CN220804464U - Improved generation conveyer belt commodity circulation letter sorting AGV - Google Patents
Improved generation conveyer belt commodity circulation letter sorting AGV Download PDFInfo
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Abstract
The application discloses an improved conveyer belt type logistics sorting AGV, which comprises the following components: the automatic sorting system comprises a light AGV body, a conveyor belt type sorting module, a control module, a wireless communication module, a battery module, a driving module, a man-machine interaction module, a sensing module, an information acquisition module and an image processing module; the information acquisition module comprises an image acquisition sensor and a sensor bracket, wherein the image acquisition sensor is arranged above the conveying belt and is equal to or 2 times the number of the conveying belt in number. According to the application, the image acquisition sensor is additionally arranged above the conveyer belt type sorting module of the conveyer belt type logistics sorting AGV, the condition that express information is acquired one by adopting a bar code scanner to sort the express, and the express information is converted into the position of the express target bag collecting bag which is processed and analyzed while the express information is acquired by the image acquisition sensor in the moving process of the AGV along a planned route is avoided, the sorting time is shortened, and the sorting efficiency is improved.
Description
Technical Field
The application relates to the technical field of logistics sorting, in particular to an improved conveyer belt type logistics sorting AGV.
Background
Logistics sorting is a very important link in modern logistics systems, and is a process of sorting, arranging and distributing large batches of goods according to certain rules and standards. The system can carry out classified management and accurate distribution on a large amount of cargoes, and has the advantages of improving efficiency and reducing cost. Although unmanned automatic sorting has been practically verified in Beijing dong logistics, vegetable birds, heaven cats and the like, the automatic sorting method has the advantages of being high in efficiency, high in speed and the like. However, unmanned sorting equipment has high input cost and complex system. At present, a large number of express delivery commodity circulation letter sorting centers adopt the mode of manual work cooperation automatic conveying belt to sort goods, and inefficiency, human labor intensity is high, and the environment is comparatively abominable scheduling problem.
For example, patent (application number: 2023222107246) discloses a conveyor-type logistics sorting AGV, which utilizes a conveyor belt to carry a plurality of express items at a time, and completes sorting delivery of the carried express items on an annular planning route based on collected express item information. However, the method for collecting the express information is still more traditional, and the current processing method utilizes a manually carried bar code or two-dimensional code scanning gun to collect the express information, so that the method is complex in collection process, low in speed and low in efficiency, and is not beneficial to improvement of express sorting efficiency.
The application provides an improved conveyer belt type logistics sorting AGV which can effectively solve or alleviate the defects in the prior art.
Disclosure of utility model
The application provides an improved conveyor belt type logistics sorting AGV which solves or alleviates one or more technical problems in the prior art.
The application provides the following technical scheme:
An improved conveyor belt type logistics sorting AGV comprising: the automatic sorting system comprises a light AGV body, a conveyor belt type sorting module, a control module, a wireless communication module, a battery module, a driving module, a man-machine interaction module, a sensing module, an information acquisition module and an image processing module;
The light AGV body contains: a sheet metal structure frame and a sheet metal structure support; the sheet metal structure frame comprises an upper sheet metal shell, a lower sheet metal shell, a front sheet metal shell and a rear sheet metal shell; the sheet metal structure support comprises a left front sheet metal upright post, a right front sheet metal upright post, a left rear sheet metal upright post, a right rear sheet metal upright post, a driving wheel sheet metal bracket, a universal wheel sheet metal bracket and a battery module sheet metal bracket; the upper sheet metal shell, the lower sheet metal shell, the front sheet metal shell and the rear sheet metal shell are fixedly connected with the left front sheet metal upright post, the right front sheet metal upright post, the left rear sheet metal upright post and the right rear sheet metal upright post to form a square box body;
The driving module comprises a steering wheel and a universal wheel; the steering wheel is arranged at the lower part of the lower sheet metal shell through a driving wheel sheet metal bracket, and the universal wheel is arranged at the front part and the rear part of the lower surface of the lower sheet metal shell through a universal wheel sheet metal bracket;
The control module, the wireless communication module and the battery module are arranged on the upper surface of the lower sheet metal shell, and the battery module sheet metal bracket is fixedly arranged on the upper surface of the lower sheet metal shell in the square box body;
