CN216582270U - Article handling system with direct docking positioning device - Google Patents
Article handling system with direct docking positioning device Download PDFInfo
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- CN216582270U CN216582270U CN202123395883.5U CN202123395883U CN216582270U CN 216582270 U CN216582270 U CN 216582270U CN 202123395883 U CN202123395883 U CN 202123395883U CN 216582270 U CN216582270 U CN 216582270U
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- 238000003032 molecular docking Methods 0.000 title claims description 15
- 210000001503 joint Anatomy 0.000 claims abstract description 25
- 230000001939 inductive effect Effects 0.000 claims description 5
- 238000003860 storage Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
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Abstract
The utility model relates to an article processing system with a direct butt joint positioning device, which comprises a flexible connecting device, a vertical motion robot, a horizontal motion robot and an article processing device; the flexible connecting device comprises a connecting frame, a flexible adjusting structure, a mounting plate and a floating seat assembly; the four corners of the connecting frame are respectively provided with a butt joint positioning track; the flexible adjusting structures are respectively arranged at four corners of the mounting plate; the horizontal motion robot is connected through a mounting plate; article processing apparatus includes the goods shelves body, locates a plurality of article processing regions and a plurality of lift track on the goods shelves body, and every lift track bottom all is equipped with first location portion, is equipped with high location portion on every article processing region, is equipped with high positioning element on the vertical motion robot, and full automatization's intelligent storage operation can be realized to this application, greatly reduced the operation cost of storage trade, improved work efficiency.
Description
Technical Field
The utility model relates to a three-dimensional storehouse technical field, concretely relates to article processing system with direct butt joint positioner.
Background
The current three-dimensional warehouse system generally uses a production line to convey articles to a designated position, and then goods are taken away by a vertical motion robot (shuttle car) and conveyed to a designated article processing area, for example, CN209097512U of my previous application discloses a three-dimensional warehouse system based on an automatic operating platform, but the structure has the defects that the shuttle car can only run between two three-dimensional warehouses at most, can not run on a plurality of three-dimensional warehouses to realize more flexible storage, and also causes the need of installing a transverse motion guide rail and a conveying line on the three-dimensional warehouse, thereby causing the cost increase of the three-dimensional warehouse. In the prior art, a horizontal motion robot (AGV) is combined with a shuttle car, so that loading and unloading operations are performed in a plurality of three-dimensional storehouses, but the structure is complex, the horizontal motion robot is not easy to be connected with the shuttle car in a positioning matching manner, and the running efficiency of a three-dimensional storehouse system is too low.
Therefore, there is a need for an article handling system with a direct docking positioning device that solves the above-mentioned problems.
SUMMERY OF THE UTILITY MODEL
The object of the present invention is to solve the above problems in the prior art and to provide an article handling system with a direct docking positioning device.
In order to realize the purpose of the utility model, the utility model adopts the following technical scheme: the article processing system with the direct butt joint positioning device comprises a flexible connecting device, a vertical motion robot, a horizontal motion robot and an article processing device; the flexible connecting device comprises a connecting frame, a flexible adjusting structure, a mounting plate and a floating seat assembly; the four corners of the connecting frame are respectively provided with a butt joint positioning track matched with the vertical motion robot and the article processing device, and the vertical motion robot is connected through the butt joint positioning tracks; the flexible adjusting structures are respectively arranged at four corners of the mounting plate, one end of each flexible adjusting structure is connected with the mounting plate, and the other end of each flexible adjusting structure is connected with the connecting frame; the horizontal motion robot is connected through the mounting plate; the top part of the floating seat assembly can move along with the connecting frame under the action of the flexible adjusting structure; the article processing device comprises a goods shelf body, a plurality of article processing areas arranged on the goods shelf body and a plurality of lifting rails matched with the butt joint positioning rails, wherein a first positioning part is arranged at the bottom end of each lifting rail, a height positioning part is arranged on each article processing area, and a height positioning element matched with the height positioning part to realize height positioning is arranged on the vertical motion robot; the horizontal motion robot can lift the mounting plate to realize lifting operation.
