CN110127566A - Material transportation robot - Google Patents
Material transportation robot Download PDFInfo
- Publication number
- CN110127566A CN110127566A CN201910516428.4A CN201910516428A CN110127566A CN 110127566 A CN110127566 A CN 110127566A CN 201910516428 A CN201910516428 A CN 201910516428A CN 110127566 A CN110127566 A CN 110127566A
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- Prior art keywords
- slide unit
- axis direction
- along
- material transportation
- transportation robot
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- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B66F9/07559—Stabilizing means
-
- 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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- 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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Material transportation robot provided by the invention includes body, drive wheel assemblies, lifting device and slide unit component, lifting device is mounted on the top of body, the lifting platform that lifting device includes fixing seat and is slidably connected in fixing seat along the z-axis direction, slide unit component are mounted on lifting platform；The length of body in the direction of the x axis is greater than the width of body in the y-axis direction；It is arranged along the x-axis direction between fixing seat and slide unit component；Slide unit component includes the first slide unit and the second slide unit；First slide unit is slidably connected on lifting platform along the y-axis direction, and the second slide unit is slidably connected at along the y-axis direction on the first slide unit.Material transportation robot can enter channel narrow between shelf, and the second slide unit can be stretched out along the width direction of material transportation robot to enter shelf and carry out picking and unloading, and material transportation robot improves the adaptability in place.
Description
Technical field
The present invention relates to material transport equipment technical fields, and in particular to a kind of material transportation robot.
Background technique
A kind of existing material transportation robot includes body, drive wheel assemblies, lifting device and slide unit component, driving wheel
Component is installed on the bottom of body, and lifting device is mounted on the top of body, and lifting device includes the fixation being fixed on the machine body
Seat and lifting platform, slide unit component include the slide unit being slidably connected on lifting platform.
Existing this kind of material transportation robot the problem is that, the glide direction of slide unit is the length direction of body,
This kind of material transportation robot can not shuttle between small-pitch shelf with handling goods.
Summary of the invention
The purpose of the present invention is to provide a kind of material transportation robots for improving place adaptability.
Material transportation robot provided by the invention includes body, drive wheel assemblies, lifting device and slide unit component, driving
Wheel assembly is installed on the bottom of body, and lifting device is mounted on the top of body, and lifting device includes consolidating of being fixed on the machine body
Reservation and the lifting platform being slidably connected in fixing seat along the z-axis direction, slide unit component are mounted on lifting platform；Body is in x-axis side
Upward length is greater than the width of body in the y-axis direction；It is arranged along the x-axis direction between fixing seat and slide unit component；Slide unit group
Part includes the first slide unit and the second slide unit；First slide unit is slidably connected on lifting platform along the y-axis direction, and the second slide unit is along y-axis side
To being slidably connected on the first slide unit.
By above scheme as it can be seen that arrangement has material transportation robot along the x-axis direction between fixing seat and slide unit component
Smaller width；The glide direction of first slide unit and the second slide unit is the width direction of body, and material transportation robot can enter
Narrow channel between shelf, and the second slide unit can be stretched out along the width direction of material transportation robot to be taken into shelf
Goods and unloading, material transportation robot improve the adaptability in place.
Further embodiment is that lifting device further includes the crane between fixing seat and lifting platform, and crane is along z
Axis direction is slidably connected in fixing seat, and lifting platform is slidably connected on crane along the z-axis direction.
Therefore this setting makes material transportation robot adapt to higher shelf.
Further embodiment is that fixing seat includes outer framework and hydraulic cylinder, and the two sides of outer framework are respectively to be erected at body
On first erect sliding rail；Crane includes inner frame, inner frame include be located at two sides two second setting sliding rails and
Two second top beams erect between at the top of sliding rail are connected to, the piston rod of hydraulic cylinder is fixedly connected with top beam；Inner frame is located at
The inside of outer framework, the second setting sliding rail are slidably connected along the z-axis direction with the first setting sliding rail, and lifting platform is slidably mounted in
Twice second are erect between sliding rail.
Therefore frame structure increases the integral strength of lifting platform while reducing the occupied space of lifting platform.
Further embodiment is that the first track of top bump of lifting platform, the bottom of the first slide unit is provided with first sliding groove,
On the section in y-axis direction, the first track is T-shaped, and first sliding groove is T-shaped, and the first track and first sliding groove cooperate.