The conveying belt type sorting module comprises a plurality of conveying belt assemblies which are horizontally arranged, the conveying belts of the conveying belt assemblies are two-way moving conveying belts, the conveying belt assemblies are placed in parallel and have the same height, the surfaces of the conveying belts of the conveying belt assemblies are higher than the upper surfaces supported on the two sides of the conveying belt assemblies, the moving direction of the conveying belts is perpendicular to the moving direction of the light AGV body, and the conveying belt assemblies are independently driven and cooperatively linked according to task requirements;
The control module comprises a control knob and a control button, and the control knob and the control button are arranged on the outer surface of the shell;
The man-machine interaction module is detachably arranged on the outer surface of the shell through a bracket; the wireless communication module is one or a combination of a plurality of wifi, bluetooth and LORA;
The battery module is a battery box which can be rapidly disassembled and comprises a lithium ion battery and a lead-acid storage battery; the man-machine interaction module is one of a PDA, an IPAD, a smart phone and an industrial personal computer;
the sensing module comprises a magnetic navigation sensor, a magnetic stripe, an obstacle avoidance sensor and a photoelectric sensor, wherein the magnetic navigation sensor is installed at the front end and the rear end of the lower part of the light AGV body, the magnetic stripe is installed on the navigation path of a working area, the obstacle avoidance sensor is installed around the lower part of the light AGV body, and the photoelectric sensor is installed on two side supports of the conveyor belt assembly and used for detecting whether goods exist on the conveyor belt and counting;
the information acquisition module comprises an image acquisition sensor and a sensor bracket; the image acquisition sensor is an industrial camera, the sensor support comprises a gantry support and an industrial camera mounting plate, the industrial camera mounting plate is mounted at the upper end of the gantry support, the sensor support is fixedly connected to two sides of the conveyor belt type sorting module, the image acquisition sensor is distributed on the industrial camera mounting plate in an array arrangement mode, the array arrangement mode is the same as the conveyor belt assembly arrangement mode and is in horizontal equal-height arrangement, the mounting positions of the image acquisition sensor are located at the front end and the rear end of the travelling direction of the conveyor belt, the distance between the image acquisition sensor and the surface of the conveyor belt is matched with the focal length of the industrial camera and is adjustable, and the industrial camera comprises a zoom lens;
The image processing module comprises one of a singlechip, an industrial personal computer and a computer and is used for processing the express information acquired by the information acquisition module and transmitting the information to the control module and the driving module.
Further, the front sheet metal shell and the rear sheet metal shell are provided with square openings which are inlets and outlets of the battery module.
Further, the number of the conveyor belt assemblies is 4 or more.
Further, the number of the image acquisition sensors is 2 times that of the conveyor belt assemblies, the number of the gantry supports is 2, the number of the industrial camera mounting plates is 2, and the gantry supports are fixedly connected through 4 connecting rods to form a whole.
The application relates to an improved conveyer belt type logistics sorting AGV, which has the following working principle: the light AGV body, the control module, the wireless communication module, the battery module, the driving module, the sensing module and the man-machine interaction module are combined together to have the functions of basic movement, navigation, obstacle avoidance, control and communication of the traditional AGV; the conveying belt type logistics sorting AGV firstly moves to a logistics area to be sorted, a sorter or other automatic sorting equipment transfers the express to be sorted to the conveying belt assembly, the conveying belt assembly can load a plurality of express items at one time, the labels on the express item surface face upwards, the conveying belt type logistics sorting AGV is firstly controlled to move along a planned route, in the moving process of the AGV, the image acquisition sensor is controlled to acquire the labels on the express item surface, the image processing module is controlled to analyze the target unloading area or the target express item collection bag of the express item, the AGV is controlled to move to a destination along the planned route according to express item information, and the conveying belt assembly is controlled to drive the express item to be transferred to the target express item collection bag; in the AGV moving process, the express to be sorted is controlled to move to the working area of the image acquisition sensor, and label information of the express is acquired and processed.
Compared with the prior art, the technical scheme provided has the beneficial effects that:
1. According to the application, the image acquisition sensor is additionally arranged above the conveyer belt type sorting module of the conveyer belt type logistics sorting AGV, the condition that the need of manually adopting the bar code scanner to collect express information one by one for sorting the express is avoided, and the image acquisition sensor processes and analyzes the position of the express target bag collecting bag while collecting the express information in the moving process of the AGV along the planned route, so that the sorting time is shortened, and the sorting efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of an AGV according to an embodiment of the application.
