CN109703965A - A kind of transfer robot - Google Patents
A kind of transfer robot Download PDFInfo
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- CN109703965A CN109703965A CN201910137187.2A CN201910137187A CN109703965A CN 109703965 A CN109703965 A CN 109703965A CN 201910137187 A CN201910137187 A CN 201910137187A CN 109703965 A CN109703965 A CN 109703965A
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- pedestal
- transfer robot
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- pallet
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- 230000000712 assembly Effects 0.000 claims abstract description 9
- 238000000429 assembly Methods 0.000 claims abstract description 9
- 230000003028 elevating effect Effects 0.000 claims abstract description 5
- 230000007704 transition Effects 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000013519 translation Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 235000005121 Sorbus torminalis Nutrition 0.000 description 1
- 244000152100 Sorbus torminalis Species 0.000 description 1
- 241000270708 Testudinidae Species 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
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Abstract
The invention discloses a kind of transfer robots, include a chassis, a pallet and a jacking rotary unit, chassis includes a pedestal, two drive wheel assemblies and several driven wheels, wherein, drive wheel assemblies described in two groups are symmetrically mounted on the left and right sides at the middle part of the pedestal, the front and rear sides of the pedestal are respectively provided at least one described driven wheel, and the driven wheel is relative to the pedestal floating connection；Pallet its be used for bearing goods；Jacking rotary unit is for driving the pallet to make elevating movement and rotary motion relative to the chassis.The driven wheel that the chassis of transfer robot of the invention includes is mounted on pedestal in a manner of floating connection, certifiable driving wheel sufficiently lands, and all driven wheels also can all land, the running stability of transfer robot is effectively ensured, and transfer robot is lower to the flatness requirement on ground, ground adaptability is stronger, can reduce construction of warehouse cost, and driving wheel is effectively prevent to be maked somebody a mere figurehead, guarantee the walking precision of transfer robot.
Description
Technical field
The present invention relates to robot fields, more particularly to a kind of logistics transfer robot.
Background technique
With the explosive increase of e-commerce, the storage sorting work amount of electric business is also significantly increased.Currently, many electric business
The unmanned carrying article of the automation that transfer robot is provided in warehouse to realize warehouse contracts to reduce cost of labor
The Short Position storing articles outbound time improves storage sorting efficiency.
This transfer robot is a kind of dumpy novelty device, exteriorly like the tortoise that can be fast moved.
They shuttle in warehouse, and any cargo that the retailers such as the clothes, electronic device, auto parts of entire shelf sell is sent
Product is selected, pack and is sent into haulage truck by worker in packing work platform to special packing work platform.
The chassis structure of existing transfer robot is mostly 6 wheel constructions, comprising two groups of driving wheels and 6 and driven wheel, and 6
A wheel is all mounted on the pedestal of chassis in a manner of directly fixing, and this chassis structure is higher to the flatness requirement on ground,
The inept words of ground flat degree are easy aerial driving wheel, influence precision of walking.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, it is preferable that the present invention provides a kind of ground adaptability
Transfer robot.
Technical solution: to achieve the above object, transfer robot of the invention includes
One chassis, it includes a pedestal, two drive wheel assemblies and several driven wheels；Wherein, active wheels described in two groups
Part is symmetrically mounted on the left and right sides at the middle part of the pedestal, and it is described driven that the front and rear sides of the pedestal are respectively provided at least one
Wheel, the driven wheel is relative to the pedestal floating connection；
One pallet, is used for bearing goods；And
One jacking rotary unit is used to that the pallet to be driven to make elevating movement and rotation fortune relative to the chassis
It is dynamic.
Further, the front and rear sides of the pedestal are respectively provided with two driven wheels；Wherein, two driven wheels installation of side
It is hinged on the pedestal at the both ends of the first wraping plate, and in the middle part of first wraping plate；Two driven wheels of the other side are installed
It is hinged on transition piece at the both ends of the second wraping plate, and in the middle part of second wraping plate, the transition piece can be relative to the seat
Body elasticity floats.
