CN113386879A - Lead screw guide rail type logistics trolley with signing function - Google Patents
Lead screw guide rail type logistics trolley with signing function Download PDFInfo
- Publication number
- CN113386879A CN113386879A CN202110878743.9A CN202110878743A CN113386879A CN 113386879 A CN113386879 A CN 113386879A CN 202110878743 A CN202110878743 A CN 202110878743A CN 113386879 A CN113386879 A CN 113386879A
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- Prior art keywords
- horizontal
- guide rail
- lead screw
- vertical
- screw guide
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/48—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above load-transporting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/48—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above load-transporting element
- B60P1/483—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above load-transporting element using pivoted arms shifting the load-transporting element in a fore or aft direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to a lead screw guide rail type logistics trolley with a sign-in function, which comprises a trolley body, wherein a horizontal sliding table and a rotary object stage are connected on the trolley body, and a vertical sliding table and a camera which slide along the horizontal sliding table are connected on the horizontal sliding table and are used for aligning the rotary object stage to sweep goods; the vertical sliding table is connected with a manipulator, the structure of the vertical sliding table comprises a fixed plate, rotary supporting rods and clamping arms, the rotary supporting rods and the clamping arms are respectively and symmetrically provided with two groups, one ends of the two rotary supporting rods are respectively connected with the corresponding clamping arms into a whole through connecting rods, the other ends of the two rotary supporting rods are respectively connected with driven gears, the driven gears are meshed with each other, one driven gear is meshed with a driving gear, the two driven gears are respectively connected with the fixed plate through rotating shafts, and the fixed plate is fixedly connected with the vertical sliding table; the driving gear is driven by the driving piece to rotate, so that the two driven gears rotate reversely, and the two rotary supporting rods and the clamping arm move in an opening and closing manner, so that the device is suitable for efficient carrying of various goods.
Description
Technical Field
The invention relates to the technical field of logistics trolleys, in particular to a lead screw guide rail type logistics trolley with a signing-in function.
Background
Goods transfer station, logistics center and wisdom factory are to the automatic degree of dependence of storage more and more big. In the prior art, the logistics trolley for the intelligent storage has a basic intelligent conveying function, for example, a lifting function is realized through a basic jacking mechanism, but the logistics trolley lacks a local moving and grabbing function, so that the logistics trolley is poor in adaptability when being used for transporting products with special structures and loading and unloading goods with small spaces.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the lead screw guide rail type logistics trolley with the signing-in function, which simplifies the structural design and improves the grabbing and local moving functions of the lead screw guide rail type logistics trolley so as to improve the adaptability of transporting products with special structures and loading and unloading goods with smaller space.
The technical scheme adopted by the invention is as follows:
a lead screw guide rail type logistics trolley with a sign-in function comprises a trolley body, wherein a horizontal sliding table and a rotary object stage are connected to the trolley body, a vertical sliding table and a camera which slide along the horizontal sliding table are connected to the horizontal sliding table, and the camera is used for aligning the rotary object stage to sweep goods; the vertical sliding table is connected with a manipulator and structurally comprises a fixed plate, rotary supporting rods and clamping arms, the rotary supporting rods and the clamping arms are symmetrically provided with two groups respectively, one ends of the two rotary supporting rods are connected with the corresponding clamping arms into a whole respectively through connecting rods, the other ends of the two rotary supporting rods are connected with driven gears respectively, the driven gears are meshed with each other, one driven gear is meshed with a driving gear, the two driven gears are connected with the fixed plate respectively through rotating shafts, and the fixed plate is fixedly connected with the vertical sliding table; the driving gear is driven by the driving piece to rotate, and drives the two driven gears to rotate reversely, so that the two groups of rotary supporting rods and the clamping arms can move in an opening and closing mode.
The further technical scheme is as follows:
the structure of horizontal slip table includes two horizontal benches that parallel interval set up, is connected with horizontal lead screw guide rail, the smooth guide rail of level and connects soon with horizontal lead screw guide rail and with the smooth guide rail sliding connection's of level horizontal nut on every horizontal bench, and it is connected with horizontal slider, is connected with perpendicular slider between the horizontal slider of two horizontal benches, perpendicular slider is used for connecting perpendicular slip table, just the camera is installed on the perpendicular slider.
