CN207759985U - Agile type refers to formula pallet fork - Google Patents
Agile type refers to formula pallet fork Download PDFInfo
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- CN207759985U CN207759985U CN201820096707.0U CN201820096707U CN207759985U CN 207759985 U CN207759985 U CN 207759985U CN 201820096707 U CN201820096707 U CN 201820096707U CN 207759985 U CN207759985 U CN 207759985U
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Abstract
The utility model belongs to automatic stereowarehouse technical field, and specifically a kind of agile type refers to formula pallet fork.Including pedestal and the first retractable fork being set on pedestal, the second retractable fork, lateral the linear guide, transverse shifting driving mechanism and stretch fork driving mechanism, wherein the first retractable fork and the second retractable fork are arranged in parallel and telescopic direction is vertical with lateral the linear guide, first retractable fork is slidably connected with lateral the linear guide, second retractable fork is fixed on the base, transverse shifting driving mechanism for driving the first retractable fork, transversely slide by the linear guide, stretches fork driving mechanism for driving the first retractable fork and the second retractable fork synchronization telescope.The utility model has the characteristics that cost is low, controllability is flexible, accuracy is high, reasonable for structure, applied widely, high degree of automation, can be used for the various different in width type cargos pickup of automatic stereowarehouse.
Description
Technical field
The utility model belongs to automatic stereowarehouse technical field, and specifically a kind of agile type refers to formula pallet fork.
Background technology
In automatic stereowarehouse, piler is essential, and the core component of wherein piler is exactly pallet fork.From
Dynamicization tiered warehouse facility has several floor heights or more than ten floor heights, or even has tens floor heights, and the effect of piler is exactly to pass through pallet fork by goods
Object is sent to specified position.Currently, the pallet fork type of domestic and international piler is varied, and the current formula pallet fork that commonly refers to is needed
It extend into picking below cargo and requires the width of cargo that must unify；In order to cope with the pallet of different in width, have at present
Two methods：First method uses the form of two sets of pallet fork speed syncs, and when the wide cargo of pickup, two are controlled by motor
Pallet fork simultaneous retractable, pallet fork acts respectively when picking up narrow cargo, this method although may be implemented to the mixed width cargo put into
Row pickup, but motor synchronous control is required excessively high.Second method equally uses two sets of pallet forks, motor to fix a pallet fork
On, two pallet forks are connected using electromagnetic clutch, when pickup wide cargo, electromagnetic clutch is closed, and two pallet forks pass through
Electromagnetic clutch runs simultaneously the pickup into line width cargo, and when picking up narrow cargo, electromagnetic clutch disconnects, an independent pallet fork
Action, this method realize the synchronization of two sets of pallet forks by way of mechanical connection, and opposite electric synchronization is more safe and reliable, but
It is due to there was only a motor, can not achieve the action respectively of double forks, operational efficiency is relatively low；Above two method is due to being all made of
Two sets of pallet forks, not only cost is larger, dead weight is heavier, but also can only be directed to the pallet of two kinds of fixed widths, and flexibility is not also high.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of agile types to refer to formula pallet fork, to solve existing heap
Stack machine uses two sets of pallet forks, and not only cost is larger, dead weight is heavier, but also can only be directed to the pallet of two kinds of fixed widths, flexibility
Also not high problem.
To achieve the goals above, the utility model uses following technical scheme：
A kind of agile type refers to formula pallet fork, including pedestal and the first retractable fork, second flexible for being set on the pedestal
Pallet fork, lateral the linear guide, transverse shifting driving mechanism and fork driving mechanism is stretched, wherein the first retractable fork and the second flexible goods
Fork is arranged in parallel and telescopic direction is vertical with the lateral the linear guide, and first retractable fork is led with the lateral straight line
Rail is slidably connected, and second retractable fork is fixed on the base, and the transverse shifting driving mechanism is described for driving
First retractable fork is slided along the lateral the linear guide, it is described stretch fork driving mechanism for drive first retractable fork and
The second retractable fork synchronization telescope.
First retractable fork and the second retractable fork structure are identical, include upper fork, middle fork, lower fork, the first transmission
Device and the second transmission device, wherein upper fork, middle fork and lower fork are from top to bottom slidably connected successively, first transmission device is set
It is placed between the middle fork and the lower fork and is connect with the fork driving mechanism of stretching, second transmission device is set to institute
State fork the middle fork between, it is described stretch fork driving mechanism by described in first actuator drives it is middle fork with it is described under
The movement of the opposite sliding of fork, the middle fork drives the upper fork to be slided relative to the middle fork by second transmission device.