Further, the transition piece is hinged on the pedestal, and it is equipped with elastic element between the pedestal, and
The elastic element makes the driven wheel press ground.
Further, the turned position for limiting the transition piece is additionally provided between the transition piece and the pedestal
Locating part.
Further, the pre compressed magnitude for adjusting the elastic element is installed on the transition piece and/or pedestal
Regulating device.
Further, the jacking rotary unit includes
Lead screw is rotatably installed on the pedestal；
It jacks and cooperates between cylinder, with the lead screw for lead screw pair, and the pallet is fixed on its top；
First motor is used to that the lead screw to be driven to rotate relative to the pedestal；And
Driving assembly is set between the pedestal and the jacking cylinder, for driving the jacking cylinder relative to institute
State the rotation of pedestal.
Further, the periphery of the jacking cylinder is provided with slip teeth, and the driving component includes
Second motor is mounted on the pedestal；And
Second driving gear, connect, and it is engaged with the slip teeth, and can be relative to institute with second motor driven
Slip teeth is stated to slide axially.
Further, the pallet includes
One tray body, to be round, and it connects described jacking rotary unit；
Several brackets, all brackets are slidably installed relative to the tray body, and glide direction is the support
The radial direction of frame；And
Carriage drive unit is used to drive all brackets relative to the tray body synchronous slide.
Further, the quantity of the bracket is four, and circumferentially array is mounted on the pallet to all brackets
On ontology, one end far from the tray body center of the bracket has the rib turned over.
Further, the carriage drive unit includes
Lead screw assembly, for each bracket be provided with one group described in lead screw assembly, it includes relative to the pallet
Second lead screw of ontology rotational installation and the feed screw nut being fixedly mounted relative to the bracket；
Bevel pinion is fixedly connected with second lead screw；
Bevel gear wheel is engaged with all bevel pinions, and it is rotatablely connected and concentric with the tray body
Installation；
Driving bevel gear is engaged with the bevel gear wheel；And
Third motor, output shaft are fixedly connected with the driving bevel gear.
The utility model has the advantages that the driven wheel that the chassis of transfer robot of the invention includes installed in a manner of floating connection it is present
On body, it is ensured that driving wheel sufficiently lands, and all driven wheels also can all land, and the operation that transfer robot is effectively ensured is flat
Stability, and transfer robot is lower to the flatness requirement on ground, ground adaptability is stronger, construction of warehouse cost can be reduced, and
It effectively prevent driving wheel to be maked somebody a mere figurehead, guarantees the walking precision of transfer robot.
Detailed description of the invention
Attached drawing 1 is the side view of the transfer robot of first embodiment；
Attached drawing 2 is the cross-sectional view of the transfer robot of first embodiment；
Attached drawing 3 is the perspective view of the transfer robot of first embodiment；
Attached drawing 4 is the top view of the pallet of second embodiment；
Attached drawing 5 is the bottom view of the pallet of second embodiment.
The parts title that appended drawing reference indicates in attached drawing is as follows:
The chassis 1-；11- pedestal；12- drive wheel assemblies；13- driven wheel；The first wraping plate of 14-；The second wraping plate of 15-；16- mistake
Cross part；17- elastic element；18- locating part；181- shoulder block；19- regulating device；191- tabletting；192- adjusts screw；193- lock
Tight nut；2- pallet；21- tray body；22- bracket；23- carriage drive unit；The second lead screw of 231-；232- feed screw nut；
233- bevel pinion；234- bevel gear wheel；235- driving bevel gear；236- third motor；3- jacking rotary unit；31- lead screw；
32- jacks cylinder；321- slip teeth；33- first motor；34- driving assembly；The second motor of 341-；342- second drives gear；It is driven
Gear 35；Driving gear 36.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
First embodiment
It include a chassis 1, a pallet 2 and a jacking rotary unit 3 such as the attached transfer robot shown in Fig. 3 of attached drawing 1-.
