WO2014148773A1 - Appareil de transfert intelligent sans personnel du type à démultiplication, et appareil de transfert utilisant une poulie à courroie - Google Patents

Appareil de transfert intelligent sans personnel du type à démultiplication, et appareil de transfert utilisant une poulie à courroie Download PDF

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Publication number
WO2014148773A1
WO2014148773A1 PCT/KR2014/002154 KR2014002154W WO2014148773A1 WO 2014148773 A1 WO2014148773 A1 WO 2014148773A1 KR 2014002154 W KR2014002154 W KR 2014002154W WO 2014148773 A1 WO2014148773 A1 WO 2014148773A1
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WO
WIPO (PCT)
Prior art keywords
rail
pulley
roller
gear
motor
Prior art date
Application number
PCT/KR2014/002154
Other languages
English (en)
Korean (ko)
Inventor
최재준
Original Assignee
Choi Jae Jun
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020130029542A external-priority patent/KR101346912B1/ko
Priority claimed from KR1020130051747A external-priority patent/KR101346670B1/ko
Application filed by Choi Jae Jun filed Critical Choi Jae Jun
Publication of WO2014148773A1 publication Critical patent/WO2014148773A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/04—Monorail systems

Definitions

  • the present invention relates to an unmanned conveying device, and more particularly, to a gear deceleration type unmanned conveying device for conveying a material or part in a bogie moving along a rail in a production line.
  • the present invention relates to an unmanned conveying device, and more particularly, to a conveying device using a belt pulley for conveying a material or part in a trolley moving along a rail in a production line.
  • various unmanned conveyance trucks are used for conveying materials, semi-finished products or parts in industrial sites such as production lines or assembly lines.
  • This unmanned guided vehicle is a device that moves materials or products in a factory automated production line and moves materials or products.
  • the unmanned guided vehicle operates according to instructions received from a host computer using power charged in a battery as a power source.
  • the unmanned conveying trolley is a rail guided RGV that moves along a constant track according to the AGV (Automatic Guided Vehicle) moving while reading the guide device arranged on the floor and the size, precision or difficulty of the product applied to the system. Vehicle).
  • the trolley has a pair of rollers driven by a motor, and the roller moves on the rail while rolling in contact with both sides of the rail.
  • This unmanned guided vehicle is a device that moves materials or products in a factory automated production line and moves materials or products.
  • the unmanned guided vehicle operates according to instructions received from a host computer using power charged in a battery as a power source.
  • the unmanned transfer bogie includes an automatic guided vehicle (AGV) that moves while reading an induction apparatus arranged on the floor, and a LGV (laser guided vehicle) that moves by laser navigation.
  • AGV automatic guided vehicle
  • LGV laser guided vehicle
  • the trolley has a pair of rollers driven by a motor, and the roller moves on the rail while rolling in contact with both sides of the rail.
  • the roller rotated by the motor rotates at a high speed on the rail by the high rotational power of the motor.
  • a slip phenomenon occurs between the roller and the rail due to the high speed rotation of the roller by the motor. Malfunctions may occur.
  • the present invention has been made to solve the problems of the prior art as described above, by configuring a gear type reducer that can reduce the rotational force of the motor in the bogie moving on the rail, to reduce the rotational force of the motor to the roller It is an object of the present invention to provide a gear reduction type unmanned conveying device capable of reducing the moving speed of the truck by transmitting.
  • the roller rotated by the motor rotates at a high speed on the rail by the high rotational power of the motor.
  • a slip phenomenon occurs between the roller and the rail due to the high speed rotation of the roller by the motor. Malfunctions may occur.
  • the present invention has been made to solve the problems of the prior art as described above, by configuring a pulley reducer that can reduce the rotational force of the motor on the trolley moving on the rail, decelerating the rotational force of the motor to the roller
  • the purpose is to provide a conveying apparatus using a belt pulley to reduce the moving speed of the truck.
  • the above object is an unmanned conveying apparatus comprising a rail and a bogie having a roller which is in contact with both sides of the rail and driven by a motor, the bogie comprising: a conveying plate provided on the rail and mounted with an article; A mounting plate rotatably installed on a lower surface of the transfer plate; And a gear reducer formed of a plurality of gears which are installed vertically or horizontally on a lower surface of the mounting plate and have a reduction ratio for reducing the rotational force of the motor and transmitting the result to a roller.