The sliding speed of the upper fork is twice of the sliding speed of the middle fork.
First transmission device includes rack and pinion group, wherein gear set be set on the lower fork and with it is described
Fork driving mechanism connection is stretched, the rack is set on the middle fork and is engaged with the gear set.
The gear set includes multiple gear wheels and multiple pinion gears, and the gear wheel and the pinion gear are alternated and set
It sets and adjacent two gears intermeshing, the rack is engaged with multiple gear wheels.
Second transmission device includes driving chain, y-bend sprocket wheel, slide fastener block and zipper, wherein slide fastener block and drawing
Chain mechanism is respectively arranged on the upper fork and the lower fork, and the y-bend sprocket wheel is set to the end of the middle fork, the biography
Dynamic chain and the y-bend sprocket engagement and both ends are connect with the slide fastener block and zipper respectively.
The both sides of the middle fork are equipped with internal chute and external chute, are equipped on the both sides inner wall of the upper fork described in being placed in
Camshaft bearing I in the external chute of middle fork and guide pad I is equipped on the both sides outer wall of the lower fork and is placed in the middle fork
Camshaft bearing II in internal chute and guide pad II.
The fork driving mechanism of stretching includes speed reducer, stretches fork motor, splined shaft and spline housing, wherein stretching the output of fork motor
The input axis connection of axis and the speed reducer, output shaft and the spline axis connection of the speed reducer, the splined shaft are set to institute
It states between the first retractable fork and second retractable fork and parallel with the lateral the linear guide, the two of the splined shaft
End is connect with the first transmission device in first retractable fork and second retractable fork respectively, the first flexible goods
Lower fork in fork is equipped with spline housing, the splined shaft and the spline housing clearance fit.
The transverse shifting driving mechanism includes cross motor, the first chain, the second chain and clamps transmission shaft, wherein horizontal
The opposite sides of the pedestal is respectively arranged to motor and clamping transmission shaft, the output shaft of the cross motor is equipped with actively
Sprocket wheel, the both ends for clamping transmission shaft are equipped with driven sprocket, and the drive sprocket is driven by the first chain and the clamping
The driven sprocket of axis one end connects, second chain be arranged in parallel with first chain and with the transmission shaft that clamps
The driven sprocket of the other end is sequentially connected, and first chain and the second chain are connect with first retractable fork.
The swelling device of tensioner the first chain and the second chain is respectively used to there are two being set on the outside of the clamping transmission shaft.
The advantages of the utility model and advantageous effect are：The utility model stretches fork motor pair two by using splined shaft completion
Side pallet fork stretches fork, while being coordinated using spline housing and splined shaft, ensures that lower fork moves left and right on guide rail, solves tradition and refer to formula
Limitation of the pallet fork to shelf and cargo, whether ox foot formula shelf or cross beam type shelf, no matter also the size of cargo is also
It is the size of pallet specification, can refers to extraction and transport that formula pallet fork completes cargo by agile type, overcome automated three-dimensional
The problem of polymorphic type pallet fork is existed simultaneously and is taken up space in warehouse, while reducing cost.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the vertical view of the utility model；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is the upper structural schematic diagram pitched in the utility model；
Fig. 5 is the upper upward view pitched in the utility model；
Fig. 6 is the structural schematic diagram that retractable fork stretches out to the left in the utility model；
Fig. 7 is the structural schematic diagram that retractable fork stretches out to the right in the utility model；
Fig. 8 is the side view of middle fork in the utility model.
In figure：1 is speed reducer, and 2 be upper fork, and 3 be middle fork, and 4 be lower fork, and 5 be external chute, and 6 be the first retractable fork, and 7 are
Second retractable fork, 8 be the second chain, and 11 be cross motor, and 12 be pedestal, and 13 be lateral the linear guide, and 14 be clamping transmission
Axis, 15 be sprocket wheel, and 16 be the first chain, and 17 be swelling device, and 18 be chain pulley seat, and 21 be slide fastener block, and 22 be camshaft bearing I, 23
For guide pad I, 24 be upper plate, and 25 be riser, and 26 be driving chain, and 31 be middle fork body, and 32 be y-bend sprocket wheel, and 33 be rack, 34
For sprocket shaft, 41 is stretch fork motor, and 42 be splined shaft, and 43 be spline housing, and 44 be zipper, and 45 be slide fastener seat, and 46 be cam
Bearing I I, 47 be guide pad II, and 48 be gear set.