Each component will be described in detail below.
Chassis 1 includes a pedestal 11, two drive wheel assemblies 12 and several driven wheels 13；Wherein, driving wheel described in two groups
Component 12 is symmetrically mounted on the left and right sides at the middle part of the pedestal 11, and the front and rear sides of the pedestal 11 are respectively provided at least one
The driven wheel 13, the driven wheel 13 is relative to 11 floating connection of pedestal.Above-mentioned drive wheel assemblies 12 and driven wheel 13
Layout type may make transfer robot can original place around its center steering, turning radius is minimum, so that transfer robot can
Operation in a smaller space, and the layout type of this drive wheel assemblies 12 and driven wheel 13 makes the entire support of chassis 1 flat
Surely, driven wheel 13 relative to 11 floating connection of pedestal can guarantee all driving wheels and driven wheel 13 sufficiently with ground face contact,
Guarantee robot operation when whole stationarity, reduce mechanical shock, guarantee driving wheel will not be maked somebody a mere figurehead so that robot have compared with
High walking precision.
In the present embodiment, the front and rear sides of the pedestal 11 are respectively provided with two driven wheels 13；Wherein, two of side from
Driving wheel 13 is mounted on the both ends of the first wraping plate 14, and the middle part of first wraping plate 14 is hinged on the pedestal 11；The other side
Two driven wheels 13 be mounted on the both ends of the second wraping plate 15, and the middle part of second wraping plate 15 is hinged on transition piece 16,
The transition piece 16 can be relative to 11 elastic floating of pedestal.Specifically, the transition piece 16 is hinged on the pedestal 11,
And it is equipped with elastic element 17 between the pedestal 11, and the elastic element 17 makes the driven wheel 13 press ground.On
Structure is stated on the basis of guaranteeing that driving wheel and ground come into full contact with, ensure that all driven wheels 13 can with ground face contact, and from
Flatness that driving wheel 13 is applicable to ground is voluntarily floated adjusting height, preferable to the adaptability on ground, and transition piece 16 is set
It sets so that chassis 1 can be relieved the mechanical shock during robot manipulating task with certain shock-absorbing function.
Optionally, the rotation for limiting the transition piece 16 is additionally provided between the transition piece 16 and the pedestal 11
The locating part 18 of position, locating part 18 are mainly used for the problem for preventing transition piece 16 excessive relative to the rotational angle of pedestal 11,
Such as during shifting transfer robot, locating part 18 can prevent the raising and persistently drop with pedestal 11 of transition piece 16.
In the present embodiment, locating part 18 is the cylindrical part across transition piece 16, and one end of which is fixed on pedestal 11, the other end has gear
Shoulder 181, transition piece 16 can contact with shoulder block 181 after turning an angle relative to pedestal 11, can not continue to rotate down.
Optionally, the precommpression for adjusting the elastic element 17 is installed on the transition piece 16 and/or pedestal 11
The regulating device 19 of amount, in the present embodiment, elastic element 17 is spring, and regulating device 19 is mounted on transition piece 16, adjusts dress
The pre compressed magnitude for setting 19 adjustable springs has the function that the initial rigid of adjustment spring so that transition piece 16 and pedestal 11 it
Between initial elastic force it is moderate, specifically, regulating device 19 includes tabletting 191, adjusts screw 192 and locking nut 193, elasticity
17 one end of element resists the side of the tabletting 191, adjusts screw 192 and is screwed on the transition piece 16, and its end resists
The other side of the tabletting 191 can make tabletting 191 close to or far from the pedestal 11 by turning the adjusting screw 192,
Achieving the purpose that adjust pre compressed magnitude, 193 spiral shell of locking nut is on the adjusting screw 192 and it resists the transition piece 16,
It can prevent from adjusting the loosening of screw 192.
