CN208307638U - Picking or replenishment system based on robot - Google Patents
Picking or replenishment system based on robot Download PDFInfo
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- CN208307638U CN208307638U CN201820829258.6U CN201820829258U CN208307638U CN 208307638 U CN208307638 U CN 208307638U CN 201820829258 U CN201820829258 U CN 201820829258U CN 208307638 U CN208307638 U CN 208307638U
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Abstract
The utility model embodiment discloses a kind of picking based on robot or replenishment system, belongs to Intelligent logistics technical field, which includes: work station, and the work station is target object by picking or the region to replenish；Mobile robot, the mobile robot have grabbing device and at least one receiving position；First object shelf, the first object shelf are interior to be equipped with one or more target objects；Mobile robot is using grabbing device from grabbing one or more target objects and being placed in receiving position in first object shelf, by before picking or replenishing, mobile robot grabs out target object from receiving position using grabbing device and waits picking or replenish.By the scheme of the application, the efficiency of goods sorting is improved.
Description
Technical field
The utility model relates to Intelligent logistics technical fields, more particularly to the picking based on robot or replenishing method and are
System.
Background technique
Along with the development of e-commerce, new retail mode constantly rises, and people's shopping idea is also constantly changing, and starts
Increasingly focus on consumption experience, and timeliness plays a crucial role user experience.
Warehouse Service plays a crucial role the timeliness of kinds of goods as the important link of consumption service behind.Mesh
Preceding major loglstics enterprise both at home and abroad is all accelerating the throughput speed in warehouse by every means to improve the timeliness of kinds of goods, reduces cargo
Haulage time.The intelligent storage scheme of mainstream mainly has automatic stereo storage solution and intelligent storage robot solution at present
Certainly scheme.It is all using " goods to people " form in face of sorter is directly taken by cargo, and wherein automatic stereo storage picks up goods
It is high-efficient, handling capacity is big, but builds and maintenance cost is high, inflexible for use.Though and to pick up goods efficiency too late for intelligent storage robot
Automatic stereo storage, but usage mode is flexible, input cost is low, and input and output are higher, and operation maintenance is flexible.
The intelligent robot storage robotic solutions of goods to people have obtained large-scale popularization, but intelligent robot storehouse
It is problematic to store up robotic solutions, for example, picking up a goods if necessary, robot needs to lift the shelf where the cargo
To goods station is picked up, picks up goods person and according to system suggestion arrive corresponding goods lattice and take out cargo, because shelf are higher, encounter the goods for being placed on upper layer
Object, sorter need to pick up goods using ladder, lower due to picking up goods efficiency, often will appear robot shoulder shelf picking up goods station arrange
The case where team, goods station is picked up into the bottleneck of whole system efficiency.
Utility model content
In current automated warehousing robot system, the cooperation of machine person to person is still needed, personnel are relative to machine
For there are many uncertainties, such as proficiency is easy to the problems such as fatigue, needs our designs by gradually sophisticated systems
Simplify the work of staff, reduces the uncertain influence to system effectiveness of personnel.Work station sorter picks up at present
Goods efficiency has become the bottleneck of automated warehousing robot system, improves and picks up picking up goods efficiency and greatly improving machine for goods station
The efficiency of people's system.In view of this, the utility model embodiment provides a kind of picking based on robot or replenishment system, at least
Partial solution problems of the prior art.
The utility model embodiment provides a kind of picking based on robot or replenishment system, comprising:
Work station, the work station are target object by picking or the region to replenish；
Mobile robot, the mobile robot have grabbing device and at least one receiving position；
First object shelf, the first object shelf are interior to be equipped with one or more target objects；
The mobile robot is used to be walked from initial position to first object shelf according to guidance path, and described in utilization
Grabbing device is from the one or more target objects of crawl in the first object shelf and is placed in the receiving position；It is also used to
It is walked from the first object shelf to the work station according to guidance path and is grabbed by before picking or replenishing using described
It takes device to grab out target object from the receiving position and waits picking or replenish.
According to a kind of specific implementation of the utility model embodiment, the work station includes area in preparation and Accreditation Waiting Area.
According to a kind of specific implementation of the utility model embodiment, the mobile robot is used for from first mesh
Walking grabs out target object from the receiving position to the area in preparation, and using the grabbing device at mark shelf；Also use
It is lined up in walking from the area in preparation to the Accreditation Waiting Area, to wait the target object by picking or to replenish.