  • the trolley is provided with a control unit for controlling the operation of the trolley as a whole, and the control unit is installed so as to be isolated from the gear type reducer by the partition wall, thereby preventing noise, vibration, noise caused by the operation.
  • the outer surface of the roller in contact with both sides of the rail is formed with a locking projection protruding from the upper surface of the rail.
  • one or two or more motors are installed in the cart according to the weight of the product to be transported, and one or two or more control units for controlling the motors are also installed in correspondence with the motors.
  • the gear type reducer is rotatably provided with guide rollers rolling in contact with both side surfaces of the rail to prevent shaking or separation of the bogie when the bogie passes a curved section of the rail.
  • the above-mentioned object is an unmanned conveying device comprising a rail and a bogie having a roller which is in contact with both sides of the rail and driven by a motor, wherein the bogie has a reduction ratio having a reduction ratio for reducing the rotational force of the motor and transmitting it to the roller.
  • the pulley reducer, the housing is provided in the lower portion of the trolley; A first shaft in which both ends of the arms are rotatably mounted to the housing while a gear is formed between the two arms; A first pulley inserted into the upper arm of the first shaft and fixed to the lower surface of the roller and integrally rotated; A second pulley fixed to the lower part of the first shaft and installed to be integrally rotated and connected to the driving pulley of the motor as a belt; A second shaft rotatably installed in the housing and having a gear portion formed on an outer surface thereof and connected to the first pulley and the belt through the gear portion; And a third pulley fixed to the second shaft to be integrally installed and connected to the gear part of the first shaft as a belt.
  • the housing of the pulley reducer is installed to isolate the control unit for controlling the operation of the trolley as a whole, and the locking step that is seated on the upper surface of the rail protruding from the outer surface of the roller in contact with both sides of the rail.
  • the gear reduction type unmanned conveying device of the present invention since the driving force, that is, the rotational force of the motor, is transmitted to the roller after being decelerated through the gear type reducer, the trolley is moved at a reduced speed on the rail, so that the control of the trolley is easy, and the outer circumferential surface of the roller One side is caught on the upper surface of the rail to improve the contact force between the roller and the rail can prevent the malfunction of the truck in advance.
  • the trolley since the driving force of the motor, that is, the rotational force is decelerated through the pulley reducer and transmitted to the roller, the trolley is moved at a reduced speed on the rail, so that the trolley is easily controlled, and one side of the outer circumferential surface of the roller is the upper surface of the rail.
  • the contact force between the roller and the rail is improved to prevent the malfunction of the truck in advance.
  • FIG. 1 is a plan configuration diagram of an unmanned transport apparatus according to a first embodiment of the present invention.
  • FIG. 2 is a side configuration diagram of an unmanned conveying device according to the first embodiment of the present invention.
  • Figure 3 is a front cross-sectional view showing a coupling state of the unmanned conveying device according to the first embodiment of the present invention.
  • FIG. 4 is a plan configuration diagram of the unmanned transport apparatus according to the second embodiment of the present invention.
  • FIG. 5 is a side configuration diagram of an unmanned conveying device according to a second embodiment of the present invention.
  • Figure 6 is a front cross-sectional view showing a coupling state of the unmanned transfer device according to a second embodiment of the present invention.
  • FIG. 7 is a plan view of the conveying apparatus according to the present invention.
  • FIG. 8 is a side configuration diagram of a transport apparatus according to the present invention.
  • Figure 9 is a front cross-sectional view showing a coupling state of the conveying device according to the present invention.
  • FIG. 10 is an exploded view showing a pulley reduction gear configured in the conveying apparatus according to the present invention.
  • FIG. 1 to 6 are views illustrating an unmanned conveying device according to the present invention.
  • Unmanned conveying apparatus is largely composed of the bogie 100 and the rail 200, as shown in Figures 1 to 3, the bogie 100 is moved on the rail 200 do.
  • the trolley 100 is composed of a transfer plate 110, a mounting plate 120, 130, a roller 140, a gear type reducer 170, 170a and the like.
  • the transfer plate 110 is a flat plate provided on the rail 200, on which materials, parts, and the like are mounted.
  • the mounting plates 120 and 130 are flat plates provided on the front and rear surfaces of the lower surface of the transfer plate 110, respectively, but the mounting plates 120 and 130 may be identically formed, but the motor 180 may be the same. And according to the configuration of the pulley reducer 170 or the like is more preferably provided with different mounting plates (120, 130).