Pallet 2 is used for bearing goods, and cargo described herein can be individual cargo, is also possible to the goods such as shelf
Object carrier.The disc structure that pallet 2 is one of the forming, the upper end have anti-skid chequer, can prevent from generating phase between cargo and pallet 2
To movement.
Jacking rotary unit 3 is for driving the pallet 2 to make elevating movement and rotary motion relative to the chassis 1.
The jacking rotary unit 3 is specifically comprising lead screw 31, jacking cylinder 32, first motor 33 and driving assembly 34.Lead screw 31 rotates
It is mounted on the pedestal 11；It jacks and cooperates between cylinder 32 and the lead screw 31 for lead screw pair, and the pallet 2 is fixed on its top
Portion；First motor 33 specifically, is fixed with driven for driving the lead screw 31 to rotate relative to the pedestal 11 on lead screw 31
Gear 35 is fixed with the driving gear 36 engaged with driven gear 35 on the output shaft of the first motor 33；Driving assembly 34
It is set between the pedestal 11 and the jacking cylinder 32, for driving rotation of the jacking cylinder 32 relative to the pedestal 11
Turn.
The periphery of the jacking cylinder 32 is provided with slip teeth 321, and the driving component 34 includes that the second motor 341 and second drives
Moving gear 342, the second motor 341 are mounted on the pedestal 11, and the second driving gear 342 and second motor 341 drive
Connection, and it is engaged with the slip teeth 321, and can be slid axially relative to the slip teeth 321.
Using the structure of above-mentioned jacking rotary unit 3, it can be achieved that following movement: when needing to hold up or unload cargo, the
One motor 33 rotates and the second motor 341 remains stationary, at this time due to the effect of lead screw pair and slip teeth 321 and the second sliding tooth
The guiding role that can be axially slid relative between wheel 342, jacking cylinder 32 can drive pallet 2 to make elevating movement；When transporting goods
During when needing to turn, first motor 33 and the second motor 341 rotate synchronously, so that the revolving speed of lead screw 31 and jacking cylinder 32
Identical and rotation direction is identical, and such pallet 2 can be rotated relative to the chassis 1 and be remained unchanged in short transverse, while pallet 2
Revolving speed relative to the revolving speed with chassis 1 on chassis 1 itself cast is identical and contrary, the Shi Qicheng so that robot turns
The cargo of load is static relative to ground, and such handling process is more steady, and the radius of gyration without considering cargo, to passageway
Width requirement is relatively low.
Second embodiment
In the present embodiment, transfer robot includes a chassis 1, a pallet 2 and a jacking rotary unit 3.Wherein chassis 1
Effect with jacking rotary unit 3 is completely the same with first embodiment with structure, and details are not described herein again.
On the basis of first embodiment, since in first embodiment, pallet 2 is an integrally formed disk, thereon
The loaded area of end face is smaller, and when cargo is larger, when loaded area is significantly less than cargo bottom surface, it is unstable to have carrying
Situation, when due to accidental situation emergency stop occurs for robot, cargo is easy to shake, even occur relative to the generation of pallet 2 translation
Topple over, therefore, the structure of pallet 2 is improved in the present embodiment.
Specifically, as shown in attached drawing 4 and attached drawing 5, the structure of pallet 2 include a tray body 21, several brackets 22 and
Carriage drive unit 23.Wherein, tray body 21 is circle, and it connects the jacking rotary unit 3；All brackets
22 are slidably installed relative to the tray body 21, and glide direction is the radial direction of the bracket 22；Carriage drive unit 23 is used
In all brackets 22 of driving relative to 21 synchronous slide of tray body.
Further, the quantity of the bracket 22 is four, all brackets 22 circumferentially array be mounted on it is described
In tray body 21, one end far from 21 center of tray body of the bracket 22 has the rib 221 turned over.Rib
221 can block the surrounding of cargo, and so that it will not since inertia phase generates translation for the pallet 2.
