CN112110120B - Special rail mounted of multiplexer utensil storehouse stores up and gets system - Google Patents
Special rail mounted of multiplexer utensil storehouse stores up and gets system Download PDFInfo
- Publication number
- CN112110120B CN112110120B CN202011093847.0A CN202011093847A CN112110120B CN 112110120 B CN112110120 B CN 112110120B CN 202011093847 A CN202011093847 A CN 202011093847A CN 112110120 B CN112110120 B CN 112110120B
- Authority
- CN
- China
- Prior art keywords
- electric
- tool
- turnover
- agv
- tools
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
A special rail type storage and taking system for a tool storehouse. The rail type storage and taking system special for the tool storeroom is simple in structure, convenient to process and capable of improving working efficiency. The shelf comprises a plurality of stereoscopic goods shelves arranged in rows, and the stereoscopic goods shelves are used for placing a plurality of turnover partition plates carrying tools; the device comprises a controller, a carrying device and a conveying device, wherein the carrying device comprises an electric chassis, a lifting platform and a telescopic fork; the electric chassis, the lifting platform, the telescopic fork, the camera, the robot and the two-dimensional code recognizer are respectively connected with the controller; the conveying device comprises a conveying belt, an AGV trolley and a follow-up travelling crane assembly which are sequentially arranged, and the conveying belt, the AGV trolley, the air cylinder and the electric sucker are respectively connected with the controller. In the work of the invention, the conveying device and the carrying device are arranged at the front side of the shelf, the conveying device is convenient for conveying a plurality of turnover partition plates loaded with tools and instruments, the carrying device is convenient for storing and taking the turnover partition plates from the three-dimensional shelf, and the operation is convenient.
Description
Technical Field
The invention relates to a tool storehouse, in particular to a special rail type storage and taking system for the tool storehouse.
Background
In the electric power industry of China, various tools are widely used; due to the large number of tools, special storehouses are needed for storing the tools so as to facilitate access and management. However, when storing tools, the current storeroom is operated manually, which reduces the working efficiency and has low intelligence degree.
Disclosure of Invention
Aiming at the problems, the invention provides the rail type storage and taking system special for the tool storeroom, which has a simple structure, is convenient to process and improves the working efficiency.
The technical scheme of the invention is as follows: the shelf comprises a plurality of stereoscopic goods shelves arranged in rows, and the stereoscopic goods shelves are used for placing a plurality of turnover partition plates carrying tools; the device comprises a controller, an object carrying device and a conveying device, wherein the object carrying device comprises an electric chassis, a lifting platform and a telescopic fork;
lifting guide rails are arranged around the electric chassis, the lifting platform is movably connected among the four lifting guide rails, and a camera is arranged on the lifting platform;
the telescopic fork is movably arranged on the lifting platform, a robot is arranged on the lifting platform, and a two-dimensional code recognizer is arranged on the robot;
the electric chassis, the lifting platform, the telescopic fork, the camera, the robot and the two-dimensional code recognizer are respectively connected with the controller;
the transportation device comprises a conveying belt, an AGV trolley and a follow-up traveling crane component which are arranged in sequence,
the transmission belt is arranged at one end of the front side of the commodity shelf and is used for transmitting a plurality of turnover partition plates,
the AGV trolley is arranged at the front side of the commodity shelf and is used for placing a turnover clapboard,
the follow-up traveling assembly comprises a vehicle body, a cylinder and an electric sucker, wherein the vehicle body is a cuboid frame and is arranged on the front side of the storage rack, rollers are arranged at the bottom of the vehicle body, an opening is formed in one side, facing the AGV trolley, of the bottom of the vehicle body, and the vehicle body is connected with an electric chassis through a connecting rod;
one end of the air cylinder is connected to the middle of the top of the vehicle body, and the other end of the air cylinder is connected with the electric sucker;
the transmission band, the AGV dolly, the cylinder and the electric sucker are respectively connected with the controller.