The working principle and the beneficial effects are as follows: 1. compared with the prior art, the flexible connecting device can be conveniently installed on a horizontal motion robot, the horizontal motion robot (AGV) is connected with a vertical motion robot through the butt joint positioning track of the flexible connecting device, especially in the connection process, if the butt joint positioning track is not aligned with the vertical motion robot, when the vertical motion robot (shuttle car) descends, the butt joint positioning track of the flexible connecting device is matched with the first positioning part on the article processing device, so that the connecting frame of the flexible connecting device has a twisting trend in the correct direction, and therefore under the action of the flexible adjusting structure, the top of the floating seat assembly can move along with the connecting frame to realize the relative motion of the connecting frame and the mounting plate, so that the vertical motion robot is aligned, and finally the accurate matching of the horizontal motion robot and the vertical motion robot is realized, the requirement of accurate butt joint of the horizontal motion robot and the vertical motion robot is greatly reduced, and the error rate is greatly reduced;
2. therefore, the article processing device (three-dimensional warehouse system) is very suitable for the article processing device of our department, the arrangement of a conveying line and a horizontal track can be omitted, only the goods shelf of the article processing device is needed, the horizontal motion robot can drive the vertical motion robot to realize the feeding and discharging operations on each article processing device, and the operation efficiency is greatly improved.
3. The operation efficiency of the three-dimensional warehouse system can be remarkably improved, one horizontal moving device can be matched with a plurality of article processing devices for use, a plurality of horizontal moving devices can also be matched with a plurality of article processing devices for use, the configuration can be flexible, and the application scene is wide.
Furthermore, the floating seat assembly comprises a flexible block, a limiting block, a floating seat bottom plate and a floating plate, the flexible block is detachably connected with the connecting frame, the limiting block and the floating seat bottom plate are combined to form a cavity for the floating plate to move, and the floating plate extends out of the limiting block and is connected with the flexible block.
Furthermore, the butt joint positioning track comprises a height positioning part and a second positioning part, a mounting groove for placing a driving device of the vertical motion robot is formed in the height positioning part, the inner wall of the mounting groove is matched with the driving device to enable the vertical motion robot to vertically enter and exit the mounting groove, and a positioning hole matched with the first positioning part is formed in the second positioning part.
Further, the vertical motion robot comprises a vehicle body, a driving device arranged on the vehicle body and an article processing device for placing articles of supply, wherein the driving device is connected with the inner wall of the mounting groove in a meshed mode, and the article processing device can drive the articles to enter and leave the article processing device.
Furthermore, the flexible adjusting structure comprises a reset connecting seat detachably connected with the bottom plate, and an elastic reset piece, one end of which is connected with the reset connecting seat, and the other end of the elastic reset piece is detachably connected with the connecting frame.
Furthermore, a position positioning element matched with the first positioning part is arranged below the second positioning part.
Furthermore, balls are arranged between the floating plate and the limiting block, and balls are also arranged between the floating plate and the floating seat bottom plate.
Furthermore, a lifting platform is arranged on the horizontal motion robot, and the lifting platform can drive the mounting plate to realize lifting operation.
Further, the horizontal movement robot is an AGV trolley with a lifting function.
Furthermore, the mounting plate is provided with an induction sensor for inducing and limiting the vertical motion robot.
Drawings
Fig. 1 is a perspective view of the flexible connection device of the present invention;
fig. 2 is a perspective view of the mounting plate of the present invention;
fig. 3 is a schematic view of the internal structure of the floating seat assembly of the present invention;
fig. 4 is a perspective view of the horizontal movement device of the present invention;
FIG. 5 is a schematic view of the vertical motion robot of FIG. 4 with the vertical motion robot removed;
fig. 6 is a perspective view of the stereo garage system of the present invention;
FIG. 7 is a top view of FIG. 6;
fig. 8 is a schematic view of the horizontal movement device during docking.
In the drawings, 1, a flexible connecting device; 2. a horizontally moving robot; 3. a vertical motion robot; 4. an article processing device; 11. a connecting frame; 12. a flexible adjustment structure; 13. mounting a plate; 14. a float seat assembly; 111. butting the positioning rails; 121. resetting the connecting seat; 122. an elastic reset member; 141. a flexible block; 142. a limiting block; 143. a floating seat bottom plate; 145. a floating plate; 146. a ball bearing; 21. a lifting platform; 1111. mounting grooves; 1112. a second positioning portion; 1113. positioning holes; 1114. a position locating element; 31. a vehicle body; 32. a drive device; 33. an article processing device; 311. a height positioning element; 41. a shelf body; 42. an article handling area; 43. a lifting rail; 431. a first positioning portion.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered limiting.
