CN209582638U - A kind of alignment system of AGV trolley and shelf - Google Patents
A kind of alignment system of AGV trolley and shelf Download PDFInfo
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- CN209582638U CN209582638U CN201920289847.4U CN201920289847U CN209582638U CN 209582638 U CN209582638 U CN 209582638U CN 201920289847 U CN201920289847 U CN 201920289847U CN 209582638 U CN209582638 U CN 209582638U
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Abstract
The utility model discloses the alignment systems of a kind of AGV trolley and shelf, including AGV trolley and shelf；The top of AGV trolley is equipped with the first contraposition part；Bottom shelf is equipped with the guide groove for guiding AGV trolley to enter bottom shelf and being aligned in the width direction of shelf to AGV trolley；Bottom shelf is additionally provided with the second contraposition part, and the length direction that the first contraposition part matches after making AGV trolley enter bottom shelf in shelf with the second contraposition part aligns AGV trolley.Bottom shelf is equipped with guide groove, can the width direction by guide groove to AGV trolley in shelf align, AGV car top is equipped with the first contraposition part, bottom shelf is equipped with the second contraposition part, pass through the cooperation of the first contraposition part and the second contraposition part, AGV trolley is aligned in the length direction of shelf after so that AGV trolley is entered bottom shelf, to guarantee the aligning accuracy of the length direction of AGV trolley and shelf and the width direction of shelf.
Description
Technical field
The utility model belongs to robotic technology field, in particular to a kind of alignment system of AGV trolley and shelf.
Background technique
AGV trolley also known as automatic guided vehicle, automated guided vehicle or laser navigation vehicle etc..Its outstanding feature is for nobody
It drives, is provided with automatic guiding system on AGV trolley, it being capable of edge in the case where not needing artificial pilotage with safeguards system
Shelf on AGV trolley are transported to destination from starting point automatically by scheduled route automatic running.
AGV trolley needs to be docked with shelf when loading shelf automatically, to complete the transport to shelf.Make at present
The docking mode of a kind of AGV trolley and shelf is: pasting two black and white lattice bar charts, two black and white glazing bars in bottom shelf
Shape figure is parallel and symmetrical each other to determine goods according to the black and white lattice bar chart in bottom shelf image positioned at shelf center line two sides
The center line of frame bottom determines position of the AGV trolley with respect to shelf then according to the center line of bottom shelf and calibrating parameters are prestored
Appearance is finally docked according to Pose Control AGV trolley with shelf.Such docking mode is the pose based on AGV trolley with respect to shelf
Contraposition docking is carried out, is only applicable to not need the case where precisely being aligned between AGV trolley and shelf.If AGV trolley with
Docking loading is carried out by elevating lever and towing pad between shelf, since the traction bore dia on shelf cannot be than going up and down shank diameter
It is big too many, it is therefore desirable to AGV can precisely align shelf, so that in the towing pad of elevating lever insertion shelf, according to above-mentioned
It is aligned according to the mode of pose, is then unable to satisfy the requirement precisely aligned.
Summary of the invention
The purpose of the utility model is to provide the alignment system of a kind of AGV trolley and shelf, AGV trolley and shelf are realized
Precisely contraposition is inserted into the elevating lever on AGV trolley in the towing pad of shelf, to complete the loading transport to shelf.
The technical scheme that the utility model is provided is as follows:
A kind of alignment system of AGV trolley and shelf, including AGV trolley and shelf；
The top of the AGV trolley is equipped with the first contraposition part；
The bottom shelf is equipped with for guiding the AGV trolley to enter the bottom shelf and in the width of the shelf
The guide groove that direction aligns the AGV trolley；
The bottom shelf is additionally provided with the second contraposition part, and the first contraposition part is matched with the second contraposition part makes institute
AGV trolley is stated to align the AGV trolley into the length direction after the bottom shelf in the shelf.
In the technical program, bottom shelf is equipped with guide groove, when AGV trolley enters bottom shelf, can pass through guide groove pair
AGV trolley is aligned in the width direction of shelf, such as sets the most narrow peak width of guide groove to the width than AGV trolley
Wide 2cm, to make AGV trolley in the error of the width direction of shelf in 2cm or less；AGV car top is equipped with the first contraposition part,
Bottom shelf is equipped with the second contraposition part, by the cooperation of the first contraposition part and the second contraposition part, AGV trolley is made to enter bottom shelf
AGV trolley is aligned in the length direction of shelf afterwards, to guarantee AGV trolley and the shelf (length of shelf in the horizontal direction
Spend direction) and vertical direction (width directions of shelf) aligning accuracy, and then the lifting pin on AGV trolley can be made accurately to insert
Enter in the towing pad of bottom shelf, to complete docking for AGV trolley and shelf.
