) with holes tooth (2a).
8. according to claim 6 a kind of based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
Belt track lifting mechanism (3) includes lifting cylinder (3a), is equipped with and is used for along the axis direction of itself on lifting cylinder (3a)
Limit roller (3b) that is that flute profile spring (2) lifting is oriented to and constituting double helical arrangement.
9. it is according to claim 7 or 8 a kind of based on AGV or OMV vehicular robot palletizer systems, it is described rail-guided
Frame (4) includes several guiding trestles (4a) being circumferentially distributed, is formed on corresponding guiding trestle (4a)
Screw pitch is identical as spiral cylinder and so that spring Flat belt (1) is engaged with flute profile spring (2) to squeeze spring Flat belt (1)
Several fixture blocks (4b).
10. according to claim 7 or 8 a kind of based on AGV or OMV vehicular robot palletizer systems, the track is led
To frame (4) include with belt track lifting mechanism (3) it is coaxial distribution and in the cricoid outrigger of non-close (4c), along outrigger (4c)
Madial wall uniform spiral is distributed and screw pitch several blocks (4d) identical with the screw pitch of spiral cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720953787.2U CN207844496U (en) | 2017-08-02 | 2017-08-02 | One kind being based on AGV or OMV vehicular robot palletizer systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720953787.2U CN207844496U (en) | 2017-08-02 | 2017-08-02 | One kind being based on AGV or OMV vehicular robot palletizer systems |
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| Publication Number | Publication Date |
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| CN207844496U true CN207844496U (en) | 2018-09-11 |
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ID=63425669
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| CN201720953787.2U Active CN207844496U (en) | 2017-08-02 | 2017-08-02 | One kind being based on AGV or OMV vehicular robot palletizer systems |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499952A (en) * | 2017-08-02 | 2017-12-22 | 芜湖昊葛金自动化科技有限公司 | One kind is based on AGV or OMV vehicular robot palletizer systems |
| CN109205332A (en) * | 2018-10-24 | 2019-01-15 | 山东科技大学 | A kind of packaged type tire stacker crane tool hand and method |
-
2017
- 2017-08-02 CN CN201720953787.2U patent/CN207844496U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499952A (en) * | 2017-08-02 | 2017-12-22 | 芜湖昊葛金自动化科技有限公司 | One kind is based on AGV or OMV vehicular robot palletizer systems |
| CN109205332A (en) * | 2018-10-24 | 2019-01-15 | 山东科技大学 | A kind of packaged type tire stacker crane tool hand and method |
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