The structure of perpendicular slip table includes vertical movement platform, installs on it to be connected with perpendicular lead screw guide rail, perpendicular smooth guide rail and connect soon with perpendicular lead screw guide rail and with perpendicular smooth guide rail sliding connection's perpendicular nut, perpendicular nut with perpendicular slider fixed connection.
One end of the horizontal lead screw guide rail is connected with an output shaft of a third motor through a first coupler; the bottoms of the two horizontal tables are fixedly connected with the upper surface of the vehicle body through T-shaped supports respectively, and the T-shaped supports are consistent in height so that the two horizontal tables are kept horizontal.
The middle part of the rotary object stage is provided with a central shaft, the upper surface of the vehicle body is connected with a cylindrical table, a second motor is installed on the cylindrical table, and the central shaft is meshed with an output shaft of the second motor through a pair of meshed bevel gears.
The lateral surface of the vehicle body is provided with Mecanum wheels which are driven by a power source to rotate so as to drive the whole vehicle to move; the structure of power supply includes first motor, first motor is installed on the shock attenuation support with inside bottom surface fixed connection of automobile body, and the inside side of automobile body is connected with the shock attenuation frame, the shaft of mecanum wheel with install the downthehole bearing key-type connection of shock attenuation frame, the output shaft of first motor passes through the second shaft coupling simultaneously and is connected with the shaft of mecanum wheel.
And a driving piece for driving the driving gear adopts a fourth motor, and an output shaft of the fourth motor is connected with a rotating shaft of the driving gear through a third coupler.
The structure of automobile body includes the box, box upper portion opening can be dismantled and be connected with the apron.
The invention has the following beneficial effects:
the invention integrates the functions of moving, carrying, lifting, signing and the like of goods, greatly saves manpower and improves efficiency. The invention has simple structural design, small friction among all mechanisms, reliable movement and functions of grabbing and local moving, and improves the adaptability for transporting products with special structures and loading and unloading goods spaces with small space. Meanwhile, the invention also has the following advantages:
the moving platform adopts the screw and nut mechanism to realize the movement of goods in the horizontal direction and the lifting in the vertical direction, has simple structure and is convenient to realize.
The rotatable object stage is driven by the bevel gear, the transmission ratio is high, goods with high quality can be driven, and the rotatable object stage ensures that codes on the goods can be over against the camera when signing.
The invention adopts the Mecanum wheel omnidirectional movement vehicle body chassis, can realize various movement modes such as forward movement, transverse movement, diagonal movement, rotation and combination thereof, is very suitable for the environment with limited operation space and narrow operation channel, and improves the utilization rate of the space.
The invention can design the gear and the rotary supporting rod of the manipulator part according to the actual situation, and realizes the clamping of goods with different sizes and specifications so as to meet the actual requirement of the best effect.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic structural view of the vehicle body of the present invention.
Fig. 3 is a schematic view of the mounting structure of the mecanum wheel of the present invention.
Fig. 4 is a schematic view of the mounting structure of the rotary stage according to the present invention.
Fig. 5 is a schematic structural diagram of the horizontal mobile station of the present invention.
Fig. 6 is a schematic view of a connection structure of a vertical moving stage and a vertical slider according to the present invention.
FIG. 7 is a schematic view of a connection structure of a horizontal slider and a vertical slider
Fig. 8 is a schematic structural view of the robot of the present invention.
Fig. 9 is a schematic view of the engagement connection structure between the driving gear and the two driven gears of the robot arm according to the present invention.
