WO2022237128A1 - Appareil de déchargement pliable - Google Patents

Appareil de déchargement pliable Download PDF

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Publication number
WO2022237128A1
WO2022237128A1 PCT/CN2021/133692 CN2021133692W WO2022237128A1 WO 2022237128 A1 WO2022237128 A1 WO 2022237128A1 CN 2021133692 W CN2021133692 W CN 2021133692W WO 2022237128 A1 WO2022237128 A1 WO 2022237128A1
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WO
WIPO (PCT)
Prior art keywords
fixed
vertical
cross bar
slider
synchronous pulley
Prior art date
Application number
PCT/CN2021/133692
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English (en)
Chinese (zh)
Inventor
朱建强
Original Assignee
浙江立镖机器人有限公司
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Filing date
Publication date
Application filed by 浙江立镖机器人有限公司 filed Critical 浙江立镖机器人有限公司
Publication of WO2022237128A1 publication Critical patent/WO2022237128A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/22—Horizontal loading or unloading platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles

Definitions

  • the present application relates to a cargo unloading device, in particular to a foldable cargo unloading device.
  • Unloading the goods on the shelf is a relatively common way of unloading.
  • the shelf In order to improve the efficiency of unloading, usually, the shelf is equipped with multiple layers, and each layer is equipped with multiple boxes.
  • the unloading device In order to improve the efficiency of unloading, usually, the shelf is equipped with multiple layers, and each layer is equipped with multiple boxes.
  • the unloading device must have the goods The function of unloading can only be realized by moving in three-dimensional directions. For this reason, the overall structure of the unloading device will be relatively large, which brings a new technical problem. Packaging, transportation, and installation are very inconvenient, especially for long-distance transportation such as transportation. When going overseas, it's expensive.
  • the application provides a foldable unloading device.
  • a collapsible unloading device may include:
  • the frame is provided with an upper bracket, a lower bracket, at least one left vertical rod, and at least one right vertical rod, and a left vertical rod and a right vertical rod are fixed between the upper bracket and the lower bracket, and the left vertical rod and the right vertical rod Can be folded so that the height of the folded rack can be reduced;
  • the upper crossbar the two ends of which are respectively fixed with the upper bracket, the upper crossbar is fixed with the upper slider and the upper power drive assembly, and the upper power drive assembly can control the upper slider to move back and forth along the upper crossbar;
  • the lower cross bar the two ends of which are respectively fixed with the lower bracket, the lower cross bar and the upper cross bar are arranged in parallel, the lower cross bar is fixed with the lower slider and the lower power drive assembly, the lower power drive assembly can control the lower slider only along the lower The crossbar moves back and forth;
  • the vertical rod is fixed with a vertical slider and a vertical power drive assembly.
  • the vertical power drive assembly can Control the vertical slider to only move up and down along the vertical rod, and the vertical rod can be tilted when the rack is folded;
  • An unloading component which is fixed on the vertical slider and can accept goods at a predetermined position and unload the goods at a predetermined position on a shelf on one side of the rack;
  • the controller is fixed on the frame, and the controller is electrically connected to the motors in the upper power drive assembly, the lower power drive assembly, the vertical power drive assembly and the unloading assembly.
  • the left vertical pole is composed of the first long pole, the second long pole, the third long pole and the fourth long pole arranged in sequence
  • the right vertical pole is composed of the fifth long pole, the sixth long pole arranged in sequence It consists of a long rod, a seventh long rod and an eighth long rod.
  • Two adjacent long rods are hinged through a movable joint, and each movable joint is provided with a locking device, which can control the movable joint to move or not to move.
  • the left vertical rod and the right vertical rod can be arranged symmetrically, the second long rod and the third long rod are folded toward the center of the frame, and the sixth long rod (141) and The seventh long rod (142) is folded towards the center of the frame.
  • both the left vertical rod and the right vertical rod may be rectangular tubes, and the locking device may be a U-shaped structure in cross section.