In the case of the example 1, the following examples are given,
as shown in fig. 1, the flexible connection device includes a connection frame 11, a flexible adjustment structure 12, a mounting plate 13, and a floating seat assembly 14, wherein the connection frame 11 is rectangular and has a hollow middle part and four corners protruding, the four corners are used for docking with the vertical motion robot 3, and the mounting plate 13 is also rectangular.
Specifically, the connecting frame 11 is provided with a hole for exposing the floating seat assembly 14, the four corners of the connecting frame 11 are respectively provided with a docking positioning rail 111 matched with the vertical motion robot 3 and the article processing device 4, wherein the floating seat assembly 14 is used for being in docking connection with the vertical motion robot 3 and can be in a structure of plugging, magnetic attraction matching or clamping and the like, the vertical motion robot 3 is a shuttle disclosed in the past, and the docking positioning rails 111 are installed at the four protruded corners of the connecting frame 11. The purpose of the openings is to facilitate the installation of the floating seat assembly 11.
Referring to fig. 2, specifically, the flexible adjusting structures 12 are respectively disposed at four corners of the mounting plate 13, one end of the flexible adjusting structure 12 is connected to the mounting plate 13, and the other end of the flexible adjusting structure 12 is connected to the connecting frame 11, actually, the flexible adjusting structure 12 includes a reset connecting seat 121 fixed to the bottom plate by screws, and an elastic reset member 122 having one end connected to the reset connecting seat 121, and the other end of the elastic reset member 122 is fixed to the connecting frame 11 by screw connection. The elastic force of the elastic reset piece 122 is utilized to restore the connecting frame 11 and the mounting plate 13 to the initial position, and the connecting frame 11 moves under the driving of the flexible block 141, so that the structure is simple and the stability is high. In the present embodiment, the elastic restoring member 122 is a common tension spring.
In this embodiment, the floating seat assembly 14 includes a flexible block 141, a limit block 142, a floating seat bottom plate 143, and a floating plate 145, the flexible block 141 and the connection frame 11 are fixed by screws, the limit block 142 and the floating seat bottom plate 143 are combined to form a cavity for the floating plate 145 to move, the floating plate 145 extends out of the limit block 142 and is connected with the flexible block 141, and the top portion of the floating seat assembly 14 can move along with the connection frame 11 under the action of the flexible adjustment structure 12, so that the relative movement between the connection frame 11 and the mounting plate 13 is realized. According to the scheme, when the flexible block 141 is connected with the vertical motion robot 3, the flexible block 141 and the floating plate 145 move integrally, the limiting block 142 and the floating seat bottom plate 143 are integrally fixed on the mounting plate 13, and just as such, the two can move relatively, and under the action of the flexible adjusting structure 12, the two can move relatively, but can always return to the initial position, and just as such, after the vertical motion robot 3 is installed in place, under the action of the flexible adjusting structure 12, the mounting plate 13 can return to the initial position, so that the vertical motion robot 3 and the horizontal motion robot 2 are really aligned, the position deviation of the vertical motion robot 3 in a certain range can be met, the requirement on the docking accuracy is greatly reduced, and the docking operation can be completed more smoothly.
Referring to fig. 3, preferably, in order to reduce the friction force, a ball 146 is disposed between the floating plate 145 and the stopper 142, and a ball 146 is also disposed between the floating plate 145 and the floating seat bottom plate 143. According to the arrangement, the friction type between the floating plate 145, the limiting block 142 and the floating seat bottom plate 143 is changed from sliding friction to rolling friction, so that the friction force is greatly reduced, the smoothness of the relative movement of the floating plate 145 is improved, the mounting plate 13 actually moves in the butt joint process of the vertical movement robot 3, and the mounting plate 13 can rotate on the horizontal movement robot 2 at a certain angle, so that the butt joint success rate can be greatly improved.
Specifically, a plurality of mounting holes are formed in the mounting plate 13, the mounting plate is connected with the horizontal movement robot 2 through the mounting holes, the horizontal movement robot 2 is a common AGV, and the mounting plate 13 is mounted on an elevating platform 21 of the AGV through screws.