In the figure: 1. a Mecanum wheel; 2. a vehicle body; 3. a shock-absorbing mount; 4. a bearing; 5. a second coupling; 6. a shock-absorbing support; 7. a first motor; 8. a cover plate; 9. a cylindrical table; 10. a second motor; 11. a bevel gear; 12. rotating the object stage; 13. a T-shaped bracket; 14. a horizontal table; 15. a horizontal smooth guide rail; 16. a horizontal lead screw guide rail; 17. a first coupling; 18. a third motor; 19. a vertical moving stage; 20. a horizontal slider; 21. a horizontal nut; 22. a vertical slider; 23. a camera; 24. a fixing plate; 25. a third coupling; 26. a fourth motor; 27. a driving gear; 28. rotating the support rod; 29. a connecting rod; 30. a clamp arm; 31. a driven gear; 32. a vertical nut.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
The lead screw guide rail type logistics trolley with the sign-in function comprises a trolley body 2, wherein a horizontal sliding table and a rotary object stage 12 are connected to the trolley body 2, a vertical sliding table sliding along the horizontal sliding table and a camera 23 are connected to the horizontal sliding table, and the camera 23 is used for aligning the rotary object stage 12 to sweep goods; the vertical sliding table is connected with a manipulator, as shown in fig. 8, the structure of the vertical sliding table comprises a fixed plate 24, two groups of rotary supporting rods 28 and two groups of clamping arms 30, the rotary supporting rods 28 and the clamping arms 30 are respectively and symmetrically arranged, one end of each rotary supporting rod 28 is connected with the corresponding clamping arm 30 into a whole through a connecting rod 29, the other end of each rotary supporting rod 28 is connected with a driven gear 31, as shown in fig. 9, the two driven gears 31 are meshed with each other, one driven gear 31 is meshed with a driving gear 27, the two driven gears 31 are connected with the fixed plate 24 through rotating shafts, and the fixed plate 24 is fixedly connected with the vertical sliding table; the driving gear 27 is driven by the driving member to rotate, so that the two driven gears 31 rotate in opposite directions, thereby realizing the opening and closing movement of the two rotary supporting rods 28 and the clamping arm 30.
In one embodiment, a fourth motor 26 is used as a driving member for driving the driving gear 27, and an output shaft of the fourth motor 26 is connected to a rotating shaft of the driving gear 27 through a third coupling 25.
In one embodiment, the connecting rod 29 and the rotation support rod 28, and the clamping arm 30 and the connecting rod 29 are fixedly connected by a fastener.
In one embodiment, the connecting rod 29 is vertically connected to the rotation support rod 28.
In the above embodiment, the structure of the horizontal sliding table includes two horizontal tables 14 arranged in parallel at intervals, as shown in fig. 5, each horizontal table 14 is connected with a horizontal lead screw guide rail 16, a horizontal smooth guide rail 15, and a horizontal nut 21 screwed with the horizontal lead screw guide rail 16 and slidably connected with the horizontal smooth guide rail 15, the horizontal nut 21 is connected with a horizontal slider 20, a vertical slider 22 is connected between the horizontal sliders 20 of the two horizontal tables 14, and the vertical slider 22 is used for connecting the vertical sliding table; as shown in fig. 6 and 7, the camera 23 is mounted on the vertical slide 22, and the lens of the camera is downward for aligning with the rotary stage 12 to scan the goods, and when the camera is in operation, the rotary stage 12 rotates, so that the bar code on the goods can be opposite to the camera 23 when the goods are signed.
In one embodiment, the horizontal slider 20 and the vertical slider 22 are connected together by screws.
As an embodiment, one end of the horizontal lead screw guide rail 16 is connected with an output shaft of the third motor 18 through a first coupler 17; the bottoms of the two horizontal tables 14 are fixedly connected with the upper surface of the vehicle body 2 through T-shaped supports 13 respectively, and the two horizontal tables 14 are kept horizontal due to the consistent height of the T-shaped supports 13.
As shown in fig. 6, the structure of the vertical sliding table connected with the vertical sliding block 22 includes a vertical moving table 19 on which a vertical lead screw guide rail, a vertical smooth guide rail, and a vertical nut 32 screwed with the vertical lead screw guide rail and slidably connected with the vertical smooth guide rail are mounted, as shown in fig. 7, the vertical nut 32 is fixedly connected with the vertical sliding block 22.
Specifically, one end of the vertical lead screw guide rail is connected with a corresponding driving motor.
Specifically, two horizontal platforms 14 and a vertical moving platform 19 form a two-degree-of-freedom moving platform, the horizontal platform 14 is fixedly connected with a cover plate 8 on the vehicle body 2 through a T-shaped support 13, the T-shaped support 13 is connected with the cover plate 8 through a screw, and a horizontal smooth guide rail 15 is fixedly connected with the horizontal platform 14 and cannot rotate.
In the above embodiment, as shown in fig. 4, the center shaft is provided in the middle of the rotary stage 12, the cylindrical table 9 is mounted on the upper surface of the vehicle body 2, the second motor 10 is mounted on the cylindrical table, and the center shaft and the output shaft of the second motor 10 are engaged and connected through a pair of engaged bevel gears 11.
In the above embodiment, the structure of the vehicle body 2 includes a box body, and a cover plate 8 is detachably connected to an upper opening of the box body.