The AGV comprises a conveying belt, a guide block is arranged at one end of the conveying belt, which faces the AGV,
the guide block is triangular.
A baffle is arranged at the top of one end, facing the car body, of the AGV car.
The AGV dolly is equipped with the distancer towards the one end of automobile body, distancer connection director.
And a sucker area is arranged on the turnover partition plate.
The three-dimensional goods shelves include four stands and roof, and four stands are the rectangle setting, the roof is established at the top of four stands, the inboard of stand is equipped with a plurality of baffle brackets, the turnover baffle is established on the baffle bracket of four stands.
The front side of the commodity shelf is provided with a track frame, and the commodity carrying device is connected in the track frame in a sliding manner;
the bottom of the track frame is provided with an operation track, and the electric chassis is movably arranged on the operation track;
and a sliding contact line for supplying power is arranged between the inner side of the top of the track frame and the carrying device.
Be equipped with the constant head tank on the baffle bracket, the bottom of turnover baffle is equipped with the reference column, the reference column is used for connecting in the constant head tank.
And the bottom of the upright post is provided with an adjusting bolt.
In the work of the invention, the conveying device and the carrying device are arranged at the front side of the shelf, the conveying device is convenient for conveying a plurality of turnover partition plates loaded with tools and instruments, the carrying device is convenient for storing and taking the turnover partition plates from the three-dimensional shelf, and the operation is convenient.
When the carrying device is used for storage, the appearance of an article (namely a tool) is acquired through the camera, and the category of the appearance of the article is judged through image recognition; according to the characteristics of the category of the article, the robot is driven to lead the two-dimensional code recognizer to scan the two-dimensional code label pasted on the specific position of the article, and the accurate identity information of the article is obtained. The controller drives the electric chassis to automatically operate to a storage place according to an information processing result, and the goods are placed at the designated position of the three-dimensional goods shelf through the automatic telescopic fork, so that the goods are automatically put in storage.
When fetching objects, the controller drives the electric chassis to move to a storage place according to information, and the turnover partition plate carrying the tools and the instruments can be taken out through the automatic telescopic fork.
The invention has high intelligent degree and greatly improves the working efficiency.
Drawings
Figure 1 is a schematic view of the structure of the present invention,
figure 2 is a schematic view of the structure of the transport device,
FIG. 3 is a diagram of the motion of the conveyor and AGV,
figure 4 is a schematic view of the structure of the vehicle body,
FIG. 5 is a diagram of the motion of the AGV cart and vehicle body,
figure 6 is a schematic perspective view of the carrier device,
figure 7 is an enlarged partial schematic view at a in figure 6,
FIG. 8 is a schematic view of the carrier device;
in the figure, 1-shelf, 101-track frame, 11-running track, 12-top plate, 13-upright post, 14-revolving partition, 15-partition bracket,
2-an electric chassis, 3-a lifting platform, 4-a telescopic fork, 5-a camera, 6-a robot, 7-a lifting guide rail and 8-a trolley line,
91-a conveyor belt, 92-an AGV trolley,
93-follow-up running gear component, 931-vehicle body, 932-cylinder, 933-electric suction cup, 934-roller, 935-opening, 936-guide block, 937-baffle plate,
the arrows in the figure represent the direction of movement.
Detailed Description
The invention is further described below with reference to fig. 1-8, comprising a shelf 1, wherein the shelf 1 comprises a plurality of three-dimensional shelves arranged in rows, and the three-dimensional shelves are used for placing a plurality of turnover partition plates 14 carrying tools; the device also comprises a controller, an object carrying device and a conveying device, wherein the object carrying device comprises an electric chassis 2, a lifting platform 3 and a telescopic fork 4;
lifting guide rails 7 are arranged around the electric chassis 2, the lifting platform 3 is movably connected among the four lifting guide rails 7, and the lifting platform 3 is provided with a camera 5; the camera 5 can be in many places position, also can set up on flexible fork, the accurate position of obtaining the target object of being convenient for.