Therefore this setting can increase the cooperation intensity between lifting platform and the first slide unit.
Further embodiment is that the second slide unit includes support plate and the elongated wall of twice for being connected to support plate bottom, twice
Elongated wall extends along the y-axis direction, and second sliding slot is formed between the elongated wall of twice, and elongated wall has the raised line towards second sliding slot,
Raised line extends along the y-axis direction；The opposite sides of first slide unit all has the through slot for running through the first slide unit along the y-axis direction together；The
One slide unit is located in second sliding slot, and twice raised line is located in the twice through slot of the first slide unit two sides.
Therefore this setting can increase the cooperation intensity between the first slide unit and the second slide unit.
Further embodiment is that the second slide unit can slide between first position and the second position along the y-axis direction；First
It is set on z-axis direction projection, the second slide unit is integrally located at the intracorporal position of machine；The second position is on z-axis direction projection the
Two slide units are integrally located at extra-organismal position.
Therefore the overhang that can guarantee the second slide unit is arranged in this, guarantees that the second slide unit enters shelf and realizes picking, together
When be guaranteed at the slide unit component of contraction state and do not hinder the walking of material transportation robot.
Further embodiment is that material transportation robot further includes sliding load-bearing wheel assembly, and sliding load-bearing wheel assembly includes
Carrying roller sliding rail and universal carrying roller；The bottom of body is arranged in carrying roller sliding rail along the y-axis direction, and universal carrying roller is along y-axis side
To being slidably connected on carrying roller sliding rail.
Therefore with overhanging and lifting platform the rising of the first slide unit and the second slide unit, material transportation robot
Whole center of gravity can be to shift on the outside of width, if bearing goods on the second slide unit, the offset of center of gravity is bigger.At this time ten thousand
It slides into the bottom on the outside of body along the y-axis direction to carrying roller, to form fulcrum, prevents material transportation robot from toppling over.
Further embodiment is that carrying roller sliding rail is slidably connected at the bottom of body along the y-axis direction.
Therefore if when the heavier center of gravity for making material transportation robot of bearing goods is located at other than its body, carrying roller
Sliding rail is protruding together with universal carrying roller, forms fulcrum in engine body exterior, prevents material transportation robot from toppling over.
Further embodiment is that at least two universal carrying rollers are mounted on carrying roller sliding rail.
Further scheme is that body has the bottom peripheral wall around driving wheel group periphery；Bottom peripheral wall is in load-bearing
The extension both ends corresponding position of wheel sliding rail is equipped with evacuation opening.
Detailed description of the invention
Fig. 1 is the structure chart at the first visual angle of material transportation robot of the present invention first embodiment.
Fig. 2 is the structure chart at the second visual angle of material transportation robot of the present invention first embodiment.
Fig. 3 is the structural exploded view of slide unit component in material transportation robot of the present invention first embodiment.
Fig. 4 is the structure chart that material transportation robot first embodiment slide unit component of the present invention is in overhanging state.
Fig. 5 is the schematic diagram of the first working condition of material transportation robot of the present invention first embodiment.
Fig. 6 is the schematic diagram of the second working condition of material transportation robot of the present invention first embodiment.
Fig. 7 is the working principle diagram that load-bearing wheel assembly is slided in material transportation robot of the present invention first embodiment.
Fig. 8 is the working principle diagram that load-bearing wheel assembly is slided in material transportation robot of the present invention second embodiment.
Specific embodiment
Material transportation robot first embodiment
Referring to Fig. 1 and Fig. 2, Fig. 1 is the structure chart at the first visual angle of material transportation robot of the present invention first embodiment, Fig. 2
For the structure chart at the second visual angle of material transportation robot of the present invention first embodiment.Material transportation robot provided by the invention packet
Include body 1, drive wheel assemblies 4, support wheel group 41, lifting device 2, slide unit component 3 and sliding load-bearing wheel assembly 5.Body 1 is in x
Length in axis direction is greater than the width of body 1 in the y-axis direction.