The carriage drive unit 23 includes lead screw assembly, bevel pinion 233, bevel gear wheel 234, driving bevel gear 235
And third motor 236.Wherein, for each bracket 22 be provided with one group described in lead screw assembly, lead screw assembly include phase
The second lead screw 231 for the tray body 21 rotational installation and the feed screw nut relative to the bracket 22 fixed installation
232, cooperate between the second lead screw 231 and feed screw nut 232 for lead screw pair；Bevel pinion 233 and second lead screw 231 are fixed
Connection；Bevel gear wheel 234 is engaged with all bevel pinions 233, and it is rotatablely connected and same with the tray body 21
It feels at ease dress；Driving bevel gear 235 is engaged with the bevel gear wheel 234；The output shaft of third motor 236 and the driving bevel gear
235 are fixedly connected.
Using the structure of above-mentioned pallet 2, the process of the jacking cargo of transfer robot are as follows:
(1) first motor 33 rotates, so that pallet 2 rises to the first setting height；
(2) third motor 236 rotates, so that all brackets 22 are relative to the tray body 21 the first setting of translation outward
Distance increases the effective bearing area of pallet 2；
(3) first motor 33 rotates, so that pallet 2 continues to rise to the second setting height, in the process, pallet 2 will
Cargo is lifted off it and puts face；
(4) third motor 236 rotates, so that all brackets 22 are relative to the tray body 21 inwardly the second setting of recycling
Distance makes the rib 221 of bracket 22 resist the side of cargo.Wherein, the second set distance is less than the first set distance.
The decline unloading process of transfer robot are as follows:
(1) third motor 236 rotates, so that all brackets 22 are relative to the tray body 21 the second setting of translation outward
Distance makes the rib 221 of bracket 22 leave the side of cargo；
(2) first motor 33 rotates, so that pallet 2 drops to the first setting height, in the process, cargo and its target
Put face contact；
(3) third motor 236 rotates, so that all brackets 22 are relative to the tray body 21, inwardly translation retracts first
Set distance；
(4) first motor 33 rotates, so that pallet 2 drops to extreme lower position.
The driven wheel that the chassis of transfer robot of the invention includes is mounted on pedestal in a manner of floating connection, can be protected
Card driving wheel sufficiently lands, and all driven wheels also can all land, and the running stability of transfer robot is effectively ensured, and remove
Fortune robot is lower to the flatness requirement on ground, and ground adaptability is stronger, can reduce construction of warehouse cost, and effectively prevent leading
Driving wheel is maked somebody a mere figurehead, and guarantees the walking precision of transfer robot.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of transfer robot, which is characterized in that include
One chassis, it includes a pedestal, two drive wheel assemblies and several driven wheels；Wherein, drive wheel assemblies pair described in two groups
Claiming the left and right sides for being mounted on the middle part of the pedestal, the front and rear sides of the pedestal are respectively provided at least one described driven wheel,
The driven wheel is relative to the pedestal floating connection；
One pallet, is used for bearing goods；And
One jacking rotary unit is used to that the pallet to be driven to make elevating movement and rotary motion relative to the chassis.
2. by transfer robot described in claim 1, which is characterized in that the front and rear sides of the pedestal be respectively provided with two it is driven
Wheel；Wherein, two driven wheels of side are mounted on the both ends of the first wraping plate, and are hinged on the seat in the middle part of first wraping plate
On body；Two driven wheels of the other side are mounted on the both ends of the second wraping plate, and are hinged on transition piece in the middle part of second wraping plate
On, the transition piece can be relative to the pedestal elastic floating.
3. by transfer robot as claimed in claim 2, which is characterized in that the transition piece is hinged on the pedestal, and its
Elastic element is equipped between the pedestal, and the elastic element makes the driven wheel press ground.
4. by transfer robot as claimed in claim 3, which is characterized in that be additionally provided between the transition piece and the pedestal
For limiting the locating part of the turned position of the transition piece.