Further, the first contraposition part is magnetic field sensor, and the second contraposition part is magnet.
In the technical program, the first contraposition part is magnetic field sensor, and the second contraposition part is magnet, and magnetic field sensor diameter is
1cm, effective detecting distance are 3cm, so as to make the offset distance of AGV trolley (length directions of shelf) in the horizontal direction
± 1cm, realize AGV trolley control errors in the horizontal direction in 1cm hereinafter, when AGV trolley march forward direction it is mobile when, magnetic field
Sensor detects magnet.
Further, the first contraposition part is the first contraposition bar of the protrusion AGV car top setting；
The second contraposition part is the second contraposition bar of the protrusion bottom shelf setting；
After the AGV trolley enters the bottom shelf, when the first contraposition bar is contacted with the second contraposition bar
The AGV trolley stops movement, so that the length direction in the shelf aligns the AGV trolley.
In the technical program, the first contraposition part and the second contraposition part are all contraposition bar, when the first contraposition bar and the second contraposition
When bar contacts, then AGV trolley stops movement, to realize AGV trolley and shelf contraposition in the horizontal direction.
Further, the guide groove is divided into first area, second area and along the length direction of the shelf
Three regions, the first area and the third region be it is trapezoidal, the second area be rectangle；
The width of one end that the first area is connect with the second area is less than the width of the first area other end
Degree；
The width of one end that the third region is connect with the second area is less than the width of the third region other end
Degree.
In the technical program, guide groove is divided into three regions, first area and third region be it is trapezoidal, and first area and
The width of the one end of third region far from second area is respectively greater than the width of the other end, and AGV trolley can be facilitated to enter guide groove,
And the positioning of vertical direction is gradually carried out to AGV trolley by first area or third region.
Further, liftable lifting pin is additionally provided on the AGV trolley；
The bottom shelf is equipped with towing pad；
After the length direction and width direction of the shelf align the AGV trolley, described in the lifting pin insertion
Towing pad completes docking for the AGV trolley and the shelf.
In the technical program, after the length direction and width direction of shelf align AGV trolley, AGV trolley can be made
On lifting pin be accurately inserted into the towing pad of bottom shelf, to complete docking for AGV trolley and shelf.
Further, be additionally provided with lifting body on the AGV trolley, the lifting body include flange, adjust component with
And the straight line driving mechanism for driving the lifting pin lifting；
The flange and the straight line driving mechanism are oppositely arranged；
The lifting pin activity is inserted in the flange hole of the flange；
The adjusting component is set between the lifting pin and the push rod of the straight line driving mechanism, so that the lifting pin
Center line and the center line of the push rod be located along the same line or angled setting, and the center line of the lifting pin and institute
The center line for stating flange hole is located along the same line.
In the technical program, the position for adjusting the center line of lifting pin by adjusting component, to guarantee the center of lifting pin
Lifting pin when no matter the center line of line, push rod and the center line of flange hole are not located along the same line or are located at same straight line
The center line of center line and flange hole can be located at same straight line always so that lifting pin and flange hole there is no can not install or
The case where there are radial impulsive contact forces ensure that the efficientibility that robot lifting body is smoothly installed and used in chassis, greatly
The production cost and later maintenance cost of robot are reduced greatly.And robot lifting body it is simple, it is compact, practical,
It is applied widely.
Further, the adjusting component includes bulb screw；
The bulb screw includes connecting pin and bulb end；
The connecting pin is connect with the lifting pin；
The radial dimension of the connecting pin is less than the radial dimension at the bulb end；
The bulb end is movably installed in the push rod, so that the connecting pin can be rotated around the centre of sphere at the bulb end.
In the technical program, the characteristic that can be rotated around bulb end using the connecting pin of bulb screw, to realize lifting pin
Center line deflection, and then guarantee the center line of lifting pin and being overlapped for the center line of flange hole, avoid lifting pin and flange
There is interference phenomenon in hole.
Further, the adjusting component further includes attachment base；
The attachment base be equipped with groove compatible with the bulb end so that bulb end activity be located in it is described recessed
Slot；
The attachment base is connect with the push rod.