  • the front mounting plate 120 is the original plate
  • the rear mounting plate 130 is illustrated as an example of the square plate.
  • Such mounting plates 120 and 130 may be installed on a lower surface of the transfer plate 110 with a bearing interposed therebetween, and may be freely rotated on the lower surface of the transfer plate 110.
  • the roller 140 is provided with a roller 140 formed by two modifications on the lower surface of each mounting plate (120, 130), the roller 140 is bearing on the mounting plate (120, 130) It is installed in the state interposed therewith is freely rotated irrespective of the mounting plate (120, 130). Both rollers 140 installed in this way are rotated in contact with both sides of the rail 200 to be described later to move the trolley 100 on the rail 200.
  • the roller 140 is an inclined surface 141 is formed to be outwardly inclined at the lower portion, a vertical surface 142 formed perpendicular to the upper portion of the inclined surface 141, and a locking projection protruding outwardly on the upper surface of the vertical surface 142. 143 is formed sequentially.
  • the roller 140 is in contact with the inclined surface 220 and the vertical surface 221 of the rail 200 to be described later, the inclined surface 141 and the vertical surface 142, respectively, and the locking step 143 of the upper end of the rail 200
  • the contact force between the roller 140 and the rail 200 be improved, but also the operation of the roller 140 rolling on the rail 200 can be induced more stably.
  • roller 140 an upper portion of the roller 140 is provided with a driven pulley 144 that is integrally rotated like the roller 140.
  • the gear type reducer 170, 170a is a device that transmits power to the roller 140 by a belt or chain by reducing the rotational force of the motor 180 at a constant reduction ratio, and is composed of a plurality of gears having a reduction ratio.
  • Such a gear type reducer 170, 170a may be composed of a vertical type gear reducer 170 and a horizontal type gear reducer 170a as shown in FIGS.
  • a vertical gear reducer 170 that does not occupy much installation space.
  • the vertical gear reducer 170 is composed of a plurality of bevel gears with different gear ratios, for example, after converting the driving force of the motor 180 into a vertical force perpendicular thereto, and then parallel to the motor 180 It can be configured as a system for driving the roller 140 by converting to a horizontal force, the horizontal gear reducer 170a is a system for driving the roller 140 by converting the driving force of the motor 180 into a vertical force perpendicular thereto.
  • the gear-type reducer 170, 170a is not limited to or limited to such an embodiment, and only if the deceleration condition is satisfied, it can be known in advance that it can be applied to various structures and forms of various systems.
  • driving pulleys 171 and 171a connected to the driven pulley 144 of the roller 140 and the belt 172 on the outside of the upper end of the gear type reducer 170 and 170a to rotate the driven pulley 144. Is installed.
  • the power of the motor 180 is in gear gear reducer 170 (170a)-> drive pulley 171 (171a)-> belt 172-> driven pulley 144-> roller 140
  • the deceleration is delivered.
  • the belt 172 is a belt in which gears are formed on one surface thereof, and drive pulleys 171 and 171a and driven pulleys 144 corresponding thereto are also pulleys in which gears are formed on the outer circumferential surface of the belt 172. ) And the pulleys 144, 171, 171a are coupled to the gear system and interlocked.
  • each of the motors 180 connected to both gear type reducer 170, 170a may be driven by the same or different rotation speed by the controller 190 to be described later, the trolley 100 of the present invention is curved It is possible to easily travel on the rail 200.
  • the motor 180 is provided as described above to drive the rotation of the roller 140 may be installed in one or two or more according to the weight of the product to be carried, the control unit to be described later to control the motor 180 ( 190 may also be installed in one or two or more corresponding to the motor 180.
  • the motors 180 are installed in a number corresponding to each roller 140 so that each motor 180 directly drives each roller 140. It can also be driven in rotation.
  • the lower surface of the mounting plate 120, 130 spaced apart from the gear-type gear reducer 170, 170a is provided with a controller 190 for controlling the overall operation of the cart 100, the controller 190 And a partition wall 191 is installed between the and reduction gears 170 and 170a, and the circuit board and the like, which are configured in the control unit 190, from noise or vibration caused by the operation of the motor 180 or the reduction gears 170 and 170a. It will be safe to protect.
  • the gear type reducer is an intelligent unmanned conveying device using a gear reduction type in which a guide roller rolling on both sides of the rail is rotatably installed in order to prevent shaking or deviation of the truck when the truck passes a curved section of the rail. .