In the case of the example 2, the following examples are given,
referring to fig. 4 and 5, a horizontal moving device is formed by applying the flexible connecting device 1 of embodiment 1 to a horizontal moving robot 2, and the horizontal moving device includes the flexible connecting device 1, a vertical moving robot 3 detachably connected to a floating seat assembly 14, and a horizontal moving robot 2 detachably connected to a mounting plate 13, and the horizontal moving robot 2 can lift the mounting plate 13 to perform a lifting operation. The floating seat assembly 14 is matched with the vertical motion robot 3 in a magnetic attraction or clamping manner, and the lifting platform 21 of the horizontal motion robot 2 is fixed with the mounting plate 13 through screws.
Preferably, the docking positioning track 111 in the flexible connection device 1 includes a height positioning portion and a second positioning portion 1112, the height positioning portion is provided with an installation groove 1111 for the driving device 32 of the vertical movement robot 3 to be placed, the installation groove 1111 is matched with the driving device 32 to enable the vertical movement robot 3 to enter and exit the installation groove 1111 from top to bottom, and the second positioning portion 1112 is provided with a positioning hole 1113 matched with the article processing device 4. The mounting groove 1111 enables the vertical movement robot 3 to travel from the flexible connecting device 1 to the track on the object processing device 4, and the positioning hole 1113 can be conveniently matched with the object processing device 4 to realize positioning, thereby greatly reducing the requirement on the hardware structure of the object processing device 4.
Preferably, the vertical movement robot 3 includes a vehicle body 31, a driving device 32 disposed on the vehicle body 31, and an article processing device 33 for placing articles, the driving device 32 is engaged with an inner wall of the mounting groove 1111, the article processing device 33 can drive the articles to enter and leave the article processing device 4, the specific structure of the article processing device 33 is the prior art, which is not a key point of the present application, and therefore it is not described herein any more, and the driving device 32 is a gear, one of the inner walls of the mounting groove 1111 has a tooth shape, which is equivalent to a rack, and the vertical movement robot 3 is lifted and lowered by the gear and the rack. According to the scheme, the driving device 32 is meshed with the inner wall of the mounting groove 1111 to enable the vehicle body 31 to move up and down in the mounting groove 1111, and goods can be conveniently placed and taken from the article processing device 4 through the article processing device 33.
Preferably, the mounting plate 13 is provided with an inductive sensor 5 for inductively limiting the vertical movement robot 3. When the inductive sensor 5 senses that the vertical movement robot 3 moves to the lowest position, the inductive sensor 5 sends a signal to the vertical movement robot 3, so that the vertical movement robot 3 stops descending.
By using the flexible connecting device 1, the vertical motion robot 3 and the horizontal motion robot 2 form a horizontal moving device, the separation and butt joint operation of the horizontal motion robot 2 and the vertical motion robot 3 can be automatically completed through the flexible connecting device 1 without human intervention, particularly, the horizontal motion robot 2 can carry out the lifting operation of a certain height on the vertical motion robot 3 through driving the mounting plate 13, so that a mechanical positioning structure capable of lifting motion is not required to be arranged on each article processing device 4, only the vertical motion robot 3 is required to be lifted and is matched with the positioning structure on the article processing device 4 to be positioned along with the lifting of the mounting plate 13, and then the vertical motion robot 3 can be correctly lifted and lowered on the track on the article processing device 4, realize material loading and unloading operation, greatly reduced the butt joint degree of difficulty, it is low to realize the degree of difficulty, simple structure.
In the case of the example 3, the following examples are given,
referring to fig. 6-8, in the present embodiment, the horizontal moving device and the article processing device 4 in embodiment 2 form a three-dimensional library system, which includes the article processing device 4 and the horizontal moving device;
the article processing device 4 includes a rack body 41, a plurality of article processing areas 42 disposed on the rack body 41, and a plurality of lifting rails 43 fitted in the mounting grooves 1111, wherein a first positioning portion 431 fitted to the positioning hole 1113 is disposed at a bottom end of each lifting rail 43, a height positioning portion is disposed on each article processing area 42, and a height positioning element 311 fitted to the height positioning portion to position the vertical movement robot 3 is disposed on the vehicle body 31. The height positioning portion is a common sensor barrier or a bar code, and the height positioning element 311 is a common photoelectric sensor, a limit switch, a visual sensor, or the like.