As shown in fig. 3, a mecanum wheel 1 is mounted on the side surface of the vehicle body 2, and the mecanum wheel 1 is driven by a power source to rotate so as to drive the whole vehicle to move; the structure of power supply includes first motor 7, and first motor 7 is installed on the shock attenuation support 6 fixed with the inside bottom surface of automobile body 2, and 2 inside sides of automobile body are connected with shock attenuation frame 3, and the shaft of mecanum wheel 1 is connected with the 4 key-types of bearings of installing in shock attenuation frame 3 downthehole, and the output shaft of first motor 7 passes through second shaft coupling 5 and the shaft connection of mecanum wheel 1 simultaneously. Specifically, four mecanum wheels 1 are provided.
Specifically, each coupling may specifically adopt a quincuncial coupling.
The specific working process and principle of the invention are as follows:
when the first motor 7 rotates, the Mecanum wheels 1 can be driven to rotate through the bearing 4 and the second coupling 5, the four first motors 7 independently drive the four Mecanum wheels 1, and various motion modes such as advancing, transverse moving, oblique moving, rotating and combination of the four first motors are realized.
The second motor 10 drives a pair of meshed bevel gears 11 to rotate, so as to drive the rotary object stage 12 to rotate, and the bar codes on the goods are ensured to be over against the camera 23 when the goods are signed and received.
The third motor 18 drives the horizontal lead screw guide rail 16 to rotate through the first coupler 17, the horizontal lead screw guide rail 16 is sleeved with the horizontal sliding block 20 through the horizontal nut 21, the horizontal lead screw guide rail 16 rotates, the horizontal nut 21 drives the vertical sliding block 22 to move horizontally through the horizontal sliding block 20, and the movement of goods clamped by the vertical sliding table and the manipulator on the vertical sliding table in the horizontal direction is realized. In a similar way, the vertical lead screw guide rail on the vertical moving platform 19 is driven to rotate by the corresponding motor, so that the vertical moving platform 19 moves up and down along the vertical smooth guide rail, and the goods clamped by the manipulator moves in the vertical direction.
The fourth motor 26 drives the driving gear 27 to rotate through the third coupling 25, the driving gear 27 is sequentially engaged with the two driven gears 31, that is, the two rotation support rods 28 are engaged, and the rotation directions of the two rotation support rods 28 are opposite, so as to control the opening and closing of the manipulator.
During operation, after the goods on the rotary object stage 12 are scanned and recorded, the manipulator adjusts the position and then clamps the goods on the rotary object stage 12, and the goods are moved to the next station, or the goods on other stations are clamped and then placed on the rotary object stage 12, so that the goods can be freely loaded and unloaded.
Claims (8)
1. The lead screw guide rail type logistics trolley with the signing function is characterized by comprising a trolley body (2), wherein a horizontal sliding table and a rotary object stage (12) are connected onto the trolley body (2), a vertical sliding table and a camera (23) which slide along the horizontal sliding table are connected onto the horizontal sliding table, and the camera (23) is used for aligning the rotary object stage (12) to sweep goods; the mechanical arm is connected to the vertical sliding table, the structure of the mechanical arm comprises a fixing plate (24), rotary supporting rods (28) and clamping arms (30), the rotary supporting rods (28) and the clamping arms (30) are symmetrically arranged in two groups respectively, one end of each rotary supporting rod (28) is connected with the corresponding clamping arm (30) into a whole through a connecting rod (29), the other end of each rotary supporting rod (28) is connected with a driven gear (31), the driven gears (31) are meshed with each other, one driven gear (31) is meshed with a driving gear (27), the two driven gears (31) are connected with the fixing plate (24) through rotating shafts respectively, and the fixing plate (24) is fixedly connected with the vertical sliding table; the driving gear (27) is driven by the driving part to rotate, and drives the two driven gears (31) to rotate reversely, so that the two groups of rotating supporting rods (28) and the clamping arms (30) move in an opening and closing manner.
2. The lead screw guide tracked commodity circulation dolly that has a function of signing in of claim 1, characterized in that, the structure of horizontal slip table includes two horizontal platforms (14) that parallel interval set up, is connected with horizontal lead screw guide rail (16), horizontal smooth guide rail (15) on every horizontal platform (14) and connects soon with horizontal lead screw guide rail (16) and with horizontal smooth guide rail (15) sliding connection's horizontal nut (21), and it is connected with horizontal slider (20), is connected with perpendicular slider (22) between horizontal slider (20) of two horizontal platforms (14), perpendicular slider (22) are used for connecting perpendicular slip table, just camera (23) are installed on perpendicular slider (22).