The telescopic fork 4 is movably arranged on the lifting platform 3, the lifting platform 3 is provided with a robot 6, and the robot 6 is provided with a two-dimensional code recognizer; the system is used for identifying cargo information and matching the position of a storage place. The robot is conventional equipment, is convenient for carry out the settlement, the adjustment of position according to the operating mode requirement.
The electric chassis 2, the lifting platform 3, the telescopic fork 4, the camera 5, the robot 6 and the two-dimensional code recognizer are respectively connected with a controller;
the conveying device comprises a conveying belt 91, an AGV trolley 92 and a follow-up traveling crane component 93 which are arranged in sequence,
the conveying belt 91 is arranged at one end of the front side of the commodity shelf and is used for conveying a plurality of turnover partition plates,
the AGV trolley 92 is arranged at the front side of the commodity shelf and is used for placing a turnover clapboard,
the follow-up traveling assembly 93 comprises a vehicle body 931, a cylinder 932 and an electric suction cup 933, the vehicle body is a cuboid frame and is arranged on the front side of a storage rack, rollers 934 are arranged at the bottom of the vehicle body, an opening 935 is arranged on one side, facing the AGV trolley, of the bottom of the vehicle body, and the vehicle body is connected with an electric chassis 2 through a connecting rod, so that the vehicle body can be conveniently driven to move when the electric chassis moves; the bottom of the car body is provided with an opening, so that an AGV can conveniently run in, and is convenient and reliable; the route is predetermine to the AGV dolly, conveniently goes.
One end of the air cylinder 932 is connected to the middle of the top of the vehicle body, and the other end of the air cylinder 932 is connected with an electric sucker 933;
the transmission band, the AGV dolly, the cylinder and the electric sucker are respectively connected with the controller.
In work, the appearance of an article (namely a tool) is acquired through a camera, and the category of the appearance of the article is judged through image recognition; according to the class characteristics of the articles, the robot is driven to lead the two-dimensional code recognizer to scan the two-dimensional code label pasted on the specific position of the article, and accurate identity information of the article is obtained. The controller drives the electric chassis to automatically operate to a storage place according to an information processing result, and the goods are placed at the designated position of the three-dimensional goods shelf through the automatic telescopic fork, so that the goods are automatically put in storage.
When the transporting device works, on one hand, during storage, a plurality of turnover partition plates can be placed on a conveying belt (when the number of stored objects is large, the working efficiency is improved), the turnover partition plates are conveyed to an AGV trolley through the conveying belt, the AGV trolley moves into a trolley body again, an air cylinder drives an electric sucker to act, the turnover partition plates are adsorbed and lifted, a telescopic fork is opened and is positioned below the electric sucker, and the turnover partition plates are placed on the telescopic fork by the electric sucker, so that the telescopic fork can conveniently perform subsequent action;
on the other hand, when getting the thing, flexible fork will have enough to meet the need the baffle and stretch out the back, is located the below of electric chuck, and through the cylinder effect, electric chuck will have enough to meet the need the baffle and place on the AGV dolly, and the outside operation of AGV dolly is convenient for get goods.
Through increasing the telecontrol equipment, has reduced the work load that carries the thing device and make a round trip to move, has improved work efficiency.
As shown in fig. 3, further includes a guide block 936, which is disposed on the end of the conveyor belt facing the AGV cart,
the guide block is triangular.
Like this, when AGV dolly top surface is less than the transmission band top, be convenient for set up the AGV dolly and travel to the guide block on for the top surface of AGV dolly is the inclined plane, and the turnover baffle on the transmission band of being convenient for reliably transmits to the AGV dolly.
A baffle 937 is arranged at the top of one end, facing the car body, of the AGV car.
Set up the baffle, be convenient for stop getting into the turnover baffle on the AGV dolly, avoid the landing.
The AGV dolly is equipped with the distancer towards the one end of automobile body, distancer connection control ware.