Specifically, a position positioning element 1114 that engages with the first positioning portion 431 is also provided below the second positioning portion 1112. The position locating element 1114, which may be a common limit switch, can stop the horizontal movement robot 2 from driving the mounting plate 13 to ascend and perform a height limiting operation on the mounting plate 13 to prevent the mounting plate 13 from ascending excessively when the first locating portion 431 abuts against or contacts the position locating element 1114.
The present application combines the above-mentioned horizontal moving device and the existing article processing device 4, the conveying line and the horizontal rail of the article processing device 4 are removed, the hardware cost of the single article processing device 4 is greatly reduced, the plurality of lifting rails 43 can facilitate the lifting of the vertical movement robot 3 on the horizontal moving device, so as to perform the loading and unloading operation on each article processing area 42, that is, the goods storage operation, the precise positioning of the lifting rails 43 and the horizontal moving device is realized by the cooperation of the first positioning portion 431 and the positioning holes 1113, only the horizontal movement robot 2 is required to drive the vertical movement robot 3 to lift, and the insertion of the first positioning portion 431 into the positioning holes 1113 is realized along with the lifting of the mounting plate 13, if the first positioning portion 431 and the positioning holes 1113 are not completely aligned in the process, at this time, the relative rotation occurs between the connecting frame 11 and the mounting plate 13, make first locating part 431 can insert smoothly in locating hole 1113, flexible adjustment structure 12 holds power this moment, and accomplished lifting rail 43 and horizontal migration device's accurate positioning promptly after both cooperate completely, descend when horizontal movement robot 2 drive mounting panel 13 for first locating part 431 and locating hole 1113 after separating, under the effect of flexible adjustment structure 12, linking frame 11 and mounting panel 13 resume initial position, this process requires greatly to the positioning accuracy of horizontal migration device to reduce, the butt joint success rate has been shown to be improved.
In the case of the example 4, the following examples are given,
the control method for operating the stereoscopic library system in embodiment 3 includes the steps of:
s100, the horizontal motion robot 2 receives an instruction to drive to a first designated position of the article processing device 4;
this step can be performed by a control system commonly used in a factory, and the first designated position is the horizontal moving robot 2 to the corresponding position by the vertical moving robot 3.
S200, positioning of the horizontal motion robot 2 is achieved through the matching of the first positioning portion 431 and the positioning hole 1113;
in this step, the horizontal movement robot 2 pushes the mounting plate 13 to ascend, so that the first positioning portion 431 of the shelf body is inserted into the positioning hole 1113, and positioning is achieved.
S300, the vertical motion robot 3 located at the designated position receives an instruction to descend;
the vertical movement robot 3 descends along the elevating rail 43, and the elevating rail 43 is also provided therein with a rack-like structure engaged with the driving device 32.
S400, the vertical motion robot 3 drives into the mounting groove 1111 to stop at the bottom of the mounting groove 1111;
s500, the horizontal movement robot 2 drives the mounting plate 13 to descend, so that the first positioning portion 431 is separated from the positioning hole 1113;
and S600, the horizontal movement robot 2 runs to a second appointed position to stand by or feed.
By the method, the loading and unloading operation of the three-dimensional warehouse system can be easily realized, and the operation efficiency of the three-dimensional warehouse is obviously improved.
The operation efficiency of the three-dimensional warehouse system can be obviously improved, one horizontal moving device can be matched with a plurality of article processing devices 4 for use, a plurality of horizontal moving devices can also be matched with a plurality of article processing devices 4 for use, the configuration can be flexible, and the application scene is wide.
The part of the utility model which is not described in detail is the prior art, so the utility model does not detail the part.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Although the use of the term in the present text is used more often, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by the teaching of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as the present invention, fall within the protection scope of the present invention.