5. by transfer robot as claimed in claim 3, which is characterized in that be equipped with and be used on the transition piece and/or pedestal
Adjust the regulating device of the pre compressed magnitude of the elastic element.
6. by transfer robot described in claim 1, which is characterized in that the jacking rotary unit includes
First lead screw is rotatably installed on the pedestal；
It jacks and cooperates between cylinder, with first lead screw for lead screw pair, and the pallet is fixed on its top；
First motor is used to that first lead screw to be driven to rotate relative to the pedestal；And
Driving assembly is set between the pedestal and the jacking cylinder, for driving the jacking cylinder relative to the seat
The rotation of body.
7. by transfer robot as claimed in claim 6, which is characterized in that the periphery of the jacking cylinder is provided with slip teeth, described
Driving assembly includes
Second motor is mounted on the pedestal；And
Second driving gear, connect, and it is engaged with the slip teeth, and can be relative to the cunning with second motor driven
Tooth slides axially.
8. by transfer robot described in claim 1, which is characterized in that the pallet includes
One tray body, to be round, and it connects described jacking rotary unit；
Several brackets, all brackets are slidably installed relative to the tray body, and glide direction is the bracket
It is radial；And
Carriage drive unit is used to drive all brackets relative to the tray body synchronous slide.
9. by transfer robot according to any one of claims 8, which is characterized in that the quantity of the bracket is four, and all is described
Circumferentially array is mounted in the tray body bracket, and one end far from the tray body center of the bracket has upper
The rib turned over.
10. by transfer robot according to any one of claims 8, which is characterized in that the carriage drive unit includes
Lead screw assembly, for each bracket be provided with one group described in lead screw assembly, it includes relative to the tray body
Second lead screw of rotational installation and the feed screw nut being fixedly mounted relative to the bracket；
Bevel pinion is fixedly connected with second lead screw；
Bevel gear wheel is engaged with all bevel pinions, and it is rotatablely connected with the tray body and concentric installation；
Driving bevel gear is engaged with the bevel gear wheel；And
Third motor, output shaft are fixedly connected with the driving bevel gear.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910137187.2A CN109703965A (en) | 2019-02-25 | 2019-02-25 | A kind of transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137187.2A CN109703965A (en) | 2019-02-25 | 2019-02-25 | A kind of transfer robot |
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| CN109703965A true CN109703965A (en) | 2019-05-03 |
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| CN201910137187.2A Pending CN109703965A (en) | 2019-02-25 | 2019-02-25 | A kind of transfer robot |
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Cited By (9)
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| CN110194231A (en) * | 2019-06-17 | 2019-09-03 | 珠海格力智能装备有限公司 | Mobile carrier |
| CN110371218A (en) * | 2019-08-22 | 2019-10-25 | 昆山市工研院智能制造技术有限公司 | A kind of modular multifunctional AGV |
| CN110482105A (en) * | 2019-08-26 | 2019-11-22 | 李朝阳 | A kind of logistics shelf transfer robot and logistics shelf method for carrying |
| CN110817734A (en) * | 2019-09-08 | 2020-02-21 | 坎德拉（深圳）科技创新有限公司 | Jacking device and intelligent delivery robot |
| CN111943087A (en) * | 2019-08-26 | 2020-11-17 | 李朝阳 | Bracket of transfer robot for warehouse logistics and transfer robot |
| WO2020228055A1 (en) * | 2019-05-16 | 2020-11-19 | 山东大学 | Drive-in jacking and carrying trackless shuttle vehicle and application thereof |
| CN112224736A (en) * | 2020-11-11 | 2021-01-15 | 王虹雅 | Transfer robot for intelligent warehouse |
| CN112408263A (en) * | 2020-11-11 | 2021-02-26 | 保定学院 | Intelligent transfer robot for warehouse |
| CN115027894A (en) * | 2021-03-08 | 2022-09-09 | 博泰车联网科技(上海)股份有限公司 | Conveying structure and delivery car |
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