In the technical program, the setting of attachment base is applicable to the linear drives that push rod can not directly with bulb screw connection
Mechanism.
Further, the attachment base and the push rod detachable connection.
In the technical program, detachable connection mode can replace bulb screw and/or attachment base in time, reduce robot
Maintenance cost.
Further, axle sleeve is equipped between the lifting pin and the flange, the axle sleeve is matched with the flange hole interference
It closes；The lifting pin activity is inserted in the axle sleeve.
In the technical program, axle sleeve greatly reduces the abrasion of lifting pin and flange hole, and then improves this flange and top
The service life of rising stem reduces the use cost of the utility model.
By a kind of alignment system of AGV trolley and shelf provided by the utility model, can bring have the beneficial effect that
Bottom shelf be equipped with guide groove, when AGV trolley enters bottom shelf, can by guide groove to AGV trolley in the width side of shelf
To being aligned, such as set 2cm wider than the width of AGV trolley for the most narrow peak width of guide groove, so that AGV trolley be made to exist
The error of the width direction of shelf is in 2cm or less；AGV car top is equipped with the first contraposition part, and bottom shelf is equipped with the second contraposition
Part, by the cooperation of the first contraposition part and the second contraposition part, in the length direction pair of shelf after making AGV trolley enter bottom shelf
AGV trolley is aligned, to guarantee AGV trolley and shelf (length directions of shelf) and vertical direction (goods in the horizontal direction
The width direction of frame) aligning accuracy.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of AGV trolley and shelf
Above-mentioned characteristic, technical characteristic, advantage and its implementation of alignment system are further described.
Fig. 1 is the structural schematic diagram of the AGV trolley of a kind of AGV trolley of the utility model and the alignment system of shelf；
Fig. 2 is the structural schematic diagram of the shelf of a kind of AGV trolley of the utility model and the alignment system of shelf；
Fig. 3 is that the AGV trolley of a kind of AGV trolley of the utility model and the alignment system of shelf initially enters bottom shelf
When bottom view；
Fig. 4 is the AGV trolley of a kind of AGV trolley of the utility model and the alignment system of shelf and when shelf contraposition is completed
Cross-sectional view；
Fig. 5 is the lifting body of a kind of AGV trolley of the utility model and the alignment system of shelf and the section view of lifting pin
Figure.
Drawing reference numeral explanation
1, AGV trolley；11, the first contraposition part；12, lifting pin；13, flange；141, bulb screw；142, attachment base；
143, adapter；15, straight line driving mechanism；16, axle sleeve；2, shelf；21, guide groove；211, first area；212, the secondth area
Domain；213, third region；22, the second contraposition part；23, towing pad.
Specific embodiment
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, attached drawing will be compareed below
Illustrate specific embodiment of the present utility model.It should be evident that the accompanying drawings in the following description is only the one of the utility model
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings, and obtains other embodiments.
To make simplified form, part relevant to the utility model is only schematically shown in each figure, they are not
Represent its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
The component of energy, only symbolically depicts one of those, or only marked one of those.Herein, "one" is not only
It indicates " only this ", can also indicate the situation of " more than one ".
Herein, it should be noted that unless otherwise clearly defined and limited, term " installation ", " connects " connected "
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, it can understand that above-mentioned term is practical new at this with concrete condition
Concrete meaning in type.
In example 1, as shown in Figs 1-4, a kind of alignment system of AGV trolley and shelf 2, including 1 He of AGV trolley
Shelf 2；The top of AGV trolley 1 is equipped with the first contraposition part 11；2 bottom of shelf is equipped with for guiding AGV trolley 1 to enter 2 bottom of shelf
Portion and the guide groove 21 that AGV trolley 1 is aligned in the width direction of shelf 2；2 bottom of shelf is additionally provided with the second contraposition part
22, the first contraposition part 11 matches the length direction after making AGV trolley 1 enter 2 bottom of shelf in shelf 2 with the second contraposition part 22
The AGV trolley 1 is aligned.