  • Guide rollers 150 rolling in contact with both side surfaces of the rail 200 are rotatably installed at the lower portions of the gear type reducers 170 and 170a, and thus, the guide rollers 150 are provided at both lower sides of the rail 200. Since it is tightly adhered to, the trolley 100 is able to prevent the shake or departure of the trolley 100 when passing the curved section of the rail 200.
  • terminals 160 and 161 are connected to the terminals 210 and 211 of the rail 200 to supply power to the trolley 100 under the guide roller 150, and the terminals 160 are provided.
  • 161 is a plurality, one terminal 160 is a power supply terminal, the other terminal 161 is preferably composed of a ground terminal.
  • the rail 200 is the cloud 100 configured as described above is formed in the longitudinal direction of the rail 200, a plurality of rail grooves 201 on both sides of the lower rail groove 201
  • the terminal 210 for power supply and the terminal 211 for grounding are respectively provided.
  • an inclined surface 220 is formed on both upper side surfaces of the rail 200 to contact the inclined surface 141 of the roller 140, and a vertical surface is in contact with the vertical surface 142 of the roller 140 on the upper surface of the inclined surface 220.
  • 221 is formed, and an upper surface 222 of the flat surface on which the locking jaw 143 of the roller 140 is seated and locked is formed at the upper end of the vertical surface 221.
  • the roller is decelerated by being transmitted to the roller 140 through the belt 172 and the driven pulley 144.
  • the roller 140 which is decelerated and rotated as described above has the inclined surface 141, the vertical surface 142, and the locking jaw 143 on the inclined surface 220, the vertical surface 221, and the upper surface 222 of the rail 200, respectively.
  • the rails 200 are moved from both sides of the rails 200 in a locked state to move the trolleys 100 on the rails 200, and the trolleys 100 moved in this way are guided by the lower guide rollers 150. It is moved in a stable supported state on both sides of the.
  • the trolley 100 moved as described above is operated by continuously receiving power through the terminals 160 and 161 connected to the terminals 210 and 211 of the rail groove 201.
  • control unit 191 partition wall
  • Terminal 220 Inclined surface
  • FIG. 7 to 10 are views illustrating a conveying apparatus using a belt pulley according to the present invention.
  • the conveying apparatus of the present invention is largely composed of a bogie 100 and a rail 200, and the bogie 100 is moved on the rail 200.
  • the trolley 100 is composed of a transfer plate 110, a mounting plate 120, 130, a roller 140, a pulley reducer 170 and the like.
  • the transfer plate 110 is a flat plate provided on the rail 200, on which materials, parts, and the like are mounted.
  • the mounting plates 120 and 130 are flat plates provided on the front and rear surfaces of the lower surface of the transfer plate 110, respectively, but the mounting plates 120 and 130 may be identically formed, but the motor 180 may be the same. And the mounting plates 120 and 130 are different according to the configuration of the pulley reducer 170 and the like.
  • the front mounting plate 120 is the original plate
  • the rear mounting plate 130 is illustrated as an example of the square plate.
  • Such mounting plates 120 and 130 may be installed on a lower surface of the transfer plate 110 with a bearing interposed therebetween, and may be freely rotated on the lower surface of the transfer plate 110.
  • the roller 140 is provided with a roller 140 formed in a set of two on the lower surface of each mounting plate 120, 130, the roller 140 is a bearing on the mounting plate (120, 130) Installed in the interposed state is free to rotate regardless of the mounting plate (120, 130). The roller 140 installed in this way is rotated in contact with both sides of the rail 200 to be described later to move the trolley 100 on the rail 200.
  • the roller 140 is an inclined surface 141 is formed to be outwardly inclined at the lower portion, a vertical surface 142 formed perpendicular to the upper portion of the inclined surface 141, and a locking projection protruding outwardly on the upper surface of the vertical surface 142. 143 is formed sequentially.
  • the roller 140 is in contact with the inclined surface 220 and the vertical surface 221 of the rail 200 to be described later, the inclined surface 141 and the vertical surface 142, respectively, and the locking step 143 of the upper end of the rail 200
  • the contact force between the roller 140 and the rail 200 be improved, but also the operation of the roller 140 rolling on the rail 200 can be induced more stably.
  • the pulley reducer 170 is a device for reducing the rotational force of the motor 180 at a constant reduction ratio and transmitting it to the roller 140, as shown in Figs. 9 and 10 on the lower surface of the mounting plate (120, 130) It is implemented through the housing 171 is formed.
  • the first and second shafts 173 and 176 that are vertical in the vertical direction are spaced apart at regular intervals in the housing 171.
  • the first shaft 173 has an upper and lower end portions formed by an inorganic gear portion 173b, and a gear portion 173a is formed between both upper and lower inorganic gear portions 173b, and the teeth of the gear portion 173a are geared. It is formed along the circumferential direction of the first shaft 173.