  • the second long bar and the third long bar can be folded into a parallel close state
  • the sixth long bar and the seventh long bar can be folded into a parallel close close state
  • the movable joints may include:
  • the upper cross bar is a hollow structure, the upper cross bar is provided with an open end, and two sides of the upper cross bar are provided with grooves;
  • the upper power drive assembly may include: a first synchronous pulley and a second synchronous pulley, which are respectively rotatably fixed at both ends of the upper cross bar;
  • the first motor the shell of which is fixed to the upper cross bar, the rotating shaft is fixed to the central axis of the first synchronous pulley or the second synchronous pulley, and the first motor is electrically connected to the controller;
  • the upper slider is provided with a protrusion and two slide rails, the protrusion can be embedded in the opening end of the upper cross bar and fixed with the first synchronous belt, and the slide rail can only move back and forth along the groove of the upper cross bar;
  • the lower cross bar is a hollow structure, the lower cross bar is provided with an open end, and the two sides of the lower cross bar are provided with grooves;
  • the lower power drive assembly includes: a third synchronous pulley and a fourth synchronous pulley, which are respectively rotatably fixed at both ends of the lower cross bar;
  • the second motor the housing of which is fixed to the lower crossbar, the rotating shaft is fixed to the central axis of the third synchronous pulley or the fourth synchronous pulley, and the second motor is electrically connected to the controller;
  • the lower slider is provided with a protrusion and two slide rails, the protrusion can be embedded in the opening end of the lower cross bar and fixed with the second timing belt, and the slide rail can only move back and forth along the groove of the lower cross bar;
  • the vertical rod has a hollow structure, the vertical rod is provided with an open end, and the two sides of the vertical rod are provided with grooves;
  • the vertical power drive assembly includes: the fifth synchronous pulley and the sixth synchronous pulley, which are respectively rotatably fixed at both ends in the vertical rod;
  • the third motor its housing is fixed to the vertical rod, the rotating shaft is fixed to the central axis of the fifth synchronous pulley or the sixth synchronous pulley, and the third motor is electrically connected to the controller;
  • the vertical slider is provided with a bump and two slide rails, the bump can be embedded in the open end of the vertical rod and fixed with the third synchronous belt, and the slide rail can only move back and forth along the groove of the vertical rod .
  • the uninstall component may include:
  • the overturning motor the shell of which is fixed to the shell of the first reducer, the rotating shaft is fixed to the input shaft of the first reducer, and the overturning motor is electrically connected to the controller;
  • the turning plate is fixed with the turning support, and the turning plate can be used to hold goods
  • the second speed reducer its housing is fixed to the unloading frame, and the unloading frame is fixed to the vertical slider;
  • a swing motor the shell of which is fixed to the shell of the second reducer, the rotating shaft is fixed to the input shaft of the second reducer, and the swing motor is electrically connected to the controller;
  • a swing rod one end of which is fixed to the output shaft of the second reducer, and the other end is fixed to the casing of the first reducer;
  • the rotation of the oscillating motor can drive the overturning plate with goods to swing from the outside of the shelf to the top of the predetermined container, and the rotation of the overturning motor can unload the goods in the container.
  • the upper movable joint or the lower movable joint may include:
  • An adjustment plate which is provided with an adjustment hole, and one end of the adjustment plate is fixed to the upper slider or the lower slider;
  • An annular groove is provided on the peripheral surface of the adjusting column, and the adjusting hole is sleeved on the annular groove so as to be able to rotate around the adjusting column, and the adjusting column is fixed to the vertical rod.
  • the upper movable joint or the lower movable joint may also include:
  • the flexible isolation column is provided with an annular cavity and a through hole.
  • the flexible isolation column is embedded in the annular groove of the adjustment column, and the adjustment hole is embedded in the annular cavity.
  • the flexible isolation column can isolate the adjustment plate and the adjustment column.
  • the adjustment hole of at least one adjustment plate in the upper movable joint or the lower movable joint is an elongated hole, and the adjustment column can move up and down in the elongated hole.