Specifically, 2 bottom of shelf can be right by guide groove 21 when AGV trolley 1 enters 2 bottom of shelf equipped with guide groove 21
AGV trolley 1 is aligned in the width direction of shelf 2, such as sets the most narrow peak width of guide groove 21 to than AGV trolley 1
The wide 2cm of width, to make AGV trolley 1 in the error of the width direction of shelf 2 in 2cm or less；The is equipped at the top of AGV trolley 1
One contraposition part 11,2 bottom of shelf are equipped with the second contraposition part 22, by the cooperation of the first contraposition part 11 and the second contraposition part 22, make
AGV trolley 1 aligns AGV trolley 1 in the length directions of shelf 2 after entering 2 bottom of shelf, thus guarantee AGV trolley 1 with
The aligning accuracy of shelf 2 (length directions of shelf 2) and vertical direction (width directions of shelf 2) in the horizontal direction, Jin Erke
It is inserted into the lifting pin 12 on AGV trolley 1 accurately in the towing pad 23 of 2 bottom of shelf, to complete AGV trolley 1 and shelf 2
Docking.
In example 2, on the basis of example 1, the first contraposition part 11 is magnetic field sensor, such as hall sensing
Device, the second contraposition part 22 are magnet, and Hall sensor may be provided at the center at 1 top of AGV trolley, and magnet may also be arranged on shelf
The center of 2 bottoms, certain Hall sensor and magnet can also be not arranged in center, as long as can guarantee Hall sensor and magnet
Cooperation can align AGV trolley 1 in the length direction of shelf 2.The diameter of general Hall sensor is 1cm, Hall
Effective detecting distance of sensor is 3cm, when direction of marching forward under guiding role of the AGV trolley 1 in guide groove 21 is mobile, if
Hall sensor detects magnet, then AGV trolley 1 stops movement, completes AGV trolley 1 and shelf 2 in the length side of shelf 2
To contraposition, and AGV trolley 1 can be made in the offset distance ± 1cm of the length direction of shelf 2, realize AGV trolley 1 in level
The control errors in direction (length directions of shelf 2) are in 1cm or less.
In the third embodiment, on the basis of example 1, the first contraposition part 11 protrudes is arranged at the top of AGV trolley 1
First contraposition bar；Second contraposition part 22 is the second contraposition bar for protruding the setting of 2 bottom of shelf；AGV trolley 1 enters 2 bottom of shelf
Afterwards, when the first contraposition bar is contacted with the second contraposition bar, AGV trolley 1 stops movement so that shelf 2 length direction to AGV
Trolley 1 is aligned.Enter 2 bottom of shelf under the action of AGV trolley 1 is in guide groove 21 to go forward side by side the contraposition in line width direction
Afterwards, when the second contraposition bar of the first contraposition bar and 2 bottom of shelf on AGV trolley 1 contacts, AGV trolley 1 stops moving, and completes
The contraposition of AGV trolley 1 and shelf 2 in the length direction of shelf 2.
In example IV, on the basis of embodiment one to three any embodiment of embodiment, guide groove 21 is along shelf 2
Length direction is divided into first area 211, second area 212 and third region 213, first area 211 and third region 213
To be trapezoidal, second area 212 is rectangle；The width of one end that first area 211 is connect with second area 212 is less than first area
The width of 211 other ends；The width of one end that third region 213 is connect with second area 212 is less than 213 other end of third region
Width.Guide groove 21 divides for three regions, and first area 211 and third region 213 are trapezoidal, and first area 211 and the
The width in three one end of regions 213 far from second area 212 is respectively greater than the width of the other end, and AGV trolley 1 can be facilitated to enter and led
To slot 21, and pass through the positioning that first area 211 or third region 213 gradually carry out width direction to AGV trolley 1, arrow in Fig. 3
Head direction represents the direction of advance of AGV trolley；Second area 212 is rectangle, and the width of second area 212 is set as comparing
The wide 2cm of the width of AGV trolley 1, AGV trolley 1 can make AGV trolley 1 in the error of width direction when second area 212 is mobile
In 2cm or less.
In embodiment five, as shown in Figs. 1-5, on the basis of embodiment one to example IV any embodiment, AGV is small
Liftable lifting pin 12 is additionally provided on vehicle 1；2 bottom of shelf is equipped with towing pad 23；In the length direction and width direction of shelf 2
After aligning to AGV trolley 1, the insertion towing pad 23 completion AGV trolley 1 of lifting pin 12 is docked with shelf 2.When the length in shelf 2
After spending direction and width direction to the contraposition of AGV trolley 1, the lifting pin 12 on AGV trolley 1 can be made accurately to be inserted into 2 bottom of shelf
Towing pad 23 in, to complete docking for AGV trolley 1 and shelf 2.