The distance between the AGV trolley and the other side of the bottom of the trolley body is convenient to set by arranging the distance measuring instrument; therefore, the AGV can be stopped when the AGV runs to the corresponding position in the vehicle body.
And a sucker area is arranged on the turnover partition plate.
Therefore, the operation space of the electric sucker is convenient to reserve, and the electric sucker can move conveniently.
The stereoscopic shelf comprises four upright posts 13 and a top plate 12, wherein the four upright posts 13 are arranged in a rectangular shape, the top plate 12 is arranged at the tops of the four upright posts 13, a plurality of partition plate brackets 15 are arranged on the inner sides of the upright posts 13, and turnover partition plates 14 are arranged on the partition plate brackets 15 of the four upright posts 13.
The front side of the shelf 1 is provided with a track frame 101, and the carrying device is arranged in the track frame 101 in a sliding way;
the bottom of the track frame 101 is provided with an operation track 11, and the electric chassis 2 is movably arranged on the operation track 11;
and a sliding contact line for supplying power is arranged between the inner side of the top of the track frame and the carrying device. The trolley line is arranged for power supply, the winding and disorder problems of a power supply cable in the operation process are avoided, and the reliability and the clean appearance of the whole power supply are improved.
Be equipped with the constant head tank on the baffle bracket 15, the bottom of turnover baffle 14 is equipped with the reference column, and the reference column is used for connecting in the constant head tank. Like this for turnover baffle 14 is accurate location, convenient and reliable on supporter 1.
The bottom of the upright column 13 is provided with an adjusting bolt for adjusting the height, so that the three-dimensional goods shelf is kept horizontal.
In application, the top plate 12 stores electrical control elements therein, which facilitates wiring; the LED light bar can be placed on the side surface for decoration;
the tools of different types are placed in a customized mode above the turnover partition plate 14, so that the tools are prevented from rolling and shifting in the turnover process, and the positioning, identification and management of the tools are facilitated
The electric chassis 2 is controlled by a controller to enable the carrying device to move back and forth on the operation track 11. The electric chassis is conventional equipment, and pulleys are arranged on the periphery of the electric chassis, so that the electric chassis is convenient to slide.
The disclosure of the present application also includes the following points:
(1) the drawings of the embodiments disclosed herein only relate to the structures related to the embodiments disclosed herein, and other structures can refer to general designs;
(2) in case of conflict, the embodiments and features of the embodiments disclosed in this application can be combined with each other to arrive at new embodiments;
the above are only the embodiments disclosed in the present application, but the scope of the present disclosure is not limited thereto, and the scope of the present disclosure shall be subject to the scope of the claims.
Claims (6)
1. A rail type storage and taking system special for a tool and appliance storehouse is characterized in that the tool and appliance storehouse comprises storage racks, each storage rack comprises a plurality of three-dimensional storage racks arranged in rows, and each three-dimensional storage rack is used for placing a plurality of turnover partition plates loaded with tools and appliances; it is characterized by also comprising a controller, a carrying device and a transporting device,
the carrying device comprises an electric chassis, a lifting platform and a telescopic fork;
lifting guide rails are arranged around the electric chassis, the lifting platform is movably connected among the four lifting guide rails, and a camera is arranged on the lifting platform;
the telescopic fork is movably arranged on the lifting platform, a robot is arranged on the lifting platform, and a two-dimensional code recognizer is arranged on the robot;
the electric chassis, the lifting platform, the telescopic fork, the camera, the robot and the two-dimensional code recognizer are respectively connected with the controller;