  • two of the left vertical rod and the right vertical rod are provided respectively, the upper bracket and the lower bracket are both frame-shaped, and the two ends of the upper cross bar are respectively fixed on the frame-shaped ends of the upper bracket, The two ends of the lower cross bar are respectively fixed on the two ends of the frame shape of the lower bracket.
  • the distance between the two left uprights may be greater than the distance between the two right uprights, and when receiving goods, the goods pass between the two left uprights.
  • the upper slider and the lower slider can move synchronously in the same direction; during the folding process, the upper slider and the lower slider can move in opposite directions.
  • the advantages of this application are at least that: the overall structure can be reduced to no more than a quarter of the volume in the working state after being folded; The user will not have problems such as not knowing how to disassemble and assemble, and making mistakes in the assembly process; in addition, the setting of the movable joint of the present application also has the advantage of long service life.
  • the application at least has the beneficial effects of convenient installation and disassembly, greatly reduced packaging and transportation costs, and long service life.
  • Figure 1 is a schematic diagram of the overall structure of the present application.
  • Fig. 2 is a schematic diagram of the structure during the folding process of the present application.
  • Fig. 3 is a schematic structural diagram of the movable joint and the locking device of the present application.
  • Fig. 4 is a schematic diagram of the structure related to the movable joint of the present application.
  • Fig. 5 is a schematic diagram of the folded structure of the present application.
  • Fig. 6 is a schematic diagram of the folded three-dimensional structure of the present application.
  • Fig. 7 is a schematic diagram of the structure of the present application related to the shelves.
  • Fig. 8 is a structural schematic diagram of the connection between the upper horizontal bar and the vertical bar in the present application.
  • FIG. 9 is a schematic structural diagram of a state of an unloading component of the present application.
  • FIG. 10 is a schematic structural diagram of another state of the unloading component of the present application.
  • Fig. 11 is a schematic structural diagram of the upper movable joint and the lower movable joint of the present application.
  • Fig. 12 is a partial sectional view of the movable joint of the present application.
  • Fig. 13 is a schematic structural view of the upper power drive assembly and the lower power drive assembly of the present application.
  • a foldable unloading device may include:
  • Frame 1 it is provided with upper support 11, lower support 13, at least one left vertical pole 12, at least one right vertical pole 14, is fixed with left vertical pole 12 and right vertical pole between upper support 11 and lower support 13 14.
  • the left pole 12 and the right pole 14 can be folded, so that the height of the folded frame 1 can be reduced; in this embodiment, in order to improve stability, two left poles 12 and two right poles are selected 14; the upper support 11 and the lower support 13 are frame-shaped; in order to unload relatively large goods, the distance between the two left vertical poles 12 is larger than the distance between the two right vertical poles 14. pass between the left vertical poles 12;
  • Upper cross bar 22 its two ends are fixed with upper support 11 respectively, specifically, the two ends of upper cross bar 22 are respectively fixed on the frame-shaped two ends of upper support 11, and upper cross bar 22 is fixed with upper slider 21 and upper
  • the power drive assembly 2 the upper power drive assembly 2 can control the upper slider 21 to move back and forth along the upper cross bar 22 only;
  • Lower cross bar 62 its two ends are fixed with lower bracket 13 respectively, specifically, the two ends of lower cross bar 62 are respectively fixed on the two ends of the frame shape of lower bracket 13, and lower cross bar 62 and upper cross bar 22 are arranged in parallel, and lower cross bar 62 is arranged in parallel with upper cross bar 22.
  • the cross bar 62 is fixed with the lower slider 61 and the lower power drive assembly, and the lower power drive assembly can control the lower slider 61 to only move back and forth along the lower cross bar 62;
  • Vertical rod 31 its top is fixed with upper slider 21 through upper movable joint, bottom is fixed with lower slider 61 through lower movable joint, vertical slider 32 and vertical power drive assembly are fixed on vertical rod 31, vertical
  • the direct power drive assembly can control the vertical slider 32 to move up and down only along the vertical rod 31, and the vertical rod 31 can be tilted after the frame 1 is folded;
  • the unloading assembly which is fixed on the vertical slide 32, can accept the goods at the predetermined position and unload the goods at the predetermined position of the shelf 5 on one side of the frame 1;
  • the upper slider 21 and the lower slider 61 move synchronously in the same direction, and during the folding process, the upper slider 21 and the lower slider 61 move in opposite directions.