Preferably, lifting body is additionally provided on AGV trolley 1, lifting body includes flange 13, adjusts component and for driving
The straight line driving mechanism 15 that dynamic lifting pin 12 is gone up and down；Flange 13 and straight line driving mechanism 15 are oppositely arranged；12 activity of lifting pin is inserted
Set on the flange hole of flange 13；It adjusts component to be set between lifting pin 12 and the push rod of straight line driving mechanism 15, so that lifting pin
12 center line and the center line of push rod are located along the same line or angled setting, and the center line of lifting pin 12 and flange 13
The center line in hole is located along the same line.The position for adjusting the center line of lifting pin 12 by adjusting component, to guarantee lifting pin
No matter the center line of 12 center line, push rod and the center line of flange hole are not located along the same line or are located at same straight line
The center line of lifting pin 12 and the center line of flange hole can be located at same straight line always, so that lifting pin 12 is not deposited with flange hole
The case where radial impulsive contact force can not be being installed or existed, ensure that robot lifting body was smoothly installed and used in chassis
Efficientibility greatly reduces the production cost and later maintenance cost of robot.And robot lifting body is simple, tight
It gathers, is practical, is applied widely.
Preferably, adjusting component includes bulb screw 141；Bulb screw 141 includes connecting pin and bulb end；Connecting pin with
The lifting pin 12 connects；The radial dimension of connecting pin is less than the radial dimension at the bulb end；Bulb end, which is movably installed in, to push away
Bar, so that connecting pin can be rotated around the centre of sphere at bulb end.The spy that can be rotated around bulb end using the connecting pin of bulb screw 141
Property, thus realize the deflection of the center line of lifting pin 12, and then the center line of the center line and flange hole of guarantee lifting pin 12
It is overlapped, lifting pin 12 and flange hole is avoided interference phenomenon occur.
Preferably, adjusting component further includes attachment base 142；Attachment base 142 is equipped with groove compatible with bulb end, so that
The activity of bulb end is located in groove；Attachment base 142 is connect with push rod.The setting of attachment base 142 is applicable to push rod can not be direct
The straight line driving mechanism 15 being connect with bulb screw 141.
Preferably, attachment base 142 and push rod detachable connection.Detachable connection mode can replace bulb screw in time
141 and/or attachment base 142, reduce the maintenance cost of robot.
Preferably, axle sleeve 16 is equipped between lifting pin 12 and flange 13, axle sleeve 16 and flange hole are interference fitted；Lifting pin 12
Activity is inserted in axle sleeve 16.Axle sleeve 16 greatly reduces the abrasion of lifting pin 12 and flange hole, and then improves flange 13 and top
The service life of rising stem 12, reduces use cost.
Preferably, adjusting component further includes adapter 143, and adapter 143 is detachable with attachment base 142 and push rod respectively
Connection.Adapter 143 solves the problems, such as that push rod and attachment base 142 are not adapted to, greatly improve the utility model applicability and
Practicability.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the utility model
Preferred embodiment, it is noted that for those skilled in the art, do not departing from the utility model principle
Under the premise of, several improvements and modifications can also be made, these improvements and modifications also should be regarded as the protection scope of the utility model.
Claims (10)
1. a kind of alignment system of AGV trolley and shelf, which is characterized in that including AGV trolley and shelf；
The top of the AGV trolley is equipped with the first contraposition part；
The bottom shelf is equipped with for guiding the AGV trolley to enter the bottom shelf and in the width direction of the shelf
The guide groove that the AGV trolley is aligned；
The bottom shelf is additionally provided with the second contraposition part, described in the first contraposition part matches with the second contraposition part and makes
AGV trolley aligns the AGV trolley in the length directions of the shelf after entering the bottom shelf.
2. the alignment system of a kind of AGV trolley and shelf according to claim 1, which is characterized in that
The first contraposition part is magnetic field sensor, and the second contraposition part is magnet.
3. the alignment system of a kind of AGV trolley and shelf according to claim 1, which is characterized in that
The first contraposition part is the first contraposition bar of the protrusion AGV car top setting；
The second contraposition part is the second contraposition bar of the protrusion bottom shelf setting；
After the AGV trolley enters the bottom shelf, described in described first aligns bar and described second aligns when bar contacts
AGV trolley stops movement, so that the length direction in the shelf aligns the AGV trolley.