when the carrying device is stored, the appearance of the tool is obtained through the camera, and the class judgment is carried out on the appearance of the tool through image recognition; according to the class characteristics of the tools, the robot is driven to lead the two-dimensional code recognizer to scan the two-dimensional code label pasted on the specific position of the tools, so that accurate identity information of the tools is obtained; the controller drives the electric chassis according to the information processing result, the electric chassis automatically runs to a storage place, and the tools and the instruments are placed at the specified positions of the three-dimensional goods shelf through the automatic telescopic fork, so that the tools and the instruments are automatically put in storage;
the transportation device comprises a conveying belt, an AGV trolley and a follow-up traveling crane component which are arranged in sequence,
the conveying belt is arranged at one end of the front side of the commodity shelf and is used for conveying a plurality of turnover partition plates,
the AGV trolley is arranged at the front side of the commodity shelf and is used for placing a turnover clapboard,
the follow-up traveling assembly comprises a vehicle body, a cylinder and an electric sucker, wherein the vehicle body is a cuboid frame and is arranged on the front side of the storage rack, rollers are arranged at the bottom of the vehicle body, an opening is formed in one side, facing the AGV trolley, of the bottom of the vehicle body, and the vehicle body is connected with an electric chassis through a connecting rod;
one end of the air cylinder is connected to the middle of the top of the vehicle body, and the other end of the air cylinder is connected with the electric sucker;
the conveying belt, the AGV trolley, the air cylinder and the electric sucker are respectively connected with a controller;
the AGV comprises a conveying belt, a guide block is arranged at one end of the conveying belt, which faces the AGV,
the guide block is triangular;
a baffle is arranged at the top of one end, facing the car body, of the AGV trolley;
one end, facing the vehicle body, of the AGV trolley is provided with a distance meter, and the distance meter is connected with a controller;
when the transporting device works, on one hand, during storage, a plurality of turnover partition plates are placed on a conveying belt and are conveyed to an AGV trolley through the conveying belt, the AGV trolley moves into a trolley body again, an air cylinder drives an electric sucker to act to adsorb and lift the turnover partition plates, a telescopic fork is opened and located below the electric sucker, and the turnover partition plates are placed on the telescopic fork by the electric sucker, so that the telescopic fork can conveniently perform subsequent actions;
on the other hand, when getting the thing, flexible fork will have enough to meet the need the baffle and stretch out the back, is located the below of electric chuck, and through the cylinder effect, electric chuck will have enough to meet the need the baffle and place on the AGV dolly, and the outside operation of AGV dolly is convenient for get goods.
2. The track-type storage and retrieval system for the tool and instrument storeroom as claimed in claim 1, wherein the turnover partition is provided with a suction cup area.
3. The track type storage and taking system special for the tool and appliance storeroom as claimed in claim 1, wherein the three-dimensional shelf comprises four upright posts and a top plate, the four upright posts are arranged in a rectangular shape, the top plate is arranged at the tops of the four upright posts, a plurality of partition plate brackets are arranged on the inner sides of the upright posts, and the turnover partition plates are arranged on the partition plate brackets of the four upright posts.
4. The track type storage and taking system special for the tool and appliance storeroom as claimed in claim 1, wherein a track frame is arranged at the front side of the article shelf, and the article carrying device is slidably connected in the track frame;
the bottom of the track frame is provided with a running track, and the electric chassis is movably arranged on the running track;
and a sliding contact line for supplying power is arranged between the inner side of the top of the track frame and the carrying device.
5. The special track type storage and taking system for the tool and instrument storeroom as claimed in claim 3, wherein a positioning groove is formed in the partition plate bracket, and a positioning column is arranged at the bottom of the turnover partition plate and used for being connected into the positioning groove.