  • a controller which is fixed on the frame 1, is electrically connected to the motors in the upper power drive assembly 2, the lower power drive assembly, the vertical power drive assembly and the unloading assembly.
  • the left vertical pole 12 is made up of the first long pole 120, the second long pole 121, the third long pole 122 and the fourth long pole 123 arranged in sequence
  • the right vertical pole 14 is formed by the fifth long pole 140 arranged in sequence
  • the sixth long rod 141, the seventh long rod 142 and the eighth long rod 143 two adjacent long rods are hinged through the movable joint 15, and each movable joint 15 is provided with a locking device 16, the locking device 16 It can control the movable joint 15 to be active or inactive; after the frame 1 is folded, the second long pole 121 and the third long pole 122 can be folded into a parallel close state, and the sixth long pole 141 and the seventh long pole 142 can be folded into a parallel close close state State: the left vertical pole 12 and the right vertical pole 14 are arranged symmetrically, the second long pole 121 and the third long pole 122 are folded towards the center of the frame 1, and the same is true for the sixth long pole 141 and the seventh long pole 142;
  • the movable joint 15 may include:
  • the movable joint 15 can make two Rotating the long rod from 0 to 180 degrees can also make the two long rods rotate from 90 to 180 degrees;
  • the left vertical rod 12 and the right vertical rod 14 are all made of rectangular tubes
  • the locking device 16 is made of a U-shaped structure, and the U-shaped open end facilitates the movement of the rectangular tube when it is folded.
  • the structural strength of the U shape is better.
  • the upper cross bar 22 is a hollow structure, the upper cross bar 22 is provided with an open end 83, and the two sides of the upper cross bar 22 are provided with grooves 87;
  • the upper power drive assembly 2 includes: a first synchronous pulley 86 and a second synchronous pulley, which are respectively rotatably fixed at both ends of the upper cross bar 22;
  • the first synchronous belt 85 is wound outside the first synchronous pulley 86 and the second synchronous pulley;
  • the first motor 81 its housing is fixed to the upper cross bar 22, the rotating shaft is fixed to the central axis of the first synchronous pulley 86 or the second synchronous pulley, and the first motor 81 is electrically connected to the controller;
  • the upper slider 21 is provided with a projection 84 and two slide rails 82, the projection 84 can be embedded in the open end 83 of the upper cross bar 22 and fixed with the first synchronous belt 85, and the slide rail 82 can only be moved along the upper cross bar.
  • the groove 87 of 22 moves back and forth;
  • the lower cross bar 62 is a hollow structure, the lower cross bar 62 is provided with an open end, and the two sides of the lower cross bar 62 are provided with grooves;
  • the lower power drive assembly includes: a third synchronous pulley and a fourth synchronous pulley, which are respectively rotatably fixed at both ends of the lower cross bar 62;
  • the second motor its housing is fixed to the lower cross bar 62, the rotating shaft is fixed to the central axis of the third synchronous pulley or the fourth synchronous pulley, and the second motor is electrically connected to the controller;
  • the lower slider 61 is provided with a protrusion and two slide rails, the protrusion can be embedded in the opening end of the lower cross bar 62 and fixed with the second synchronous belt, and the slide rail can only move back and forth along the groove of the lower cross bar 62 ;
  • Vertical rod 31 which is a hollow structure, the vertical rod 31 is provided with an open end, and the two sides of the vertical rod 31 are provided with grooves;
  • the vertical power drive assembly includes: the fifth synchronous pulley and the sixth synchronous pulley, which are respectively rotatably fixed at both ends of the vertical rod 31;
  • the third motor its housing is fixed to the vertical rod 31, the rotating shaft is fixed to the central axis of the fifth synchronous pulley or the sixth synchronous pulley, and the third motor is electrically connected to the controller;
  • Vertical slide block 32 it is provided with projection and two slide rails, and projection can be embedded in the open end of vertical rod 31 and is fixed with the 3rd synchronous belt, and slide rail can only go back and forth along the groove of vertical rod 31 move.
  • the upper cross bar 22, the upper power drive assembly 2 and the upper slider 21 form an independent first drive unit
  • the lower cross bar 62, the lower power drive assembly and the lower slide 61 form an independent second drive unit
  • the first driving unit, the vertical rod 31, the vertical power drive assembly and the vertical slide block 32 form an independent third driving unit, these three driving units are identical in structure, which greatly simplifies the structure and reduces the cost.
  • the unloading component may include:
  • Overturning motor 43 its housing is fixed to the housing of the first speed reducer 44, the rotating shaft is fixed to the input shaft of the first speed reducer 44, and the turning motor 43 is electrically connected to the controller;
  • Overturn bracket 42 which is fixed with the output shaft of the first speed reducer 44;
  • Turning plate 40 it is fixed with turning support 42, and turning plate 40 can be used for dressing up goods;
  • the second speed reducer 46, its housing is fixed with the unloading frame 41, and the unloading frame 41 is fixed with the vertical slide block 32;
  • Swing motor 47 its housing is fixed to the housing of the second speed reducer 46, the rotating shaft is fixed to the input shaft of the second speed reducer 46, and the swing motor 47 is electrically connected to the controller;
  • a swing rod 45 one end of which is fixed to the output shaft of the second speed reducer 46, and the other end is fixed to the housing of the first speed reducer 44;
  • Swing motor 47 rotates and can drive the turnover disc 40 that goods are housed to swing to the top of predetermined container 51 from the outside of shelf 2, and turning over motor 43 rotates and can unload goods in predetermined container 51.
  • the turning plate 40 of the present application can pass between the two left vertical poles 12, move to the outside of the frame 1 to accept the goods, such as the goods unloaded by the robot, and then transport the goods to the predetermined container 51 on the shelf 2 for unloading, as shown in the figure Only one shelf 2 is given in 7.
  • a shelf 2 can be placed on both sides of the frame 1. Case 51 can be disassembled, convenient to take goods.
  • the upper movable joint or the lower movable joint may include:
  • Adjusting plate 71 which is provided with adjusting hole 711, one end of adjusting plate 71 is fixed with upper slider 21 or lower slider 61;
  • the adjusting column 72 has an annular groove on its peripheral surface, and the adjusting hole 711 is sleeved on the annular groove and can rotate around the adjusting column 72, and the adjusting column 72 is fixed to the vertical rod 31.
  • the upper movable joint or the lower movable joint may also include:
  • the flexible spacer column 73 is provided with an annular cavity and a through hole, the flexible spacer column 73 is embedded in the annular groove of the adjustment column 72, the adjustment hole 711 of the adjustment plate 71 is embedded in the annular cavity of the flexible isolation column 73, the flexible isolation column 73 can
  • the isolation adjustment plate 71 and the adjustment column 72 have the flexible isolation column 73, which can effectively protect the vertical rod 31, the upper slider 21 and the lower slider 61.
  • the flexible isolation column 73 is a wearing part, but it can be replaced.
  • the flexible spacer column 73 can be made of plastic.
  • the adjustment column 72 is bounded by a circular groove and divided into two parts, which are fixed by screws to facilitate the installation of the adjustment plate 71 .
  • the adjusting hole 711 of at least one adjusting plate 71 in the upper movable joint or the lower movable joint is an elongated hole, and the adjusting column 72 can move up and down in the elongated hole.
  • the vertical bar 31 cannot always keep moving in parallel, and the vertical bar 31 is relative to the upper cross bar 22 and the vertical bar 31. /or the lower cross bar 62 will have a small rotation angle, and the deflection angle is always changing.
  • the torque generated by it will be very large. If there is no upper movable joint and lower movable Joint, this torque is easy to damage the rigid joints between the vertical bar 31 and the upper cross bar 22 and the lower cross bar 62.