Specific implementation mode
In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the accompanying drawings and it is embodied
The utility model is described in detail in example.
As shown in Figs. 1-3, a kind of agile type refers to formula pallet fork, including pedestal 12 and the first flexible goods for being set on pedestal 12
It pitches the 6, second retractable fork 7, lateral the linear guide 13, transverse shifting driving mechanism and stretches fork driving mechanism, wherein first is flexible
Pallet fork 6 and the second retractable fork 7 are arranged in parallel and telescopic direction is vertical with lateral the linear guide 13, the first retractable fork 6 and cross
It is slidably connected to the linear guide 13, the second retractable fork 7 is fixed on pedestal 12, and transverse shifting driving mechanism is for driving first
Retractable fork 6 transversely slide by the linear guide 13, stretches fork driving mechanism for driving the first retractable fork 6 and the second flexible goods
Pitch 7 synchronization telescopes.
First retractable fork 6 is identical with 7 structure of the second retractable fork, includes upper fork 2, middle fork 3, the transmission of lower fork 4, first
Device and the second transmission device, wherein upper fork 2, middle fork 3 and lower fork 4 are from top to bottom slidably connected successively, in the first retractable fork 6
Lower fork 4 be slidably connected with lateral the linear guide 13, the lower fork 4 in the second retractable fork 7 is fixedly connected with pedestal 12.First passes
Dynamic device is set between middle fork 3 and lower fork 4 and is connect with fork driving mechanism is stretched, and the second transmission device is set to fork 2 in
It between fork 3, stretches fork driving mechanism and is slided relatively with lower fork 4 by pitching 3 in the first actuator drives, the movement of middle fork 3 is logical
Crossing the second transmission device drives fork 2 relative to 3 sliding of middle fork.
Upper fork 2 and 3 differential types of middle fork are flexible, and in an embodiment of the utility model, the sliding speed of upper fork 2 is middle fork 3
Twice of sliding speed.
As illustrated in figures 4-5, the both sides of middle fork 3 are equipped with internal chute and external chute 5, and appearance is equipped on the both sides inner wall of upper fork 2
The camshaft bearing I 22 and guide pad I 23 being placed in the external chute 5 of fork 3, are equipped on the both sides outer wall of lower fork 4 and are placed in
Camshaft bearing II 46 in the internal chute of middle fork 3 and guide pad II 47.
In one embodiment of the utility model, the internal chute and external chute 5 of the both sides of middle fork 3 are U-shaped structure.Upper fork 2
Including upper plate 24 and it is set to the risers 25 of 24 both sides of upper plate, camshaft bearing I 22 and guide pad I 23 are set to the interior of riser 25
Side, camshaft bearing I 22 is in rolling contact connection in the U-type groove of 3 both sides of middle fork, and guide pad I 23 and the U-type groove of both sides are slided
It is dynamic to connect, to keep fork 2 to move in a straight line.Camshaft bearing II 46 is in rolling contact in the U-type groove of 3 inside of middle fork
Connection, and guide pad II 47 pitches 3 in the U-type groove of inside, in holding and moves in a straight line.
First transmission device includes rack 33 and gear set 48, and wherein gear set 48 is set on lower fork 4 and is driven with fork is stretched
Motivation structure connects, and rack 33 is set on middle fork 3 and is engaged with gear set 48.Gear set 48 includes multiple gear wheels and multiple
Pinion gear, gear wheel and pinion gear alternate setting and adjacent two gears intermeshing, the rotation side of multiple gear wheels
To identical, rack 33 is engaged with multiple gear wheels.
As shown in figs 6-8, the second transmission device includes driving chain 26, y-bend sprocket wheel 32, slide fastener block 21 and zipper
44, wherein slide fastener block 21 and zipper 44 is respectively arranged on fork 2 and lower fork 4, and y-bend sprocket wheel 32 is set to the end of middle fork 3
Portion, driving chain 26 is engaged with y-bend sprocket wheel 32 and both ends are connect with slide fastener block 21 and zipper 44 respectively.First flexible goods
Fork 6 and the second retractable fork 7 can be stretched out or be stretched out to the right to the left.