According to a kind of specific implementation of the utility model embodiment, at least one described receiving position is to prolong vertical direction
At least one interlayer of superposition, the grabbing device can according to picking or the height adjustment that replenishes to any one interlayer, so as to
The target object that the mobile robot leaves the related crawl of area in preparation foregoing description grabbing device reaches preset picking
Or the height that replenishes.
According to a kind of specific implementation of the utility model embodiment, the Accreditation Waiting Area can accommodate multiple waitings simultaneously
Picking or the mobile robot to replenish.
According to a kind of specific implementation of the utility model embodiment, the target object is order article or equipped with ordering
The container of single article.
According to a kind of specific implementation of the utility model embodiment, the system also includes:
Wall is sowed, the target object is put into the sowing wall after being gone out by picking.
According to a kind of specific implementation of the utility model embodiment, the system also includes:
Turnover box, the turnover box are set to the side of the Accreditation Waiting Area, are provided with display device below the turnover box,
The display device is used to prompt the information by picking or the target object to replenish.
According to a kind of specific implementation of the utility model embodiment, the system also includes: transmission device, the biography
Device is sent to be located at the work station, the transmission device includes transmission starting point and clearing end；
The mobile robot is also used to walk to after the work station, controls the grabbing device for the target pair
Picking is waited as being placed on the transmission starting point of the transmission device.
According to a kind of specific implementation of the utility model embodiment, the mobile robot is also used in the transmission
The transmission clearing end of device, controlling the grabbing device will be grabbed in the receiving position by the target object after picking, from institute
The transmission clearing end for stating transmission device is walked at the second target shelf, and utilizes the grabbing device by the target pair after picking
As being grabbed out from the receiving position, and it is placed into the second target shelf.
According to a kind of specific implementation of the utility model embodiment, the transmission device is conveyer belt.
Picking or replenishment system provided by the embodiment of the utility model based on robot, by the way that work station is arranged, so that
Mobile robot can take out in advance picking article in work station and be adjusted to close while once transporting multiple picking articles
Suitable picking height waits platform to quickly finish the picking work of article, and then improves the efficiency of article picking in picking.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is a kind of picking or replenishment system structural schematic diagram based on robot provided by the embodiment of the utility model；
Fig. 2 is a kind of mobile robot structural schematic diagram provided by the embodiment of the utility model；
Fig. 3 is a kind of target shelf structure schematic diagram provided by the embodiment of the utility model；
Fig. 4 is another picking or replenishment system structural representation based on robot provided by the embodiment of the utility model
Figure.
Specific embodiment
The utility model embodiment is described in detail with reference to the accompanying drawing.
It will be appreciated that the described embodiments are only a part of the embodiments of the utility model, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The all other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig. 1, the utility model embodiment provides a kind of picking based on robot or replenishment system, comprising:
Work station, work station are target object by picking or the region to replenish；
Work station, including area in preparation 4 and Accreditation Waiting Area 5.
There is grabbing device and at least one receiving position, mobile robot to be used for root for mobile robot 1, mobile robot
It walks from initial position to first object shelf 2, and using grabbing device according to guidance path and grabs one from first object shelf
A or multiple target objects are simultaneously placed in receiving position；It is also used to according to guidance path from the walking of first object shelf to the work
Stand, before picking or replenishing, grabbed out target object from the receiving position using grabbing device and wait picking or
It replenishes.
Mobile robot 1 can be communicated with scheduling control server 3, described by being communicatively coupled with dispatch server 3
Mobile robot 1 can obtain list content.The list content can be the goods orders for carrying out picking according to the needs of users,
It may include in list various types of article (commodity to be sorted), the article to be sorted on same list is needed by one
A or multiple utensil (for example, turnover box) packagings.The corresponding article of list is usually required using storage container (for example, case of walking around)
It is placed, after mobile robot 1 obtains the content of list, can choose and transport storage relevant to the list and hold
Device 4.Referring to fig. 2, the mobile robot 1 has grabbing device 104 and multiple receiving positions 1031.
Dispatch server 3 is the control unit of picking or replenishment system based on robot, and dispatch server 3 can obtain
Article picking demand (for example, article order) is based on article picking demand, determines using one or more mobile robots 1
It obtains and transports article relevant to picking demand.