  • the vertical bar 31 can rotate an angle and move up and down a certain distance adaptively relative to the upper cross bar 22 and/or the lower cross bar 62, and can Eliminates torque, thereby protecting sliders, etc. from damage.
  • the motor of this application can be a servo motor, and the controller can precisely control the operation of the motor according to the instructions, so as to control the precise positioning and loading and unloading actions of the turning plate 40, which can be realized specifically by software.
  • the application provides a foldable unloading device, including: a frame, which is provided with an upper bracket, a lower bracket, a left vertical rod, a right vertical rod, and the left vertical rod and the right vertical rod can be folded;
  • the upper bracket is fixed, the upper cross bar is fixed with the upper slider and the upper power drive assembly, and the upper slider only moves back and forth along the upper cross bar;
  • the lower cross bar is fixed with the lower bracket, and the lower cross bar is arranged parallel to the upper cross bar.
  • the lower crossbar is fixed with the lower slider and the lower power drive assembly, the lower slider only moves back and forth along the lower crossbar;
  • the vertical rod, the top is fixed with the upper slider through the upper movable joint, and the bottom is connected with the lower movable joint through the lower movable joint.
  • the block is fixed, and the vertical slider and the vertical power drive assembly are fixed on the vertical rod, and the vertical slider only moves up and down along the vertical rod; the unloading component, which is fixed on the vertical slider, can be used; the controller, which can Control each motor.
  • the application has the beneficial effects of convenient installation and disassembly, greatly reduced packaging and transportation costs, and long service life.
  • collapsible cargo unloading device of the present application is reproducible and can be used in a variety of industrial applications.
  • the foldable cargo unloading device of the present application can be used in application fields where cargo needs to be unloaded.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Threshing Machine Elements (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

La présente demande divulgue un appareil de déchargement pliable, comprenant : un cadre, qui est doté d'un support supérieur, d'un support inférieur, d'une barre verticale gauche et d'une barre verticale droite, la barre verticale gauche et la barre verticale droite pouvant être pliées ; une traverse supérieure, qui est fixée au support supérieur, la traverse supérieure étant fixée avec un coulisseau supérieur et un ensemble d'entraînement motorisé supérieur, et le coulisseau supérieur ne se déplaçant que vers l'arrière et vers l'avant le long de la traverse supérieure ; une traverse inférieure, qui est fixée au support inférieur, la traverse inférieure et la traverse supérieure étant disposées parallèlement l'une à l'autre, la traverse inférieure est fixée avec un coulisseau inférieur et un ensemble d'entraînement motorisé inférieur, et le coulisseau inférieur ne se déplace que vers l'avant et vers l'arrière le long de la traverse inférieure ; une barre verticale, dont la partie supérieure est fixée au coulisseau supérieur au moyen d'un joint mobile supérieur, et dont la partie inférieure est fixée au coulisseau inférieur par l'intermédiaire d'un joint mobile inférieur, un coulisseau vertical et un ensemble d'entraînement motorisé vertical qui sont fixés sur la barre verticale, et le coulisseau vertical ne se déplace que vers le haut et vers le bas le long de la barre verticale ; un ensemble de déchargement, qui est fixé sur le coulisseau vertical ; et un dispositif de commande, qui est apte à commander chaque moteur électrique. La présente demande a pour avantages une installation et un démontage pratiques, une réduction considérable des coûts d'emballage et de transport, et une longue durée de vie.
PCT/CN2021/133692 2021-05-11 2021-11-26 Appareil de déchargement pliable WO2022237128A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110508307.2A CN113321018B (zh) 2021-05-11 2021-05-11 能折叠的卸货装置
CN202110508307.2 2021-05-11

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WO2022237128A1 true WO2022237128A1 (fr) 2022-11-17

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CN113321018B (zh) * 2021-05-11 2022-06-28 浙江立镖机器人有限公司 能折叠的卸货装置
CN113830485B (zh) * 2021-09-25 2023-01-10 浙江立镖机器人有限公司 固定在货架上的装卸货物设备

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