FIG. 2 is an exploded view of a lightweight body structure according to an embodiment of the application.
FIG. 3 is a schematic view showing the internal composition of a lightweight body according to an embodiment of the application.
Fig. 4 is an exploded view of a sorting module and a lightweight body according to an embodiment of the application.
FIG. 5 is a schematic diagram of a second AGV according to an embodiment of the application.
FIG. 6 is a third schematic view of an AGV according to an embodiment of the application.
Reference numerals illustrate: 10. a light body; 101. An upper sheet metal shell; 102. a lower sheet metal shell; 103. a front sheet metal housing; 104. a rear sheet metal shell; 105. a left front sheet metal upright post; 106. a right front sheet metal upright post; 107. left rear sheet metal upright post; 108. right rear sheet metal upright post; 109. a driving wheel sheet metal bracket; 110. sheet metal bracket of universal wheel; 111. a battery module sheet metal bracket; 20. a conveyor-type sorting module; 201. a conveyor belt assembly; 202. a conveyor belt; 203. two sides are supported; 61. steering wheel; 62. a universal wheel; 30. a control module; 301. a control knob; 302. a control button; 40. a wireless communication module; 50. a battery module; 60. a man-machine interaction module; 601. a bracket; 70. a photoelectric sensor; 80. an information acquisition module; 801. a gantry bracket; 802. a connecting rod; 803. an industrial camera mounting plate; 804. an image acquisition sensor; 90. an image processing module; the arrow represents the direction of movement.
Detailed Description
In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Embodiments of the present application are described in further detail below with reference to fig. 1 to 6 of the drawings:
The application provides an improved conveyer belt type logistics sorting AGV, which comprises: the Automatic Guided Vehicle (AGV) comprises a light AGV body 10, a conveyor belt type sorting module 20, a control module 30, a wireless communication module 40, a battery module 50, a driving module, a man-machine interaction module 60, a sensing module, an information acquisition module 80 and an image processing module 90;
The lightweight AGV body 10 includes: a sheet metal structure frame and a sheet metal structure support; the sheet metal structure frame comprises an upper sheet metal shell 101, a lower sheet metal shell 102, a front sheet metal shell 103 and a rear sheet metal shell 104; the sheet metal structure support comprises a left front sheet metal upright post 105, a right front sheet metal upright post 106, a left rear sheet metal upright post 107, a right rear sheet metal upright post 108, a driving wheel sheet metal bracket 109, a universal wheel sheet metal bracket 110 and a battery module sheet metal bracket 111; the upper sheet metal shell 101, the lower sheet metal shell 102, the front sheet metal shell 103 and the rear sheet metal shell 104 are fixedly connected with the left front sheet metal upright 105, the right front sheet metal upright 106, the left rear sheet metal upright 107 and the right rear sheet metal upright 108 to form a square box body;
The drive module comprises a steering wheel 61 and a universal wheel 62; the steering wheel 61 is arranged at the lower part of the lower sheet metal shell 102 through a driving wheel sheet metal bracket 109, and the universal wheel 62 is arranged at the front part and the rear part of the lower face of the lower sheet metal shell 102 through a universal wheel sheet metal bracket 110;
the control module 30, the wireless communication module 40 and the battery module 50 are all arranged on the upper surface of the lower sheet metal shell 102, and the battery module sheet metal bracket 111 is fixedly arranged on the upper surface of the lower sheet metal shell 102 in the square box body;
The conveyor belt type sorting module 20 comprises a plurality of conveyor belt assemblies 201 which are horizontally arranged, wherein a conveyor belt 202 of each conveyor belt assembly 201 is a conveyor belt which moves in two directions, the conveyor belt assemblies 201 are placed in parallel and have the same height, the surfaces of the conveyor belts 202 of each conveyor belt assembly 201 are higher than the upper surfaces supported on two sides of the conveyor belt 202, the moving direction of each conveyor belt 202 is perpendicular to the moving direction of the light AGV body 10, and the conveyor belt assemblies 201 are independently driven and cooperatively linked according to task requirements;
The control module 30 comprises a control knob 301 and a control button 302, wherein the control knob 301 and the control button 302 are arranged on the outer surface of the shell;
The man-machine interaction module 60 is detachably mounted on the outer surface of the shell through a bracket 601; the wireless communication module 40 is one or a combination of wifi, bluetooth and LORA;