Further, the second transmission device is two groups, is respectively arranged at the both sides of middle fork 3.
As shown in Figs. 1-2, fork driving mechanism is stretched to include speed reducer 1, stretch fork motor 41, splined shaft 42 and spline housing 43,
In stretch fork motor 41 output shaft and speed reducer 1 input axis connection, the output shaft of speed reducer 1 connect with splined shaft 42, spline
Axis 42 be set to it is between the first retractable fork 6 and the second retractable fork 7 and parallel with lateral the linear guide 13, splined shaft 42
Both ends are sequentially connected with the gear set 48 in the first retractable fork 6 and the second retractable fork 7 respectively.In first retractable fork 6
Lower fork 4 is equipped with spline housing 43, splined shaft 42 and 43 clearance fit of spline housing, and increases graphite lubrication at specified position
Point, guarantee stretch fork direction and are connected smooth with transverse movement direction.
The utility model completes to stretch fork motor to the fork of stretching of both sides pallet fork by using splined shaft, at the same using spline housing and
Splined shaft coordinates, and ensures that lower fork moves left and right on guide rail.
As shown in Figs. 1-2, transverse shifting driving mechanism includes cross motor 11, the first chain 16, the second chain 8 and clamps
Transmission shaft 14, wherein cross motor 11 and clamping transmission shaft 14 are respectively arranged at the opposite sides of pedestal 12, cross motor 11
Output shaft is equipped with drive sprocket, and the both ends for clamping transmission shaft 14 are equipped with driven sprocket, drive sprocket by the first chain 16 with
Clamp the driven sprocket connection of transmission shaft 14 one end, the second chain 8 be arranged in parallel with the first chain 16 and with clamping transmission shaft 14
The other end driven sprocket be sequentially connected.4 bottom of lower fork in first retractable fork 6 is set there are two slide fastener seat 45, and two are drawn
Chain seat 45 is fixedly connected with the first chain 16 and the second chain 8 respectively.
The outside for clamping transmission shaft 14 sets that there are two the tensioner dresses for being respectively used to tensioner the first chain 16 and the second chain 8
Set 17.In one embodiment of the utility model, swelling device 17 includes support base, screw rod and nut, and wherein screw rod passes through support
The through-hole that seat is equipped with is connect with the chain pulley seat for clamping transmission shaft 14 is used to support, and nut is connect with screw flight, passes through rotation
Nut drives screw rod for linear motion, to realize the tensioner of the first chain 16 and the second chain 8.
To ensure the safety and reliability of this pallet fork, the transverse movement direction of pallet fork and stretch fork the direction of motion on install
Mechanical stop limiter and electric limiting device.If electric limiting failure of apparatus, mechanical stop limiter still ensures that it is safe and reliable.
When utility model works, the power source moved as pallet fork using variable-frequency motor, encoder is accurately positioned,
PLC programming Controls can be used.According to tiered warehouse facility field condition, the exact position needed for record walking is carried out using PLC, is gone forward side by side
Row record, it can be achieved that fully automatic operation after debugging successfully.
Formula pallet fork is referred to using the agile type of the utility model, encoder can be added to be accurately positioned using variable-frequency motor, utilize change
Frequency motor passing power, upper fork 2 are extended and retracted relative to 3 liang of speeds of middle fork.The utility model is with reference to traditional pallet fork base
On plinth, solves put mixed to large and small type cargo of current stacker fork and extraction and transmission can be achieved, solid is adequately utilized
The maximum space in warehouse, and with cost is low, controllability is flexible, accuracy is high, it is reasonable for structure, applied widely, from
The features such as dynamicization degree is high can be used for the various different in width type cargos pickup of automatic stereowarehouse.
The foregoing is merely the embodiments of the utility model, are not intended to limit the scope of protection of the utility model.It is all
Any modification, equivalent substitution and improvements made within spirit of the present utility model and principle, extension etc., are all contained in this reality
With in novel protection domain.
Claims (10)
1. a kind of agile type refers to formula pallet fork, which is characterized in that including pedestal (12) and be set on the pedestal (12) first
Retractable fork (6), the second retractable fork (7), lateral the linear guide (13), transverse shifting driving mechanism and fork driving mechanism is stretched,
Wherein the first retractable fork (6) and the second retractable fork (7) are arranged in parallel and telescopic direction and the lateral the linear guide (13)
Vertically, first retractable fork (6) is slidably connected with the lateral the linear guide (13), and second retractable fork (7) is solid
It is scheduled on the pedestal (12), the transverse shifting driving mechanism is for driving first retractable fork (6) along the transverse direction
The linear guide (13) is slided, and the fork driving mechanism of stretching is for driving first retractable fork (6) and the second flexible goods
Pitch (7) synchronization telescope.