Claims (10)
1. The article processing system with the direct butt joint positioning device is characterized by comprising a flexible connecting device, a vertical motion robot, a horizontal motion robot and an article processing device; the flexible connecting device comprises a connecting frame, a flexible adjusting structure, a mounting plate and a floating seat assembly; the four corners of the connecting frame are respectively provided with a butt joint positioning track matched with the vertical motion robot and the article processing device, and the vertical motion robot is connected through the butt joint positioning tracks; the flexible adjusting structures are respectively arranged at four corners of the mounting plate, one end of each flexible adjusting structure is connected with the mounting plate, and the other end of each flexible adjusting structure is connected with the connecting frame; the horizontal motion robot is connected through the mounting plate; the top part of the floating seat assembly can move along with the connecting frame under the action of the flexible adjusting structure; the article processing device comprises a goods shelf body, a plurality of article processing areas arranged on the goods shelf body and a plurality of lifting rails matched with the butt joint positioning rails, wherein the bottom end of each lifting rail is provided with a first positioning part matched with the butt joint positioning rails for positioning, each article processing area is provided with a height positioning part, and the vertical motion robot is provided with a height positioning element matched with the height positioning part for realizing height positioning; the horizontal motion robot can lift the mounting plate to realize lifting operation; the butt joint positioning track can realize the lifting of the vertical motion robot through the butt joint of the first positioning part and the lifting track.
2. The system of claim 1, wherein the floating seat assembly comprises a flexible block, a limiting block, a floating seat bottom plate and a floating plate, the flexible block is detachably connected with the connecting frame, the limiting block and the floating seat bottom plate are combined to form a cavity for the floating plate to move, and the floating plate extends out of the limiting block and is connected with the flexible block.
3. The system of claim 1, wherein the docking track comprises a height positioning portion and a second positioning portion, the height positioning portion is provided with a mounting groove for placing a driving device of the vertical motion robot, the inner wall of the mounting groove is matched with the driving device to enable the vertical motion robot to move up and down into and out of the mounting groove, and the second positioning portion is provided with a positioning hole matched with the first positioning portion.
4. The system of claim 3, wherein the vertical motion robot comprises a body, a driving device disposed on the body, and a goods handling device for placing goods, wherein the driving device is engaged with the inner wall of the mounting groove, and the goods handling device can drive goods into and out of the goods handling device.
5. The system of claim 1, wherein the flexible adjustment structure comprises a reset connection seat detachably connected to the bottom plate, and an elastic reset member having one end connected to the reset connection seat and the other end detachably connected to the connection frame.
6. The system of claim 4, wherein a position-locating element is disposed below the second locating portion and engages the first locating portion.
7. The system of claim 2, wherein a ball is disposed between the floating plate and the stop block, and a ball is disposed between the floating plate and the floating seat bottom plate.
8. The system for processing the article with the direct butt joint positioning device according to any one of claims 1 to 7, wherein the horizontal movement robot is provided with a lifting platform, and the mounting plate can be driven by the lifting platform to realize lifting operation.
9. The article handling system with a direct docking station as recited in claim 8, wherein the horizontal motion robot is an AGV cart with lift capability.
10. The article handling system with direct docking positioning device of claim 9, wherein the mounting plate is provided with an inductive sensor for inductively positioning the vertical motion robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123395883.5U CN216582270U (en) | 2021-12-27 | 2021-12-27 | Article handling system with direct docking positioning device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123395883.5U CN216582270U (en) | 2021-12-27 | 2021-12-27 | Article handling system with direct docking positioning device |
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| CN216582270U true CN216582270U (en) | 2022-05-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114180250A (en) * | 2021-12-27 | 2022-03-15 | 杭州慧仓信息科技有限公司 | Article handling system with direct docking positioning device and method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114180250A (en) * | 2021-12-27 | 2022-03-15 | 杭州慧仓信息科技有限公司 | Article handling system with direct docking positioning device and method thereof |
| CN114180250B (en) * | 2021-12-27 | 2024-05-28 | 杭州慧仓信息科技有限公司 | Article handling system with direct docking positioning device and method thereof |
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Address after: Building 2, South 1-3, High end Manufacturing Industrial Park, No. 1111 Xin'an Road, High tech Zone, Wuxing District, Huzhou City, Zhejiang Province, 313000, China Patentee after: Zhejiang Huicang Intelligent Technology Co.,Ltd. Country or region after: China Address before: 310051 floor 3, podium building, Haiwei building, No. 101, BINKANG Road, Xixing street, Binjiang District, Hangzhou, Zhejiang Province Patentee before: HANGZHOU HUICANG INFORMATION TECHNOLOGY CO.,LTD. Country or region before: China |
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