The battery module 50 is a quickly detachable battery box and comprises a lithium ion battery and a lead-acid storage battery; the man-machine interaction module 60 is one of a PDA, an IPAD, a smart phone and an industrial personal computer;
The sensing module comprises a magnetic navigation sensor, a magnetic stripe, an obstacle avoidance sensor and a photoelectric sensor 70, wherein the magnetic navigation sensor is installed at the front end and the rear end of the lower part of the light AGV body 10, the magnetic stripe is installed on the navigation path of a working area, the obstacle avoidance sensor is installed around the lower part of the light AGV body, and the photoelectric sensor is installed on two side supports 203 of the conveying belt assembly 201 and used for detecting whether goods exist on the conveying belt and counting;
The information acquisition module 80 comprises an image acquisition sensor 804 and a sensor bracket; the image acquisition sensors 804 are industrial cameras, the sensor support comprises a gantry support 801 and an industrial camera mounting plate 803, the industrial camera mounting plate 803 is mounted at the upper end of the gantry support 801, the sensor support is fixedly connected to two sides of the conveyor belt type sorting module 20, the image acquisition sensors 804 are distributed on the industrial camera mounting plate 803 in an array arrangement mode, the array arrangement mode is the same as that of the conveyor belt assembly 201, the arrangement modes are all in horizontal equal-height arrangement, the mounting position of the image acquisition sensors 804 is located above the conveyor belt 202, the distance between the image acquisition sensors 804 and the surface of the conveyor belt 202 is matched with and adjustable with the focal length of the industrial camera, and the industrial camera comprises a zoom lens; the image processing module 90 comprises one of a single-chip microcomputer, an industrial personal computer and a computer, and is used for processing the express information acquired by the information acquisition module and transmitting the information to the control module and the driving module.
Further, the front sheet metal housing 103 and the rear sheet metal housing 104 each have a square opening, which is an inlet and an outlet of the battery module 50.
Further, the number of the conveyor belt assemblies 201 is 4 or more.
Further, the number of the image collecting sensors 804 is 2 times that of the conveyor belt assemblies 201, the number of the gantry supports is 2, the number of the industrial camera mounting plates 803 is 2, and the gantry supports are fixedly connected through 4 connecting rods 802 to form a whole.
The application relates to an improved conveyer belt type logistics sorting AGV, which has the following working principle: the light AGV body 10, the control module 30, the wireless communication module 40, the battery module 50, the driving module, the sensing module 70 and the man-machine interaction module 60 are combined together to have the functions of basic movement, navigation, obstacle avoidance, control, communication and the like of a traditional AGV; the conveyer belt type logistics sorting AGVs firstly move to a logistics area to be sorted, goods to be sorted are transferred onto the conveyer belt assembly 201 by a sorter or other automatic sorting equipment, the conveyer belt assembly 201 can load a plurality of goods at one time, the conveyer belt type logistics sorting AGVs move to a discharging area along a planned path, and the goods are driven to be discharged one by the conveyer belt assembly 201 according to the loaded goods along the path; in addition, since the surface of the conveyor belt 202 is higher than the surfaces of the supports 203 on both sides of the conveyor belt assembly 201, a large piece of goods can be sorted and carried by a plurality of conveyor belt assemblies 201 in combination, and the conveyor belt assemblies 201 are cooperatively driven to drop the large piece of goods through the conveyor belt by the resultant force. The conveyer belt assembly 201 can load a plurality of express items at one time, the labels on the express item surfaces face upwards, the conveyer belt type logistics sorting AGVs are controlled to move along a planned route, in the moving process of the AGVs, the image acquisition sensor 804 is controlled to acquire the labels on the express item surfaces, the image processing module 90 is controlled to analyze a target unloading area or a target express item collection bag of the express items, the AGVs are controlled to move to a destination along the planned route according to express item information, and the conveyer belt assembly 201 is controlled to drive the express items to be transferred to the target express item collection bag; in the moving process of the AGV, the express to be sorted is controlled to move to the working area of the image acquisition sensor 804, and label information of the express is acquired and processed.