4. the alignment system of a kind of AGV trolley and shelf according to claim 1, which is characterized in that
The guide groove is divided into first area, second area and third region along the length direction of the shelf, and described
One region and the third region be it is trapezoidal, the second area is rectangle；
The width of one end that the first area is connect with the second area is less than the width of the first area other end；
The width of one end that the third region is connect with the second area is less than the width of the third region other end.
5. the alignment system of a kind of AGV trolley and shelf according to claim 1-4, which is characterized in that
Liftable lifting pin is additionally provided on the AGV trolley；
The bottom shelf is equipped with towing pad；
After the length direction and width direction of the shelf align the AGV trolley, the lifting pin is inserted into the traction
Complete docking for the AGV trolley and the shelf in hole.
6. the alignment system of a kind of AGV trolley and shelf according to claim 5, which is characterized in that
It is additionally provided with lifting body on the AGV trolley, the lifting body includes flange, adjusts component and described for driving
The straight line driving mechanism of lifting pin lifting；
The flange and the straight line driving mechanism are oppositely arranged；
The lifting pin activity is inserted in the flange hole of the flange；
The adjusting component is set between the lifting pin and the push rod of the straight line driving mechanism, so that in the lifting pin
The center line of heart line and the push rod is located along the same line or angled setting, and the center line of the lifting pin and the method
The center line of flange aperture is located along the same line.
7. the alignment system of a kind of AGV trolley and shelf according to claim 6, which is characterized in that
The adjusting component includes bulb screw；
The bulb screw includes connecting pin and bulb end；
The connecting pin is connect with the lifting pin；
The radial dimension of the connecting pin is less than the radial dimension at the bulb end；
The bulb end is movably installed in the push rod, so that the connecting pin can be rotated around the centre of sphere at the bulb end.
8. the alignment system of a kind of AGV trolley and shelf according to claim 7, which is characterized in that
The adjusting component further includes attachment base；
The attachment base is equipped with groove compatible with the bulb end, so that bulb end activity is located in the groove；
The attachment base is connect with the push rod.
9. the alignment system of a kind of AGV trolley and shelf according to claim 8, which is characterized in that
The attachment base and the push rod detachable connection.
10. the alignment system of a kind of AGV trolley and shelf according to claim 6, which is characterized in that
Axle sleeve is equipped between the lifting pin and the flange, the axle sleeve and the flange hole are interference fitted；The lifting pin
Activity is inserted in the axle sleeve.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920289847.4U CN209582638U (en) | 2019-03-07 | 2019-03-07 | A kind of alignment system of AGV trolley and shelf |
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| CN201920289847.4U CN209582638U (en) | 2019-03-07 | 2019-03-07 | A kind of alignment system of AGV trolley and shelf |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038944A (en) * | 2019-12-20 | 2020-04-21 | 百特（福建）智能装备科技有限公司 | AGV material tray positioner |
| CN111731733A (en) * | 2020-05-29 | 2020-10-02 | 湖南艾博特机器人技术有限公司 | Positioning device for stock bin, traceable active flower basket stock bin and stock bin conveying system |
| CN111993950A (en) * | 2020-08-21 | 2020-11-27 | 弥费实业(上海)有限公司 | Battery changing trolley |
| CN112110112A (en) * | 2020-08-17 | 2020-12-22 | 中国科学院深圳先进技术研究院 | Movable automatic storage system |
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2019
- 2019-03-07 CN CN201920289847.4U patent/CN209582638U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038944A (en) * | 2019-12-20 | 2020-04-21 | 百特（福建）智能装备科技有限公司 | AGV material tray positioner |
| CN111731733A (en) * | 2020-05-29 | 2020-10-02 | 湖南艾博特机器人技术有限公司 | Positioning device for stock bin, traceable active flower basket stock bin and stock bin conveying system |
| CN111731733B (en) * | 2020-05-29 | 2021-07-06 | 湖南艾博特机器人技术有限公司 | Positioning device for stock bin, traceable active flower basket stock bin and stock bin conveying system |
| CN112110112A (en) * | 2020-08-17 | 2020-12-22 | 中国科学院深圳先进技术研究院 | Movable automatic storage system |
| WO2022036898A1 (en) * | 2020-08-17 | 2022-02-24 | 中国科学院深圳先进技术研究院 | Movable automatic storage system |
| CN111993950A (en) * | 2020-08-21 | 2020-11-27 | 弥费实业(上海)有限公司 | Battery changing trolley |
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