3. The lead screw guide rail type logistics trolley with the sign-on function as claimed in claim 2, wherein the structure of the vertical sliding table comprises a vertical moving table (19), a vertical lead screw guide rail, a vertical smooth guide rail and a vertical nut (32) which is screwed with the vertical lead screw guide rail and is connected with the vertical smooth guide rail in a sliding manner are mounted on the vertical moving table, and the vertical nut (32) is fixedly connected with the vertical sliding block (22).
4. The lead screw guide rail type logistics trolley with the sign-on function as claimed in claim 3, wherein one end of the horizontal lead screw guide rail (16) is connected with an output shaft of a third motor (18) through a first coupler (17); the bottoms of the two horizontal tables (14) are fixedly connected with the upper surface of the vehicle body (2) through T-shaped supports (13), and the two horizontal tables (14) are kept horizontal due to the consistent height of the T-shaped supports (13).
5. The lead screw guide rail type logistics trolley with the sign-on function is characterized in that a central shaft is arranged in the middle of the rotary object stage (12), a cylindrical table (9) is connected to the upper surface of the trolley body (2), a second motor (10) is mounted on the cylindrical table, and the central shaft is in meshed connection with an output shaft of the second motor (10) through a pair of meshed bevel gears (11).
6. The lead screw rail-type logistics trolley with the sign-in function is characterized in that a Mecanum wheel (1) is installed on the side surface of the trolley body (2), and the Mecanum wheel (1) is driven by a power source to rotate so as to drive the whole trolley to move; the structure of power supply includes first motor (7), first motor (7) are installed on shock absorber support (6) with the inside bottom surface fixed connection of automobile body (2), and the inside side of automobile body (2) is connected with shock attenuation frame (3), the shaft of mecanum wheel (1) with install shock attenuation frame (3) downthehole bearing (4) key-type connection, the output shaft of first motor (7) passes through second shaft coupling (5) and the wheel hub connection of mecanum wheel (1) simultaneously.
7. The lead screw guide rail type logistics trolley with the sign-on function as claimed in claim 1, wherein the driving member for driving the driving gear (27) adopts a fourth motor (26), and an output shaft of the fourth motor (26) is connected with a rotating shaft of the driving gear (27) through a third coupling (25).
8. The lead screw guide rail type logistics trolley with the sign-in function as claimed in claim 1, wherein the structure of the trolley body (2) comprises a box body, and a cover plate (8) is detachably connected to an opening at the upper part of the box body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110878743.9A CN113386879A (en) | 2021-07-30 | 2021-07-30 | Lead screw guide rail type logistics trolley with signing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110878743.9A CN113386879A (en) | 2021-07-30 | 2021-07-30 | Lead screw guide rail type logistics trolley with signing function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113386879A true CN113386879A (en) | 2021-09-14 |
Family
ID=77622355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110878743.9A Pending CN113386879A (en) | 2021-07-30 | 2021-07-30 | Lead screw guide rail type logistics trolley with signing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113386879A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114394422A (en) * | 2022-02-07 | 2022-04-26 | 无锡新聚力科技有限公司 | Double-track air transfer robot and walking control method thereof |
| CN114683236A (en) * | 2022-03-21 | 2022-07-01 | 南京工程学院 | Commodity circulation carrying trolley based on vision |
| CN114771618A (en) * | 2022-03-22 | 2022-07-22 | 上海汇聚自动化科技有限公司 | All-round transport dolly |
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| JP2003102558A (en) * | 2001-09-28 | 2003-04-08 | Kokuyo Co Ltd | Wagon |
| CN106185730A (en) * | 2016-07-20 | 2016-12-07 | 东南大学 | A kind of floor truck of all-around mobile |
| CN107758567A (en) * | 2017-11-10 | 2018-03-06 | 徐州工程学院 | A kind of intelligent mounting-dismounting device for warehouse freezer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114394422A (en) * | 2022-02-07 | 2022-04-26 | 无锡新聚力科技有限公司 | Double-track air transfer robot and walking control method thereof |
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| CN114771618A (en) * | 2022-03-22 | 2022-07-22 | 上海汇聚自动化科技有限公司 | All-round transport dolly |
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Application publication date: 20210914 |