In another embodiment, as shown in fig. 1 and 5, the number of the conveyor belt assemblies 201 is 4 groups, the number of the image acquisition sensors 804 is 2 times the number of the conveyor belt assemblies 201, 8, the number of the gantry supports 801 is 2, the number of the industrial camera mounting plates 803 is 2, and the gantry supports 801 are fixedly connected through 4 connecting rods to form a whole.
In another embodiment, 3 couriers are placed on one conveyor belt 202, which are respectively: express delivery 1, express delivery 2, express delivery 3, the label of express delivery up for image acquisition sensor 804 can gather the express delivery information that the express delivery label carried, during operation, conveyer belt 202 is rotatory, at first drive express delivery 1 moves under image acquisition sensor 804, the industry camera of image acquisition sensor 804 is taken a picture the express delivery label, the image that obtains of taking a picture is handled through image processing module 90, the required destination of letter sorting and transportation of express delivery is solved, namely the certain address of its planning route, the image information of handling or control module 30 is given and control drive module drive AGV moves the destination of planning route, control conveyer belt motion this moment, lift express delivery 1 and drive AGV 2 gets into the collection region of image acquisition sensor 804 promptly, duplicate image acquisition and image processing, in the in-process of image acquisition and processing, the time of make full use of AGV in the course of moving is used for the collection of express delivery information promptly, the processing of express delivery information and the removal simultaneously in a period of time, its mode of operation has changed the letter sorting mode of letter sorting AGV greatly, the mode of operation has been advanced, the letter sorting mode of the AGV has been moved, the serial-type of operation mode has been greatly improved.
In another embodiment, as shown in fig. 4, the conveyor belt assembly 201 is a conventional conveyor belt assembly, that is, the height of the conveyor belt 202 is lower than the surface of the two side supports 203, each conveyor belt assembly 201 independently carries a single load and independently controls the moving direction of the single load, so that the AGV can carry a plurality of loads by moving a circle, thereby realizing sorting of the plurality of loads and improving sorting efficiency.
In another embodiment, where a single conveyor assembly 201 sorts a single load, the sorting efficiency may be multiple times when traveling one turn as in a conventional skip or flap AGV, since multiple loads are carried at a time and unloaded one by one along the planned path.
In another embodiment, each conveyor belt assembly 201 is independently controlled so that the sorting of the goods can be bi-directional, i.e., left discharge (left movement) when the conveyor belt 202 is rotating forward and right discharge (right movement) when the conveyor belt 202 is rotating backward, avoiding the use of reversing assemblies, and providing a similar bi-directional sorting function.
In another embodiment, the control of each conveyor belt assembly 201 may be independent or coordinated, and in coordinated operation (not shown), the large items may be commonly carried and transported due to the surface of the conveyor belt 202 being higher than the surface of the support 203 on both sides thereof, thus the size of the items to be sorted may be less limited and the sorted items may be diversified.
In the above embodiment, since the use of the flip bracket is avoided, the unloading of the cargoes is directly driven by the conveyor belt 202 rather than the gravitational component of the cargoes, so that the unloading speed of the cargoes is faster and adjustable, which is beneficial to improving the sorting efficiency.
It will be obvious to those skilled in the art that the specific embodiments are merely illustrative of the present application, and that the specific implementation of the embodiments of the present application is not limited by the above-described manner, and that various insubstantial modifications of the method concept and technical solution of the present application are possible, or the concept and technical solution of the present application are directly applied to other occasions without improvement, within the scope of the present application.