  • the arms 173b of the first shaft 173 formed as described above are installed in a rotatable state through the housing 171, and the upper arms 173b are fixed to the lower surface of the roller 140.
  • the first pulley 174 is inserted and provided with a bearing interposed therebetween, and the second pulley 175 is installed to be integrally rotated like the first shaft 173 in the lower arm gear 173b.
  • the second pulley 175 is connected to the drive pulley 181 of the motor 180 and the belt 178 is interlocked.
  • first shaft 173 is integrally rotated with the second pulley 175 while not being integrally rotated with the first pulley 174, and the first pulley 174 is integral with the roller 140. Is rotated.
  • Both ends of the second shaft 176 are rotatably installed on the upper and lower surfaces of the housing 171 via a bearing, and a gear part 176a is provided on an outer circumferential surface of the second shaft 176 located inside the housing 171. Is formed.
  • a third pulley 177 is installed to the second shaft 176 to be integrally rotated.
  • the third pulley 176 may be fitted to the gear part 176a to be splined or serrated. have.
  • the gear portion 176a of the second shaft 176 is connected to the first pulley 174 of the first shaft 173 as the belt 178, and the third pulley 177 of the second shaft 176 is The gear 173a of the first shaft 173 and the belt 178 are connected to each other.
  • the power transmission process of the pulley reducer 170 configured as described above, the driving pulley 181 of the motor 180-> the second pulley 175-> the first shaft 173-> the third pulley ( 177)-> second shaft 176-> first pulley 174-> roller 140 has a reduction ratio.
  • the belt 178 is a belt in which gears are formed on one surface thereof, and the driving pulleys 181 and the first, second, and third pulleys 174, 175, and 177 corresponding thereto also have gears on the outer circumferential surface thereof. As the pulley formed, the belt 178 and the pulleys 174, 175, 177, 181 are coupled in a geared manner.
  • the control unit 190 for overall control of the operation of the trolley 100 is installed to be isolated by the partition wall 172. Therefore, since the circuit board constituting the controller 190 is isolated from the driving unit such as the motor 180 or the pulley reducer 170 by the partition wall 172, the controller 190 can be safely protected from noise or vibration during operation. It becomes possible.
  • a guide roller 150 in contact with the rail 200 is rotatably installed under the housing 171 of the pulley reducer 170, and a rail 200 is provided in the housing 171 under the guide roller 150.
  • Terminals 160 and 161 are connected to the terminals 210 and 211 to supply power to the vehicle.
  • the terminal 160, 161 is a plurality, one terminal 160 is a power supply terminal, the other terminal 161 is preferably composed of a ground terminal.
  • the rail 200 is the cloud 100 configured as described above is formed in the longitudinal direction of the rail 200, a plurality of rail grooves 201 on both sides of the lower rail groove 201
  • the terminal 210 for power supply and the terminal 211 for grounding are respectively provided.
  • an inclined surface 220 is formed on both upper side surfaces of the rail 200 to contact the inclined surface 141 of the roller 140, and a vertical surface is in contact with the vertical surface 142 of the roller 140 on the upper surface of the inclined surface 220.
  • 221 is formed, and an upper surface 222 of the flat surface on which the locking jaw 143 of the roller 140 is seated and locked is formed at the upper end of the vertical surface 221.
  • the driving pulley 181 of the motor 180 is rotated, and the driving pulley 181 and the second pulley 175 connected as the belt 178 are interlocked to decelerate and rotate.
  • the first shaft 173 to which the pulley 175 is fixed is integrally rotated like the second pulley 175.
  • the first pulley 174 provided in the inorganic gear 173b of the first shaft 173 does not rotate like the first shaft 173.
  • the third pulley 177 which is connected to the gear portion 173a of the first shaft 173 and the belt 178, is decelerated and rotated, and the third pulley 177 is rotated.
  • the second shaft 176 is rotated integrally with the third pulley 177 by the.
  • the first pulley 174 connected as the belt 178 and the gear portion 176a of the second shaft 176 is decelerated and rotated separately from the first shaft 173.
  • the roller 140 is integrally rotated.
  • the roller 140 rotated at the reduction ratio as described above has the inclined surface 141, the vertical surface 142, and the locking jaw 143 respectively in the inclined surface 220, the vertical surface 221, and the upper surface 222 of the rail 200. It is clouded from both sides of the rail 200 in contact with the contact state to move the trolley 100 on the rail 200, the trolley 100 moved in this way is the rail 200 by the lower guide roller 150 It is moved in a state that is stably supported on both sides of the.
  • the trolley 100 moved as described above is operated by continuously receiving power through the terminals 160 and 161 connected to the terminals 210 and 211 of the rail groove 201.
  • locking jaw 150 guide roller
  • Terminal 170 Pulley reducer
  • Terminal 220 Inclined surface

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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
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Abstract

La présente invention concerne un appareil de transfert intelligent sans personnel du type à démultiplication, qui comprend un rail et un véhicule comportant un galet en contact avec les surfaces latérales du rail, le galet étant entraîné par un moteur. Le véhicule comporte un réducteur du type à engrenages, constitué d'un certain nombre d'engrenages comportant un rapport de réduction, pour permettre de réduire la force de rotation du moteur et fournir la force de rotation au galet. Ce véhicule comporte un organe de commande, installé de manière à être isolé par rapport au réducteur du type à engrenages. Une lèvre de contact dépasse de la surface extérieure du galet, lequel entre en contact avec les deux surfaces du rail et repose sur la surface supérieure de celui-ci.
PCT/KR2014/002154 2013-03-20 2014-03-14 Appareil de transfert intelligent sans personnel du type à démultiplication, et appareil de transfert utilisant une poulie à courroie WO2014148773A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020130029542A KR101346912B1 (ko) 2013-03-20 2013-03-20 기어 감속형을 이용한 지능형 무인 반송 장치
KR10-2013-0029542 2013-03-20
KR10-2013-0051747 2013-05-08
KR1020130051747A KR101346670B1 (ko) 2013-05-08 2013-05-08 벨트풀리를 이용한 반송장치