Drive wheel assemblies 4, support wheel group 41 and sliding load-bearing wheel assembly 5 are mounted on the bottom of body 1.Body 1 has
Around the bottom peripheral wall 19 of 1 bottom plate periphery of body, two drive wheel assemblies 4 are arranged in along the y-axis direction on 1 bottom plate of body, are driven
Drive wheel assemblies 4 can rotate along the z-axis direction relative to body 1；Support wheel group 41 includes four and is arranged in 1 bottom plate quadrangle of body
Universal support wheel；Sliding load-bearing wheel assembly 5 includes carrying roller sliding rail 51 and two universal carrying rollers 52,51 edge of carrying roller sliding rail
The bottom of body 1 is arranged in y-axis direction, and two universal carrying rollers 52 are slidably connected at along the y-axis direction on carrying roller sliding rail 51, bottom
Portion's peripheral wall 19 is centered around outside drive wheel assemblies 4, support wheel group 41 and sliding load-bearing wheel assembly 5, and bottom peripheral wall 19 is in carrying roller
The extension both ends corresponding position of sliding rail 51 is equipped with evacuation opening 191.
Lifting device 2 is mounted on the top of body 1, and lifting device 2 includes the fixing seat 21 being fixed on body 1, lifting
Platform 23 and the crane 22 between fixing seat and lifting platform 23, crane 22 is slidably connected at fixing seat along the z-axis direction
On 21, lifting platform 23 is slidably connected at along the z-axis direction on crane 22, and slide unit component 3 is mounted on lifting platform 23.
Fixing seat 21 includes outer framework 210 and hydraulic cylinder 24, and the two sides of outer framework 210 are respectively to be erected on body 1
First erects sliding rail 211；Crane 22 includes inner frame 220, and inner frame 220 includes two second settings for being located at two sides
Sliding rail 221 and the top beams 222 being connected between two second 221 tops of setting sliding rail, the piston rod 241 and top beam of hydraulic cylinder 24
222 are fixedly connected；Inner frame 220 is located at the inside of outer framework 210, and second, which erects sliding rail 221 and first, erects sliding rail 211 along z
Axis direction is slidably connected, and lifting platform 23 is slidably mounted in twice second and erects between sliding rail 221.
In conjunction with Fig. 3, Fig. 3 is the structural exploded view of slide unit component in material transportation robot of the present invention first embodiment.It is sliding
Platform component 3 includes the first slide unit 31 and the second slide unit 32, and the first slide unit 31 is slidably connected at along the y-axis direction on lifting platform 23, the
Two slide units 32 are slidably connected at along the y-axis direction on the first slide unit 31.Slide unit component is mounted on lifting platform 23, the top of lifting platform 23
The first track 231 that portion's protrusion extends along the y-axis direction, on the section in y-axis direction, the first track 231 is T-shaped, the first slide unit
31 bottom is provided with first sliding groove 311, and first sliding groove 311 is T-shaped, and the first track 231 cooperates with first sliding groove 311.
Second slide unit 32 includes support plate 321 and the elongated wall 323 of twice for being connected to 321 bottom of support plate, and twice are elongated
Wall 323 extends along the y-axis direction, and second sliding slot 320 is formed between the elongated wall 323 of twice, and elongated wall 323 has towards second sliding slot
320 raised line 323, raised line 323 extend along the y-axis direction；The opposite sides of first slide unit 31 all has to be run through along the y-axis direction together
The through slot 312 of first slide unit 31；First slide unit 31 is located in second sliding slot 320, and twice raised line 323 is located at the first slide unit 31
In the twice through slot 312 of two sides.
In conjunction with Fig. 4, Fig. 4 is the structure that material transportation robot first embodiment slide unit component of the present invention is in overhanging state
Figure.
It is arranged along the x-axis direction between fixing seat 21 and slide unit component 3, the second slide unit 32 can slide on first along the y-axis direction
Between position and the second position；First position is on z-axis direction projection, and the second slide unit 32 is integrally located at the position of 1 top of body
It sets；The second position is on z-axis direction projection, and the second slide unit 32 is integrally located at the position outside body 1.
Referring to figs. 5 and 6, Fig. 5 is the schematic diagram of the first working condition of material transportation robot of the present invention first embodiment,
Fig. 6 is the schematic diagram of the second working condition of material transportation robot of the present invention first embodiment.Have between two shelf 900 narrow
Narrow transport channel 901, material transportation robot 100 are only capable of entering transport using x-axis direction (length direction) as direction of advance
Channel 901, at this point, the first slide unit 31 and the second slide unit 32 are fully located within body 1 in the projection in z-axis direction；Material
After transportation robot 100 reaches 902 position of cargo, system control stretches the first slide unit 31, the second slide unit 32 along the y-axis direction
Enter in shelf 900 with bearing goods 902 out.