Claims (4)
1. An improved conveyor belt type logistics sorting AGV comprising: the automatic sorting system comprises a light AGV body, a conveyor belt type sorting module, a control module, a wireless communication module, a battery module, a driving module, a man-machine interaction module, a sensing module, an information acquisition module and an image processing module;
The light AGV body contains: a sheet metal structure frame and a sheet metal structure support; the sheet metal structure frame comprises an upper sheet metal shell, a lower sheet metal shell, a front sheet metal shell and a rear sheet metal shell; the sheet metal structure support comprises a left front sheet metal upright post, a right front sheet metal upright post, a left rear sheet metal upright post, a right rear sheet metal upright post, a driving wheel sheet metal bracket, a universal wheel sheet metal bracket and a battery module sheet metal bracket; the upper sheet metal shell, the lower sheet metal shell, the front sheet metal shell and the rear sheet metal shell are fixedly connected with the left front sheet metal upright post, the right front sheet metal upright post, the left rear sheet metal upright post and the right rear sheet metal upright post to form a square box body;
The driving module comprises a steering wheel and a universal wheel; the steering wheel is arranged at the lower part of the lower sheet metal shell through a driving wheel sheet metal bracket, and the universal wheel is arranged at the front part and the rear part of the lower surface of the lower sheet metal shell through a universal wheel sheet metal bracket;
The control module, the wireless communication module and the battery module are arranged on the upper surface of the lower sheet metal shell, and the battery module sheet metal bracket is fixedly arranged on the upper surface of the lower sheet metal shell in the square box body;
The conveying belt type sorting module comprises a plurality of conveying belt assemblies which are horizontally arranged, the conveying belts of the conveying belt assemblies are two-way moving conveying belts, the conveying belt assemblies are placed in parallel and have the same height, the surfaces of the conveying belts of the conveying belt assemblies are higher than the upper surfaces supported on the two sides of the conveying belt assemblies, the moving direction of the conveying belts is perpendicular to the moving direction of the light AGV body, and the conveying belt assemblies are independently driven and cooperatively linked according to task requirements;
The control module comprises a control knob and a control button, and the control knob and the control button are arranged on the outer surface of the shell;
The man-machine interaction module is detachably arranged on the outer surface of the shell through a bracket; the wireless communication module is one or a combination of a plurality of wifi, bluetooth and LORA;
The battery module is a battery box which can be rapidly disassembled and comprises a lithium ion battery and a lead-acid storage battery; the man-machine interaction module is one of a PDA, an IPAD, a smart phone and an industrial personal computer;
the sensing module comprises a magnetic navigation sensor, a magnetic stripe, an obstacle avoidance sensor and a photoelectric sensor, wherein the magnetic navigation sensor is installed at the front end and the rear end of the lower part of the light AGV body, the magnetic stripe is installed on the navigation path of a working area, the obstacle avoidance sensor is installed around the lower part of the light AGV body, and the photoelectric sensor is installed on two side supports of the conveyor belt assembly and used for detecting whether goods exist on the conveyor belt and counting;
the information acquisition module comprises an image acquisition sensor and a sensor bracket; the image acquisition sensor is an industrial camera, the sensor support comprises a gantry support and an industrial camera mounting plate, the industrial camera mounting plate is mounted at the upper end of the gantry support, the sensor support is fixedly connected to two sides of the conveyor belt type sorting module, the image acquisition sensor is distributed on the industrial camera mounting plate in an array arrangement mode, the array arrangement mode is the same as the conveyor belt assembly arrangement mode and is in horizontal equal-height arrangement, the mounting positions of the image acquisition sensor are located at the front end and the rear end of the travelling direction of the conveyor belt, the distance between the image acquisition sensor and the surface of the conveyor belt is matched with the focal length of the industrial camera and is adjustable, and the industrial camera comprises a zoom lens;
The image processing module comprises one of a singlechip, an industrial personal computer and a computer and is used for processing the express information acquired by the information acquisition module and transmitting the information to the control module and the driving module.
2. The improved conveyor belt style logistics sorting AGV of claim 1, wherein said front sheet metal housing and said rear sheet metal housing each have square openings for the access of said battery module.
3. The improved conveyor logistics sorting AGV of claim 1 wherein the number of conveyor belt assemblies is 4 or more.
4. The improved conveyor belt style logistics sorting AGV of claim 1, further comprising, said image acquisition sensors being 2 times the number of conveyor belt assemblies, said gantry supports being 2, said industrial camera mounting plates being 2, said gantry supports being fixedly connected by 4 links to form a unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202322453158.1U CN220804464U (en) | 2023-09-11 | 2023-09-11 | Improved generation conveyer belt commodity circulation letter sorting AGV |
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| CN202322453158.1U CN220804464U (en) | 2023-09-11 | 2023-09-11 | Improved generation conveyer belt commodity circulation letter sorting AGV |
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