First object shelf are located at article memory block, have target object in the article shelf, in mobile robot 1
Grabbing device 104 can choose one or more target objects from the first object shelf, and the target object is put
It sets in the receiving position 1031.
Area in preparation 4 can be the platform being specially arranged, and be also possible to a part of region divided on the ground, area in preparation 4
Region have geographical position coordinates or mark (for example, the electronic tags such as two dimensional code or RFID), mobile robot 1 identification prepare
After geographical position coordinates or mark in area 4, using grabbing device 104 in the area in preparation 4 by the target object from described
It accommodates and is taken out in position 1031, and the target object is adjusted to the first preset height.First preset height carries out object for convenience
The height of product picking.
Accreditation Waiting Area 5 can be the platform being specially arranged, and be also possible to a part of region divided on the ground, Accreditation Waiting Area 5
Region have geographical position coordinates or mark (for example, the electronic tags such as two dimensional code or RFID), mobile robot 1 identification wait
After geographical position coordinates or mark in area 5, the specific position of Accreditation Waiting Area 5 is rested on according to the instruction of dispatch server 3, with
One preset height waits the target object in the Accreditation Waiting Area 5 by picking.
Referring to fig. 2, the utility model embodiment provides a kind of mobile robot 1, including driving device 101, ontology
102, storing apparatus 103 and grabbing device 104.
Driving device 101 is the driving assembly of mobile robot 1, and as an example, driving device 101 may include one
A or multiple wheels move the mobile robot 1 by the rolling of wheel.The driving device 101 can be set in institute
State the bottom of mobile robot 1.Certainly, the driving device 101 also can be set in other portions of the mobile robot 1
Position.
Mobile robot 1 can be communicated with the server for carrying out goods transportation scheduling, which can be
Line mode, is also possible to wirelessly.By being communicated with dispatch server, mobile robot 1 can know that article is transported
Defeated task, the transport task include distributing to the specific ID mark (example of the destination coordinate and target item of mobile robot 1
Such as, Item Number etc.), the driving device 101 is based on 1 received task of mobile robot automatically by the moving machine
Device people 1 is moved to predeterminated position.
Ontology 102 is the integrated support component of mobile robot 1, and as a kind of situation, the ontology 102 is set to described
The top of driving device 101, the ontology 102 are used to support the mobile robot 1.
In order to be readily transported article, the receiving dress for placing one or more articles is provided in mobile robot 1
103 are set, the storing apparatus 103 is set on the ontology 102, and the storing apparatus 103 has one or more accommodate
Position 1031, each receiving position 1031 can place one or more articles 7 to be transported.
And it is to prolong vertical direction to be superimposed interlayer that at least one, which accommodates position, interlayer is at least one, and grabbing device can be according to picking
Goods or the height adjustment that replenishes are to any one interlayer, so as to the related crawl of grabbing device before mobile robot leaves area in preparation
Target object reach preset picking or the height that replenishes.
After mobile robot 1 is transported to predeterminated position by driving device 101, mesh is chosen by grabbing device 104 automatically
Mark article.The grabbing device 104 is based on 1 received task of mobile robot, from corresponding with the predeterminated position
Target item is chosen in pannier device, and the target item of selection is automatically placed in the storing apparatus 103
It accommodates in position 1031.
Grabbing device 104 can take various ways to realize, according to a kind of specific implementation of the utility model embodiment
Mode, the grabbing device 104 include telescopic component 1042, and the telescopic component 1042 is chosen from the pannier device
Target item, in order to cooperate telescopic component 1042, grabbing device 104 can also include telescopic support 1043, the flexible branch
Support member 1043 is for being supported telescopic component 1042.
Target item height in pannier device is different, in order to which the target item of different height is placed into appearance
It receives in position 1031, according to a kind of specific implementation of the utility model embodiment, the grabbing device 104 includes lifting assembly
1045, the telescopic component 1042 is promoted and is arrived and the matched height of the target item, lifting group by the lifting assembly 1045
Part 1045 can be any device for being able to carry out lift in height.
Grabbing device 104 is based on actual needs, needs to carry out pose adjustment during choosing article, according to this
A kind of specific implementation of utility model embodiment, the article automatic transportation equipment further include: rotary components 105, it is described
Storing apparatus 103 and the grabbing device 104 are arranged on the rotary components 105.