In conjunction with Fig. 7, Fig. 7 is the work original that load-bearing wheel assembly is slided in material transportation robot of the present invention first embodiment
Reason figure.When 100 picking of material transportation robot, the second slide unit 32 is fully extended to 1 outside of body.With the first slide unit 31 and
The whole center of gravity of the rising of the overhanging and lifting platform 23 of two slide units 32, material transportation robot can be inclined to generation on the outside of width
It moves, if bearing goods on the second slide unit 32, the offset of center of gravity is bigger.Universal carrying roller 52 slides into along the y-axis direction at this time
The bottom in 1 outside of body prevents material transportation robot 100 from toppling over to form fulcrum.
Material transportation robot second embodiment
Referring to Fig. 8, Fig. 8 is the working principle that load-bearing wheel assembly is slided in material transportation robot of the present invention second embodiment
Figure.In the present embodiment, carrying roller sliding rail 51 is slidably connected at the bottom of body 1 along the y-axis direction, if bearing goods 902 are heavier to be made
When the center of gravity of material transportation robot 200 is located at other than its body 1, carrying roller sliding rail 51 is together with universal carrying roller 52 to overhanging
Out, fulcrum is formed outside body 1, prevents material transportation robot 200 from toppling over.
Finally it is emphasized that the above description is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is right
For those skilled in the art, the present invention can have various change and change, all within the spirits and principles of the present invention,
Any modification, equivalent substitution, improvement and etc. done, should all be included in the protection scope of the present invention.
Claims (10)
1. material transportation robot, including body, drive wheel assemblies, lifting device and slide unit component, the drive wheel assemblies peace
Bottom loaded on the body, the lifting device are mounted on the top of the body, and the lifting device includes being fixed on institute
The lifting platform stating the fixing seat on body and being slidably connected along the z-axis direction on the fixing seat, the slide unit component are mounted on
On the lifting platform；
It is characterized by:
The length of the body in the direction of the x axis is greater than the width of the body in the y-axis direction；
It is arranged along the x-axis direction between the fixing seat and the slide unit component；
The slide unit component includes the first slide unit and the second slide unit；First slide unit is slidably connected at the liter along the y-axis direction
It drops on platform, second slide unit is slidably connected at along the y-axis direction on first slide unit.
2. material transportation robot according to claim 1, it is characterised in that:
The lifting device further includes the crane between the fixing seat and the lifting platform, and the crane is along z-axis
Direction is slidably connected on the fixing seat, and the lifting platform is slidably connected at along the z-axis direction on the crane, the slide unit
Component is mounted on the lifting platform.
3. material transportation robot according to claim 2, it is characterised in that:
The fixing seat includes the outer framework and hydraulic cylinder, and the two sides of the outer framework are respectively to be erected on the body
First erects sliding rail；
The crane includes inner frame, and the inner frame includes being located at two second setting sliding rails of two sides and being connected to
Two described second top beams erect between at the top of sliding rail, the piston rod of the hydraulic cylinder are fixedly connected with the top beam；
The inner frame is located at the inside of the outer framework, and described second, which erects sliding rail and described first, erects sliding rail along z-axis side
To being slidably connected, the lifting platform is slidably mounted between the second setting sliding rail described in twice.
4. material transportation robot according to claim 1, it is characterised in that:
The first track of top bump of the lifting platform, the bottom of first slide unit is provided with first sliding groove, in y-axis direction
On section, first track is T-shaped, and the first sliding groove is T-shaped, and first track and the first sliding groove cooperate.
5. material transportation robot according to claim 4, it is characterised in that:
Second slide unit includes support plate and the elongated wall of twice for being connected to support plate bottom, and elongated wall described in twice is along y-axis
Direction extends, and second sliding slot is formed between elongated wall described in twice, and the elongated wall has the raised line towards the second sliding slot,
The raised line extends along the y-axis direction；
The opposite sides of first slide unit all has the through slot for running through first slide unit along the y-axis direction together；
First slide unit is located in the second sliding slot, and twice raised line is located at the twice through slot of first slide unit two sides
It is interior.