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WO2014148773A1 true WO2014148773A1 (fr) 2014-09-25

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PCT/KR2014/002154 WO2014148773A1 (fr) 2013-03-20 2014-03-14 Appareil de transfert intelligent sans personnel du type à démultiplication, et appareil de transfert utilisant une poulie à courroie

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Cited By (6)

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Publication number Priority date Publication date Assignee Title
CN109177987A (zh) * 2018-10-31 2019-01-11 东岳机械股份有限公司 一种基于灰沙砖生产用摆渡车驱动机构
CN109399100A (zh) * 2017-08-17 2019-03-01 无锡市赛博机电有限公司 适用于曲线导轨的自驱动导轨小车
CN109399101A (zh) * 2017-08-17 2019-03-01 无锡市赛博机电有限公司 自驱动滚轮导轨小车
CN111137635A (zh) * 2020-01-14 2020-05-12 广东科达洁能股份有限公司 一种瓷砖自动生产线及其瓷砖自动摆渡系统
CN111646199A (zh) * 2020-07-01 2020-09-11 中国黄金集团建设有限公司 一种矿用搬运装置
US20200397039A1 (en) * 2018-02-23 2020-12-24 Acetate International Llc High total denier cellulose acetate tow for hollow filters and non-wrapped filters

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JP2835998B2 (ja) * 1993-06-28 1998-12-14 株式会社キトー 落下防止用ガイドローラを有するトロリ
JP2002264802A (ja) * 2001-03-09 2002-09-18 Daifuku Co Ltd 荷搬送設備
JP3500416B2 (ja) * 2000-01-28 2004-02-23 住友重機械工業株式会社 搬送台車
JP2010214527A (ja) * 2009-03-17 2010-09-30 Kawasaki Heavy Ind Ltd 産業用ロボットのアーム構造体
JP2012161858A (ja) * 2011-02-04 2012-08-30 Daihen Corp ワーク搬送装置

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Publication number Priority date Publication date Assignee Title
JP2835998B2 (ja) * 1993-06-28 1998-12-14 株式会社キトー 落下防止用ガイドローラを有するトロリ
JP3500416B2 (ja) * 2000-01-28 2004-02-23 住友重機械工業株式会社 搬送台車
JP2002264802A (ja) * 2001-03-09 2002-09-18 Daifuku Co Ltd 荷搬送設備
JP2010214527A (ja) * 2009-03-17 2010-09-30 Kawasaki Heavy Ind Ltd 産業用ロボットのアーム構造体
JP2012161858A (ja) * 2011-02-04 2012-08-30 Daihen Corp ワーク搬送装置

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109399100A (zh) * 2017-08-17 2019-03-01 无锡市赛博机电有限公司 适用于曲线导轨的自驱动导轨小车
CN109399101A (zh) * 2017-08-17 2019-03-01 无锡市赛博机电有限公司 自驱动滚轮导轨小车
CN109399100B (zh) * 2017-08-17 2024-04-05 无锡市赛博机电有限公司 适用于曲线导轨的自驱动导轨小车
US20200397039A1 (en) * 2018-02-23 2020-12-24 Acetate International Llc High total denier cellulose acetate tow for hollow filters and non-wrapped filters
US11785983B2 (en) * 2018-02-23 2023-10-17 Acetate International Llc High total denier cellulose acetate tow for hollow filters and non-wrapped filters
CN109177987A (zh) * 2018-10-31 2019-01-11 东岳机械股份有限公司 一种基于灰沙砖生产用摆渡车驱动机构
CN111137635A (zh) * 2020-01-14 2020-05-12 广东科达洁能股份有限公司 一种瓷砖自动生产线及其瓷砖自动摆渡系统
CN111646199A (zh) * 2020-07-01 2020-09-11 中国黄金集团建设有限公司 一种矿用搬运装置

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