6. The track-type storage and taking system special for the tool and instrument storeroom as claimed in claim 3, wherein the bottom of the upright post is provided with an adjusting bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011093847.0A CN112110120B (en) | 2020-10-14 | 2020-10-14 | Special rail mounted of multiplexer utensil storehouse stores up and gets system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011093847.0A CN112110120B (en) | 2020-10-14 | 2020-10-14 | Special rail mounted of multiplexer utensil storehouse stores up and gets system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112110120A CN112110120A (en) | 2020-12-22 |
| CN112110120B true CN112110120B (en) | 2022-07-12 |
Family
ID=73797679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011093847.0A Active CN112110120B (en) | 2020-10-14 | 2020-10-14 | Special rail mounted of multiplexer utensil storehouse stores up and gets system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112110120B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114919906B (en) * | 2022-04-11 | 2023-12-26 | 珠海优特电力科技股份有限公司 | Appliance management method, system, device and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106241166A (en) * | 2016-07-12 | 2016-12-21 | 山东科技大学 | A kind of intelligence is convenient accesses fast delivery device |
| CN106586355A (en) * | 2016-12-09 | 2017-04-26 | 湛红晖 | Disc material double-machine collaboration automatic storage system |
| CN110422527A (en) * | 2019-08-15 | 2019-11-08 | 大连大华中天科技有限公司 | A kind of automatic stereowarehouse |
| CN111703793A (en) * | 2020-05-21 | 2020-09-25 | 深圳格兰达智能装备股份有限公司 | Intelligent access system |
| CN111731728A (en) * | 2019-04-30 | 2020-10-02 | 北京京东乾石科技有限公司 | Article transport system |
-
2020
- 2020-10-14 CN CN202011093847.0A patent/CN112110120B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106241166A (en) * | 2016-07-12 | 2016-12-21 | 山东科技大学 | A kind of intelligence is convenient accesses fast delivery device |
| CN106586355A (en) * | 2016-12-09 | 2017-04-26 | 湛红晖 | Disc material double-machine collaboration automatic storage system |
| CN111731728A (en) * | 2019-04-30 | 2020-10-02 | 北京京东乾石科技有限公司 | Article transport system |
| CN110422527A (en) * | 2019-08-15 | 2019-11-08 | 大连大华中天科技有限公司 | A kind of automatic stereowarehouse |
| CN111703793A (en) * | 2020-05-21 | 2020-09-25 | 深圳格兰达智能装备股份有限公司 | Intelligent access system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112110120A (en) | 2020-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108910375B (en) | Goods picking method and device | |
| WO2020135460A1 (en) | Transfer robot, warehouse logistics system and article transferring method | |
| US9725241B2 (en) | Storage and picking system and method for picking with autonomously moving shelf-serving devices | |
| US11034532B2 (en) | Picking device for picking from a storage container into an order container, and corresponding method | |
| US9505556B2 (en) | Storage system using lifting mechanism for collecting containers in desired sequence | |
| US9764900B2 (en) | Automatic rack storage system | |
| CN210162597U (en) | Unmanned warehousing system | |
| CN213474685U (en) | Replenishment system | |
| CN205345971U (en) | Intelligent intensive three -dimensional storehouse | |
| CN108146960B (en) | Automatic article storing and taking device | |
| JPWO2010084542A1 (en) | Automatic warehouse | |
| US20230021155A1 (en) | Picking system, storage system comprising a picking system and method of picking | |
| CN114394362A (en) | Warehouse-out method and warehouse-in method of warehouse goods and transfer robot | |
| JP2023544104A (en) | Order picking system or temporary storage system | |
| CN112110120B (en) | Special rail mounted of multiplexer utensil storehouse stores up and gets system | |
| WO2019184756A1 (en) | Delivery device of automatic vending system using automatically guided conveying trolley | |
| CN111762567A (en) | Manipulator, storage robot with manipulator and storage system | |
| CN215709078U (en) | Stacker, transportation system and storage system | |
| CN212314610U (en) | Storage robot | |
| KR20230114294A (en) | Dual Carriage Access Station for Automated Storage and Retrieval System and How to Use It | |
| CN111762496A (en) | Storage robot and working method thereof | |
| CN115803267A (en) | Robot integration station and storage system | |
| CN207434416U (en) | A kind of goods taking device of building delivery system | |
| CN214526051U (en) | Climbing unmanned carrying vehicle | |
| CN218506742U (en) | Cargo transportation system and warehousing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |