WO2022095631A1 - Vga de manutention de palette applicable à la récupération et au placement d'une palette à quadrants - Google Patents

Vga de manutention de palette applicable à la récupération et au placement d'une palette à quadrants Download PDF

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Publication number
WO2022095631A1
WO2022095631A1 PCT/CN2021/121159 CN2021121159W WO2022095631A1 WO 2022095631 A1 WO2022095631 A1 WO 2022095631A1 CN 2021121159 W CN2021121159 W CN 2021121159W WO 2022095631 A1 WO2022095631 A1 WO 2022095631A1
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WO
WIPO (PCT)
Prior art keywords
swing arm
pallet
picking
driving
wheel
Prior art date
Application number
PCT/CN2021/121159
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English (en)
Chinese (zh)
Inventor
陈英伟
张贻弓
沈长鹏
Original Assignee
兰剑智能科技股份有限公司
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Application filed by 兰剑智能科技股份有限公司 filed Critical 兰剑智能科技股份有限公司
Publication of WO2022095631A1 publication Critical patent/WO2022095631A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07586—Suspension or mounting of wheels on chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems

Definitions

  • the invention relates to the technical field of logistics and transportation, in particular to a pallet handling AGV suitable for picking and placing field-shaped pallets.
  • AGV Automated Guided Vehicle
  • the existing pallet truck has a 5-wheel structure, one of which is a driving wheel, which is installed at the front end of the vehicle body.
  • Two universal wheels for auxiliary support are installed on both sides of the driving wheel, and a fork at the rear end of the vehicle body is installed There is a load wheel on each of the legs.
  • the purpose of the present invention is to solve the above problems, and to provide a pallet handling AGV suitable for picking and placing field-shaped pallets.
  • a pallet handling AGV suitable for picking and placing field-shaped pallets.
  • a pallet handling AGV suitable for picking and placing field-shaped pallets including a body and a fork frame, the lower end of the body is provided with a driving wheel, the body is provided with a driving device for driving the driving wheel to walk and turn, and the rear end of the fork frame is provided.
  • the front end of the fork frame is provided with an intermediate support wheel
  • an inner mast is arranged between the body and the fork frame, the fork frame and the inner mast are movably connected, and the inner mast is
  • a lifting device for driving the inner gantry to lift and lower a connecting mechanism is arranged between the body and the inner gantry, and the output end of the connecting mechanism is provided with a linkage mechanism that makes the inner gantry lift and the bearing wheel swing synchronously.
  • the lower end of the vehicle body is provided with universal wheels on both sides of the driving wheel.
  • the lifting device includes a hydraulic cylinder, the tail end of the cylinder body of the hydraulic cylinder is connected with the vehicle body, and the piston rod end of the hydraulic cylinder is connected with the inner mast.
  • the connecting mechanism includes a swing arm for connecting the inner gantry and the vehicle body, and a shaft sleeve for driving the linkage mechanism to operate;
  • the rear end of the fork frame is provided with a third swing arm for installing the bearing wheel.
  • the swing arm includes a first swing arm and a second swing arm, the front end of the first swing arm is hinged with the body, the rear end of the first swing arm is hinged with the inner gantry, and the two ends of the shaft sleeve rotate between the inner gantry.
  • the front end of the second swing arm is rotatably connected with the inner gantry, and the rear end of the second swing arm is fixedly connected with the shaft sleeve.
  • the linkage mechanism includes a driving rod and a connecting rod, the driving rod is fixed on the shaft sleeve, the driving rod is located on the lower arc surface of the shaft sleeve, the front end of the connecting rod is hinged with the driving rod, and the rear end of the connecting rod is connected with the third swing arm. Front hinged.
  • the middle position of the third swing arm is rotatably connected with the fork frame, and the bearing wheel is installed at the rear end of the third swing arm.
  • the rear end of the third swing arm is provided with an installation frame, the middle position of the installation frame is rotatably connected with the rear end of the third swing arm, and the bearing wheel is installed in the installation frame and is rotatably connected with the installation frame.
  • the front end of the fork frame is provided with a guide rail
  • the two ends of the inner mast are provided with rollers, the rollers cooperate with the guide rail
  • the upper end of the guide rail is provided with a limit block.
  • both the upper limit detection switch and the lower limit detection switch are installed in the body, and the upper limit detection switch and the lower limit detection switch cooperate with the first swing arm.
  • the switch and the lower limit detection switch are connected with the controller through wires.
  • the single-point laser ranging sensor and the D vision sensor are connected to the control through wires.
  • connection mechanism includes a shaft sleeve, a transmission mechanism for driving the rotation of the shaft sleeve, and a guide mechanism for guiding the inner gantry and the vehicle body.
  • the transmission mechanism includes a gear and a rack, the rack is mounted on the vehicle body, the gear is mounted on the shaft sleeve, and the gear meshes with the rack.
  • an inner gantry is arranged between the vehicle body and the fork frame, the inner gantry and the vehicle body are movably connected, and the inner gantry is provided with a lifting device that drives the inner gantry to rise and fall, and the fork frame is It is movably connected with the inner gantry, and the lower end of the inner gantry is provided with a linkage mechanism that drives the bearing wheel to swing.
  • the lifting device drives the inner mast to descend to the lowest position. At this time, the fork frame is lowered to the lowest position, and the intermediate support wheel is supported on the ground. At this time, it is in a state of no-load and waiting for goods to be picked up. In this state, the linkage mechanism drives the load-bearing wheel group.
  • a C-shaped guide rail is arranged at the front end of the fork frame, and rollers are arranged at both ends of the inner mast, and the rollers cooperate with the guide rail.
  • the upper end of the guide rail is provided with a limit block, which acts as a limit to prevent it from falling out.
  • the fork frame can rise with the rise of the inner gantry.
  • the middle support wheel does not work when it leaves the ground, and the bearing wheel is supported on the ground to hold up the pallet.
  • the lifting of the fork frame and the lifting of the load-bearing wheel group can be controlled by a set of lifting devices, and there is no need for each load-bearing wheel group to be separately connected to an additional power device. cost.
  • the linkage mechanism includes a driving rod and a connecting rod.
  • the driving rod is fixed on the shaft sleeve, the driving rod is located on the lower arc surface of the shaft sleeve, the front end of the connecting rod is hinged with the driving rod, and the rear end of the connecting rod is connected with the third swing arm.
  • the front end is hinged.
  • the middle support wheel is vacated, and the bearing wheel is supported on the ground.
  • the bearing wheel is vacated, and the middle support wheel It is supported on the ground; through the linkage of the mechanical structure, the structure is simple, the operation is convenient, and the reliability is good.
  • the connecting mechanism includes a shaft sleeve, a transmission mechanism for driving the rotation of the shaft sleeve, and a guide mechanism for guiding the inner gantry and the vehicle body, and the guide mechanism is a slide rail pair.
  • the hydraulic cylinder of the lifting device drives the inner gantry to lift and lower
  • the shaft sleeve is driven to rotate through the transmission mechanism
  • the shaft sleeve drives the third swing arm through the driving rod and the connecting rod.
  • FIG. 1 is a bottom view of an embodiment of the present invention
  • Embodiment 1 of the present invention is a right side view of Embodiment 1 of the present invention.
  • FIG. 3 is a schematic structural diagram 1 of Embodiment 1 of the present invention.
  • Embodiment 1 of the present invention is a second structural schematic diagram of Embodiment 1 of the present invention.
  • FIG. 5 is a schematic structural diagram 3 of Embodiment 1 of the present invention.
  • FIG. 6 is a schematic diagram 4 of the structure of Embodiment 1 of the present invention.
  • FIG. 7 is a schematic diagram of a state of no-load waiting to be picked up according to Embodiment 1 of the present invention.
  • FIG. 8 is a schematic diagram of a load carrying state according to Embodiment 1 of the present invention.
  • FIG. 9 is a bottom view of the second embodiment of the present invention.
  • body 1 fork frame 2, driving wheel 3, bearing wheel 4, inner mast 5, intermediate support wheel 6, universal wheel 7, first mounting frame 7, first swing arm 8, second swing arm 9.
  • Shaft sleeve 10 hydraulic cylinder 11, guide rail 12, roller 13, limit block 14, third swing arm 15, drive rod 16, connecting rod 17, mounting bracket 18, upper limit detection switch 19, lower limit detection switch 20 , single-point laser ranging sensor 21, 3D vision sensor 22, gear 23, rack 24.
  • a pallet handling AGV suitable for picking and placing field-shaped pallets includes a vehicle body 1 and a fork frame 2.
  • the lower end of the vehicle body 1 is provided with a driving wheel 3, and the vehicle body 1.
  • the rear end of the fork frame 2 is provided with a bearing wheel 4, and the front end of the fork frame 2 is provided with an intermediate support wheel 6.
  • the position of the intermediate support wheel 6 and the fork frame 2 Fixed, the intermediate support wheel 6 and the fork frame 2 are rotatably connected, an inner gantry 5 is arranged between the body 1 and the fork frame 2, and the inner gantry 5 is movably connected with the body 1, and the inner door
  • the frame 5 is provided with a lifting device that drives the inner gantry 5 to rise and fall.
  • the fork frame 2 and the inner gantry 5 are movably connected, and the lower end of the inner gantry 5 is provided with a linkage mechanism that drives the bearing wheel 4 to swing.
  • the lifting device drives the inner gantry 5 to descend to the lowest position. At this time, the fork frame is lowered to the lowest position, and the intermediate support wheel 6 is supported on the ground.
  • the linkage mechanism drives the load
  • the wheel set is completely separated from the ground by a certain gap.
  • the lower end of the vehicle body 1 is provided with universal wheels 7 on both sides of the drive wheel 3.
  • the universal wheels can provide auxiliary support in any state and increase driving stability.
  • the lifting device includes a hydraulic cylinder 11 .
  • the rear end of the cylinder body of the hydraulic cylinder 11 is connected to the vehicle body 1
  • the inner mast 5 is provided with a through hole, and the connection point on the vehicle body passes through the through hole and is connected to the vehicle body 1 .
  • the cylinder end of the hydraulic cylinder 11 is rotatably connected, and the piston rod end of the hydraulic cylinder 11 is connected with the upper end of the inner mast 5 .
  • the lifting and lowering of the inner mast 5 is controlled by the expansion and contraction of the piston rod of the hydraulic cylinder 11 .
  • the fork frame is used to insert and take out pallet materials.
  • the lifting device can use common lifting components such as hydraulic cylinder, electric cylinder, lead screw, etc. One end of the lifting device is fixed on the body, and the other end is connected to the inner gantry 20 for driving the inner gantry and the inner gantry.
  • the lifting and lowering of the fork frame makes the AGV in different states.
  • the connecting mechanism includes a swing arm for connecting the inner mast 5 and the vehicle body 1 , and a bushing 10 for driving the linkage mechanism to operate.
  • the swing arm includes a first swing arm 8 and a second swing arm 8 Swing arm 9, the first swing arm 8 is arranged symmetrically on the left and right, the front end of the first swing arm 8 is hinged with the body 1, the body 1 is provided with a mounting frame, the front end of the first swing arm 8 is rotatably connected with the mounting frame, the rear of the first swing arm 8 The end is hinged with the side of the inner door frame 5, the two ends of the shaft sleeve 10 are connected with the inner door frame 5 in rotation, the front end of the second swing arm 9 is connected with the inner door frame 5 in rotation, and the rear end of the second swing arm 9 is fixed with the shaft sleeve 10. connect.
  • the inner gantry is connected with the vehicle body 1 through the first swing arm 8 and the second swing arm 9 to form a parallelogram mechanism.
  • the rear end of the fork frame 2 is provided with a third swing arm 15 for installing the carrying wheel 4 .
  • the middle position of the third swing arm 15 is rotatably connected with the fork frame 2, the carrying wheel 4 is installed at the rear end of the third swing arm 15, the middle position of the third swing arm 15 is a corner, and the front half of the third swing arm 15 is inclined upward.
  • the rear end of the third swing arm 15 is provided with a mounting frame 18, and there are two bearing wheels 4.
  • the middle position of the mounting frame 18 is rotatably connected with the rear end of the third swing arm 15, and the bearing wheel 4 is installed in the mounting frame 18 and is connected to the rear end of the third swing arm 15.
  • the rotating connection between the mounting brackets 18 ensures that when the third swing arm 15 swings, the front and rear bearing wheels 4 can always be in contact with the ground.
  • the front end of the fork frame 2 is provided with a C-shaped guide rail 12 , and the two ends of the inner mast 5 are provided with rollers 13 .
  • the bottom can slide relative to the inner mast 5.
  • the upper end of the guide rail 12 is provided with a limit block 14.
  • the limit block 14 acts as a limit to prevent it from falling out.
  • the frame 2 can rise with the rise of the inner gantry.
  • the middle support wheel 6 does not work when it leaves the ground, and the bearing wheel is supported on the ground to hold up the pallet.
  • the lifting of the fork frame and the lifting of the load-bearing wheel group can be controlled by a set of lifting devices, and there is no need for each load-bearing wheel group to be separately connected to an additional power device. cost.
  • the linkage mechanism includes a driving rod 16 and a connecting rod 17 .
  • the driving rod 16 and the connecting rod 17 are in one-to-one correspondence.
  • the rod 16 is fixed on the shaft sleeve 10
  • the driving rod 16 is located on the lower arc surface of the shaft sleeve 10
  • the front end of the connecting rod 17 is hinged with the driving rod 16
  • the rear end of the connecting rod 17 is hinged with the front end of the third swing arm 15, and the hydraulic cylinder drives the inner
  • the second swing arm 9 will drive the shaft sleeve 10 to rotate counterclockwise.
  • the third swing arm 15 rotates clockwise, so that the bearing wheel 4 moves down, and when the fork frame rises,
  • the bearing wheel 4 plays a supporting role.
  • the intermediate support wheel vacates, and the bearing wheel 4 is supported on the ground.
  • the bearing wheel 4 In the air, the intermediate support wheel is supported on the ground; through the linkage of the mechanical structure, the structure is simple, the operation is convenient, and the reliability is good, and a separate lifting device is not required to drive the lifting and lowering of the bearing wheel, which reduces the cost.
  • an upper limit detection switch 19 and a lower limit detection switch 20 are also included. Both the upper limit detection switch 19 and the lower limit detection switch 20 are installed in the vehicle body 1 . Cooperating with the first swing arm 8, by detecting the swing angle of the first swing arm 8 to determine whether the fork frame has reached the highest point or the lowest point, the upper limit detection switch 19 and the lower limit detection switch 20 are connected to the controller through wires. It is the prior art and will not be repeated here.
  • the upper limit detection switch 19, the lower limit detection switch 20 and the controller can detect that the height of the fork frame from the ground is in the lowest and highest positions respectively, as shown in Figure 8, in this state, when the fork frame is in the highest position, the load The wheel touches the ground, and the middle support wheel is off the ground; as shown in Figure 7, in this state, when the fork frame is at the lowest position, the carrying wheel is off the ground, and the middle support wheel touches the ground; It is a mechanical limit, that is, when the lifting device rises to a certain height, its height position is locked by mechanical limit, or it can be an electrical limit, which is detected by sensor detection and locked by the control system.
  • a single-point laser ranging sensor 21 and a 3D vision sensor 22 are also included, and the single-point laser ranging sensor 21 and the 3D vision sensor 22 are connected to the control through wires.
  • the 3D vision sensor and single-point laser ranging sensor are installed on the fork frame.
  • the AGV picks up the goods before approaching the pallet, it can detect the data of the picked pallet, and transmit the data to the vehicle control system to analyze the positional relationship between the AGV and the pallet. , and control the AGV deviation correction to align the AGV forks with the pallet jacks to ensure that the forks can smoothly enter the pallet jacks; the 3D vision sensor can detect the shape of the pallet before the AGV picks up the goods and approaches the pallet. Size parameters, calculate the length of the fork that needs to be inserted into the pallet jack, and measure the distance between the fork root and the pallet through a single-point laser ranging sensor, so that the AGV can stop reliably after picking up the goods in place.
  • the AGV switches from the no-load waiting state to the no-load walking or handling state.
  • This action can be divided into two stages.
  • the first stage driven by the lifting device, the inner mast is lifted, the fork frame remains stationary, and the fork Under the action of the connecting rod, the bearing wheel at the tail end begins to descend, and finally contacts the ground; after the first stage, the rollers at the top of the two sides of the inner mast contact the limit blocks installed on the top of the fork frame guide rail, and the lift is now lifted.
  • the device will drive the inner gantry and the fork frame to lift at the same time, and at the same time, the load-bearing wheel group will descend synchronously to maintain contact with the ground, and play the role of supporting the fork frame.
  • the fork lifts off the ground; when the AGV switches from the no-load walking state or the handling state to the no-load waiting state, the action steps are reversed from the above.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the connection mechanism includes a shaft sleeve 10 , a transmission mechanism for driving the rotation of the shaft sleeve 10 , and a guide mechanism for guiding the inner mast 5 and the vehicle body 1 , and the guide mechanism is a slider guide pair.
  • the hydraulic cylinder 11 of the lifting device drives the inner gantry 5 to lift and lower
  • the shaft sleeve 10 is driven to rotate through the transmission mechanism
  • the shaft sleeve 10 drives the third swing arm 15 through the driving rod 16 and the connecting rod 17 .
  • the structure is simple, the operation is convenient, and the reliability is good.
  • the transmission mechanism includes a gear 23 and a rack 24 .
  • the rack 24 is mounted on the vehicle body 1 , the axis of the rack 24 is in the vertical direction, the gear 23 is mounted on the shaft sleeve 10 , and the gear 23 and the The racks 24 are meshed, and the gears 23 and the racks 24 are in one-to-one correspondence.
  • the two ends of the shaft sleeve 10 are provided with a set of gears 23 and the racks 24.
  • the shaft sleeve is driven by the meshing of the gears 23 and the racks 24. 10 turns with it.
  • the rest of the structure is the same as that of the first embodiment.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, or an internal communication between two elements.
  • installed should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, or an internal communication between two elements.
  • the specific meanings of the above terms in the present invention can be understood in specific situations.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

Un VGA de manutention de palette pouvant être utilisé pour récupérer et placer une palette à quadrants, comprenant une carrosserie de véhicule (1) et un châssis de lève-palette (2). Une roue motrice (3) est disposée sur l'extrémité inférieure de la carrosserie de véhicule (1). Un appareil d'entraînement entraînant la course et la direction de la roue motrice (3) est disposé dans la carrosserie de véhicule (1). Des roues porteuses (4) sont disposées sur l'extrémité arrière du châssis de lève-palette (2). Des roues de support centrales (6) sont disposées sur l'extrémité avant du châssis de lève-palette (2). Un portique intérieur (5) est disposé entre la carrosserie de véhicule (1) et le châssis de lève-palette (2). Le châssis de lève-palette (2) est relié mobile au portique intérieur (5). Un appareil de levage/abaissement entraînant le levage/l'abaissement du portique intérieur (5) est disposé dans le portique intérieur (5). Un mécanisme de liaison est disposé entre la carrosserie de véhicule (1) et le portique intérieur (5). Un mécanisme de liaison permettant au levage/abaissement du portique intérieur (5) d'être actionné simultanément à l'oscillation des roues porteuses (4) est disposé sur une extrémité sortie du mécanisme de liaison. Lorsque l'appareil de levage/abaissement amène le portique intérieur à être abaissé jusqu'à la position la plus basse, le châssis de lève-palette est abaissé jusqu'à la position la plus basse, les roues de support centrales sont supportées sur le sol, à ce moment l'état rencontré est un état sans charge et en attente de ramassage de marchandise ; dans cet état, le mécanisme de liaison amène l'ensemble roues porteuses à être complètement soulevé du sol d'une certaine hauteur ; par conséquent, lors de la récupération d'une palette à quadrants, les roues porteuses ne peuvent pas venir en butée transversale contre la partie inférieure de la palette, ni la gêner, ni se heurter à cette dernière.
PCT/CN2021/121159 2020-11-09 2021-09-28 Vga de manutention de palette applicable à la récupération et au placement d'une palette à quadrants WO2022095631A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011239829.9A CN112390200A (zh) 2020-11-09 2020-11-09 一种适用于田字形托盘取放的托盘搬运agv
CN202011239829.9 2020-11-09

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WO2022095631A1 true WO2022095631A1 (fr) 2022-05-12

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CN115123971A (zh) * 2022-07-15 2022-09-30 上海快仓智能科技有限公司 起升装置以及搬运设备
CN115159010A (zh) * 2022-07-21 2022-10-11 安恒智能科技有限公司 一种低压开关柜的自动化生产线
CN115744729A (zh) * 2022-11-15 2023-03-07 滁州行云智能装备科技有限公司 一种无人驾驶搬运车

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CN112390200A (zh) * 2020-11-09 2021-02-23 兰剑智能科技股份有限公司 一种适用于田字形托盘取放的托盘搬运agv
CN116374893A (zh) * 2023-03-21 2023-07-04 劢微机器人科技(深圳)有限公司 运输田字托盘的托盘车
CN116853986B (zh) * 2023-06-20 2024-06-07 合肥搬易通科技发展有限公司 全向行驶工业搬运车辆

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