Telescopic component 1042 can choose article using various ways, specific according to one kind of the utility model embodiment
Implementation, the telescopic component 1042 include holding portion 1041, it is described hold portion 1041 by way of holding from it is described
Target item is chosen in the corresponding pannier device of predeterminated position.
Fig. 3 is a kind of schematic diagram of target shelf 2 provided by the embodiment of the utility model, and storage container and picking container can
To be a kind of specific implementation form of target shelf 2, the storage article 7 of target shelf 2.In a particular embodiment, target shelf 2 wrap
Multiple storage bins are included, each storage bin can accommodate article 7.In addition, in a particular embodiment, article 7 can also be from target goods
In frame 2 or the hook on target shelf 2 or bar are hung.Article 7 can be put in any suitable manner on target shelf 2
It sets in the inside or outer surface of target shelf 2.Target shelf 2 can be rolled by mobile robot 1, carry or otherwise be moved
It is dynamic.Target shelf 2 are moved in order to facilitate mobile robot, target shelf 2 include one or more support portions 202 and
For identifying the interim identification of pallets point 201 of interim shelf identity, article storage system may include any an appropriate number of mesh
Mark shelf 2.
The representative of article 7 is suitable for storage sorting or transmission in automated inventory, warehouse, manufacture and/or part handling system
Any article, can be any material, can be life or abiotic object.As an example, article 7 can
To indicate the article for the commodity being stored in warehouse.Mobile robot 1 can retrieve specified target shelf 2, the target shelf 2 packet
Containing special article 7 associated with the customer order to be packaged, to be delivered to client or its other party.
As another example, article 7 can represent the luggage being stored in the luggage facility on airport.Mobile robot 1
The target shelf 2 of the luggage comprising to be transported, be tracked can be fetched.This may include selecting specific luggage and articles for quick-fried
Fried object screening, mobile luggage and articles associated with the flight that converted boarding gate, or remove to belong to and have already passed by
The luggage and articles of the passenger of flight.
As another example, article 7 can indicate the various components of manufacture kit.More specifically, these components
It can indicate the component intended to include in completed knocked down products, such as the computer module for order computer system.In this way
Embodiment in, mobile robot 1 can be retrieved by the identified specific components of specification relevant to customer order.
As another example, article 7 can be with representative.For example, target shelf 2 can indicate to wrap in hospital environment
Bed containing particular patient.Therefore, article storage system can be configured as offer and be used for mobile hospital hospital bed safely and effectively
A possibility that system, which has limited patient injuries and caused by reducing due to mistake a possibility that mistake.In short,
Article 7 can be suitable for any suitable article of the storage of target shelf 2 in any appropriate form.
In operation, mobile robot 1 can move between the point in the associated working space of article storage system
It is dynamic, and when being coupled to target shelf 2, can between the position in working space transport target shelf 2, can also pass through
Grabbing device obtains the target object on target shelf.Based on the order received, mobile robot 1 can determine mobile robot
1 movement destination.For example, in a particular embodiment, mobile robot 1 can be filled from the administrator of article storage system or management
Set the information that the destination of identification mobile robot 1 is received in (for example, dispatch server 3).Mobile robot 1 can pass through nothing
Line interface, wired connection receive information using any other suitable component, in order to the operation with article storage system
Member or managing device are communicated.Generally, the order based on control managing device or operator, can entirely or partly control
Mobile robot 1 processed is to any desired place.
According to a kind of specific implementation of the utility model embodiment, the Accreditation Waiting Area 5 can accommodate it is multiple and meanwhile etc.
Mobile robot 1 to picking.
According to a kind of specific implementation of the utility model embodiment, the target object is to picking article or to be equipped with
Container to picking article.
According to a kind of specific implementation of the utility model embodiment, the system also includes: sowing wall 6 sows wall 6
It is the temporary realm that can be with drop target object is used to, the target object is gone out in picking operating space by picking, by picking
Target object out is put into sowing wall 6 relevant to order.
Mobile robot 1 can have sensing device, and by the sensing device, mobile robot 1 can judge in pre-
If whether the target object of height is gone out by picking, according to a kind of specific implementation of the utility model embodiment, the shifting
For target object on mobile robot 1 in preset height by after picking, the mobile robot 1 leaves the Accreditation Waiting Area 5 automatically.
Referring to fig. 4, when robot needs to replenish, can using manually replenishing and robot assisted replenishes two kinds of forms,
If necessary to supplement a small amount of part kinds of goods, the form that can be replenished using robot assisted picks up the form of goods with robot assisted
Similar, robot will be grabbed in robot area in preparation on cargo storing device of the hopper from robot, and be adjusted to suitable height
Degree, sorter directly directly put the cargo required supplementation with into hopper, and robot puts hopper to cargo storing device, and from
Shelf area is gone in people Accreditation Waiting Area of operating machine.If you need to largely replenish, robot can collect big gauge box from shelf area, reach robot
Accreditation Waiting Area is replenished by sorter direct labor, and after the cargo storing device of a robot is filled, robot leaves robot
Shelf area is gone in Accreditation Waiting Area.According to a kind of specific implementation of the utility model embodiment, when the mobile robot 1 needs
When replenishing, the mobile robot 1 grabs the container that replenishes from the receiving position 1031, and with the second preset height by the benefit
Goods container is moved to Accreditation Waiting Area 5.
It, can be below the side of robot Accreditation Waiting Area, turnover box to be picked up in order to guarantee that cargo accurately picks
Display device is arranged in position, the title and quantity of the kinds of goods for prompting needs to pick, and display device can be using the shape of projection
Formula can also use the form of electronic display.Projector or electronic display receive the instruction of server, guarantee the letter of display
A kind of errorless specific implementation according to the utility model embodiment is ceased, the system also includes: turnover box, the turnover box
It is set to the side of the Accreditation Waiting Area 5, display device is provided with below the turnover box, the display device is to be checked for prompting
The information of article.
In addition the vacant situation of turnover box after picking is such as encountered, can directly turnover box be packed up by picking up goods person, to remove machine from
People sends turnover box back to shelf area, and robot also needs the time caused by turnover box to be transported to robot Accreditation Waiting Area unrestrained when replenishing
Take.
In addition transmission belt can also be added during 1 picking of mobile robot, using Jian Huo robot and transmission skin
Mode with cooperation carries out picking up goods, as shown in figure 4, after robot puts down turnover box case in goods putting area of robot, by transmission skin
The goods yard of picking up that band is transmitted to sorter is set, and is picked up goods person and is picked up the other end that turnover box after goods is transported to transmission belt by transmission belt, and
Turnover box is packed up in robot receiving space by mobile robot 1, after the cargo storage device of mobile robot 1 is filled,
Picking robot transports turnover box to shelf area back.
According to a kind of specific implementation of the utility model embodiment, the system also includes: transmission device (for example,
Feed belt), the mobile robot 1 is moved to after the Accreditation Waiting Area 5, and the transmission device receives the target object.
According to a kind of specific implementation of the utility model embodiment, the transmission device is being located at the transmission device
Target object after picking position is by picking, the turnover box of the target object is transported to predeterminated position.
According to a kind of specific implementation of the utility model embodiment, the mobile robot 1 is received in predeterminated position
The turnover box that the transmission device transports, and the turnover box is transported to shelf area.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and same
Sample, the second component can also be referred to as first assembly, without departing from the introduction of utility model design.Term as used herein
"and/or" includes any of the project of one or more associations listed and all combinations.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singular is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " includes " and/or
" having " specifies depositing for the feature, number, step, operation, component, element or combinations thereof when being used in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
Term used herein including technical and scientific term has and the normally understood art of those skilled in the art
The identical meaning of language, only if it were not for being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
Have and the consistent meaning of the meaning of term in the prior art.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, the change that can be readily occurred in
Change or replace, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with right
It is required that protection scope subject to.
Claims (10)
1. a kind of picking or replenishment system based on robot characterized by comprising
Work station, the work station are target object by picking or the region to replenish；
First object shelf, the first object shelf are interior to be equipped with one or more target objects；
Mobile robot, the mobile robot have grabbing device and at least one receiving position；In the mobile robot
After the walking to first object shelf of initial position, the grabbing device grabs one or more from the first object shelf
Target object is simultaneously placed in the receiving position, is walked from the first object shelf to the work in the mobile robot
After standing and by before picking or replenishing, the grabbing device grab out target object from the receiving position and wait picking or
It replenishes.
2. the picking or replenishment system according to claim 1 based on robot, which is characterized in that the work station includes
Area in preparation and Accreditation Waiting Area.
3. the picking or replenishment system according to claim 2 based on robot, which is characterized in that in the mobile machine
People walks from the first object shelf to after the area in preparation, and the grabbing device grabs out target from the receiving position
Object, when the mobile robot is lined up from area in preparation walking to the Accreditation Waiting Area, the grabbing device is kept
It grabs the state of the target object and waits the target object by picking or replenish.
4. the picking or replenishment system according to claim 3 based on robot, which is characterized in that at least one described appearance
Receive position be prolong vertical direction superposition at least one interlayer, the grabbing device can according to picking or replenish height adjustment to arbitrarily
One interlayer, to leave the target object of the related crawl of area in preparation foregoing description grabbing device in the mobile robot
Reach preset picking or the height that replenishes.
5. the picking or replenishment system according to claim 2 based on robot, which is characterized in that the Accreditation Waiting Area can
The mobile robot for accommodating multiple waiting pickings simultaneously or replenishing.
6. the picking or replenishment system according to claim 1-5 based on robot, which is characterized in that the mesh
Marking object is order article or the container equipped with order article.
7. the picking or replenishment system according to claim 1-5 based on robot, which is characterized in that the system
System further include:
Wall is sowed, the target object is put into the sowing wall after being gone out by picking.
8. the picking or replenishment system according to claim 3 based on robot, which is characterized in that the system is also wrapped
It includes:
Turnover box, the turnover box is set to the side of the Accreditation Waiting Area, is provided with display device below the turnover box, described
Display device is used to prompt the information by picking or the target object to replenish.
9. the picking or replenishment system according to claim 1 based on robot, which is characterized in that the system is also wrapped
Include: transmission device, the transmission device are located at the work station, and the transmission device includes transmission starting point and clearing end；
After mobile robot walking to the work station, the target object is placed on the biography by the grabbing device
It send and waits picking on the transmission starting point of device.
10. the picking or replenishment system according to claim 9 based on robot, which is characterized in that
After the transmission clearing end that the mobile robot is walked to the transmission device, the grabbing device will be by after picking
Target object grabs in the receiving position, walks from the transmission clearing end of the transmission device to the in the mobile robot
After at two target shelf, the grabbing device grabs out the target object after picking from the receiving position, and is placed into second
In target shelf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820829258.6U CN208307638U (en) | 2018-05-30 | 2018-05-30 | Picking or replenishment system based on robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820829258.6U CN208307638U (en) | 2018-05-30 | 2018-05-30 | Picking or replenishment system based on robot |
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| CN208307638U true CN208307638U (en) | 2019-01-01 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108726062A (en) * | 2018-05-30 | 2018-11-02 | 北京极智嘉科技有限公司 | Picking or replenishing method based on robot and system |
| CN110002158A (en) * | 2019-03-20 | 2019-07-12 | 苏州优智达机器人有限公司 | A kind of automatic counter and its method of delivering |
| CN110733820A (en) * | 2019-11-15 | 2020-01-31 | 上海快仓智能科技有限公司 | Logistics system and logistics control method |
| CN111638716A (en) * | 2020-05-29 | 2020-09-08 | 北京极智嘉科技有限公司 | Inventory management method and system |
| CN114633978A (en) * | 2019-04-03 | 2022-06-17 | 星猿哲科技(上海)有限公司 | Item picking system |
-
2018
- 2018-05-30 CN CN201820829258.6U patent/CN208307638U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108726062A (en) * | 2018-05-30 | 2018-11-02 | 北京极智嘉科技有限公司 | Picking or replenishing method based on robot and system |
| CN110002158A (en) * | 2019-03-20 | 2019-07-12 | 苏州优智达机器人有限公司 | A kind of automatic counter and its method of delivering |
| CN114633978A (en) * | 2019-04-03 | 2022-06-17 | 星猿哲科技(上海)有限公司 | Item picking system |
| CN110733820A (en) * | 2019-11-15 | 2020-01-31 | 上海快仓智能科技有限公司 | Logistics system and logistics control method |
| CN111638716A (en) * | 2020-05-29 | 2020-09-08 | 北京极智嘉科技有限公司 | Inventory management method and system |
| CN111638716B (en) * | 2020-05-29 | 2024-02-23 | 北京极智嘉科技股份有限公司 | Inventory management method and system |
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