6. material transportation robot according to claim 1, it is characterised in that:
Second slide unit can slide between first position and the second position along the y-axis direction；
The first position is on z-axis direction projection, and second slide unit is integrally located at the intracorporal position of the machine；
The second position is on z-axis direction projection, and second slide unit is integrally located at the extra-organismal position.
7. material transportation robot according to any one of claims 1 to 6, it is characterised in that:
The material transportation robot further includes sliding load-bearing wheel assembly, the sliding load-bearing wheel assembly include carrying roller sliding rail with
Universal carrying roller；
The carrying roller sliding rail is arranged in the bottom of the body along the y-axis direction, the universal carrying roller company of sliding along the y-axis direction
It connects on the carrying roller sliding rail.
8. material transportation robot according to claim 7, it is characterised in that:
The carrying roller sliding rail is slidably connected at the bottom of the body along the y-axis direction.
9. material transportation robot according to claim 7, it is characterised in that:
At least two universal carrying rollers are mounted on the carrying roller sliding rail.
10. material transportation robot according to claim 7, it is characterised in that:
The body has the bottom peripheral wall around driving wheel group periphery；
The bottom peripheral wall is equipped with evacuation opening in the extension both ends corresponding position of the carrying roller sliding rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516428.4A CN110127566B (en) | 2019-06-14 | 2019-06-14 | Material transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516428.4A CN110127566B (en) | 2019-06-14 | 2019-06-14 | Material transportation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110127566A true CN110127566A (en) | 2019-08-16 |
| CN110127566B CN110127566B (en) | 2024-07-09 |
Family
ID=67577355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910516428.4A Active CN110127566B (en) | 2019-06-14 | 2019-06-14 | Material transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110127566B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01247307A (en) * | 1988-03-28 | 1989-10-03 | Seibu Electric & Mach Co Ltd | Wiring and piping method to tip of multi-stage telescopic fork |
| CN105197843A (en) * | 2015-10-19 | 2015-12-30 | 广东亚克迪智能物流科技有限公司 | Semi-electric piling car |
| JP2016020260A (en) * | 2014-07-14 | 2016-02-04 | 村田機械株式会社 | Carrier |
| CN106429149A (en) * | 2016-11-04 | 2017-02-22 | 惠州市精机械设备有限公司 | Manipulator of intelligent warehousing roadway robot |
| CN107500195A (en) * | 2017-08-28 | 2017-12-22 | 合肥搬易通科技发展有限公司 | A kind of handler suitable for coiled material material |
| CN108177939A (en) * | 2017-12-26 | 2018-06-19 | 珠海创智科技有限公司 | Material transport system and material transportation method |
| CN108622189A (en) * | 2018-04-26 | 2018-10-09 | 吉林大学 | Steering control device, method and the changeable wheel track vehicle of changeable wheel track vehicle |
| CN210029920U (en) * | 2019-06-14 | 2020-02-07 | 珠海创智科技有限公司 | Material transportation robot |
-
2019
- 2019-06-14 CN CN201910516428.4A patent/CN110127566B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01247307A (en) * | 1988-03-28 | 1989-10-03 | Seibu Electric & Mach Co Ltd | Wiring and piping method to tip of multi-stage telescopic fork |
| JP2016020260A (en) * | 2014-07-14 | 2016-02-04 | 村田機械株式会社 | Carrier |
| CN105197843A (en) * | 2015-10-19 | 2015-12-30 | 广东亚克迪智能物流科技有限公司 | Semi-electric piling car |
| CN106429149A (en) * | 2016-11-04 | 2017-02-22 | 惠州市精机械设备有限公司 | Manipulator of intelligent warehousing roadway robot |
| CN107500195A (en) * | 2017-08-28 | 2017-12-22 | 合肥搬易通科技发展有限公司 | A kind of handler suitable for coiled material material |
| CN108177939A (en) * | 2017-12-26 | 2018-06-19 | 珠海创智科技有限公司 | Material transport system and material transportation method |
| CN108622189A (en) * | 2018-04-26 | 2018-10-09 | 吉林大学 | Steering control device, method and the changeable wheel track vehicle of changeable wheel track vehicle |
| CN210029920U (en) * | 2019-06-14 | 2020-02-07 | 珠海创智科技有限公司 | Material transportation robot |
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| CN110127566B (en) | 2024-07-09 |
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