2. agile type according to claim 1 refers to formula pallet fork, which is characterized in that first retractable fork (6) and second
Retractable fork (7) structure is identical, include upper fork (2), middle fork (3), lower fork (4), the first transmission device and the second transmission device,
Wherein upper fork (2), middle fork (3) and lower fork (4) are from top to bottom slidably connected successively, first transmission device be set to it is described in
It is connect between fork (3) and the lower fork (4) and with the fork driving mechanism of stretching, second transmission device is set on described
Pitch between (2) and the middle fork (3), it is described stretch pitch driving mechanism by middle fork (3) described in first actuator drives and
The lower fork (4) is opposite to be slided, and the movement of the middle fork (3) drives the upper fork (2) opposite by second transmission device
It is slided in the middle fork (3).
3. agile type according to claim 2 refers to formula pallet fork, which is characterized in that the sliding speed of the upper fork (2) is institute
State the sliding speed of middle fork (3) twice.
4. agile type according to claim 2 refers to formula pallet fork, which is characterized in that first transmission device includes rack
(33) it is set on the lower fork (4) and is connect with the fork driving mechanism of stretching with gear set (48), wherein gear set (48),
The rack (33) is set on the middle fork (3) and is engaged with the gear set (48).
5. agile type according to claim 4 refers to formula pallet fork, which is characterized in that the gear set (48) includes multiple canine tooths
Wheel and multiple pinion gears, the gear wheel and the pinion gear alternate setting and adjacent two gears intermeshing, institute
Rack (33) is stated to engage with multiple gear wheels.
6. agile type according to claim 2 refers to formula pallet fork, which is characterized in that second transmission device includes transmission chain
Item (26), y-bend sprocket wheel (32), slide fastener block (21) and zipper (44), wherein slide fastener block (21) and zipper (44) are respectively
It is set on upper fork (2) and the lower fork (4), the y-bend sprocket wheel (32) is set to the end of the middle fork (3), described
Driving chain (26) is engaged with the y-bend sprocket wheel (32) and both ends connect with the slide fastener block (21) and zipper (44) respectively
It connects.
7. agile type according to claim 2 refers to formula pallet fork, which is characterized in that the both sides of the middle fork (3) are equipped with interior cunning
Slot and external chute (5), it is described it is upper fork (2) both sides inner wall on be equipped be placed in it is described it is middle fork (3) external chute (5) in it is convex
Wheel bearing I (22) and guide pad I (23) is equipped with the interior cunning for being placed in the middle fork (3) on the both sides outer wall of the lower fork (4)
Camshaft bearing II (46) in slot and guide pad II (47).
8. agile type according to claim 2 refers to formula pallet fork, which is characterized in that the fork driving mechanism of stretching includes speed reducer
(1), fork motor (41), splined shaft (42) and spline housing (43) are stretched, wherein stretching the output shaft of fork motor (41) and the speed reducer
(1) output shaft of input axis connection, the speed reducer (1) is connect with splined shaft (42), and the splined shaft (42) is set to institute
It states between the first retractable fork (6) and second retractable fork (7) and parallel with lateral the linear guide (13), it is described
The both ends of splined shaft (42) are filled with the first transmission in first retractable fork (6) and second retractable fork (7) respectively
Connection is set, the lower fork (4) in first retractable fork (6) is equipped with spline housing (43), the splined shaft (42) and the flower
Key set (43) clearance fit.
9. agile type according to claim 1 refers to formula pallet fork, which is characterized in that the transverse shifting driving mechanism includes cross
To motor (11), the first chain (16), the second chain (8) and transmission shaft (14) is clamped, wherein cross motor (11) and clamping passes
Moving axis (14) is respectively arranged at the opposite sides of the pedestal (12), and the output shaft of the cross motor (11) is equipped with drive chain
Wheel, the both ends for clamping transmission shaft (14) are equipped with driven sprocket, and the drive sprocket passes through the first chain (16) and the folder
The driven sprocket connection of tight transmission shaft (14) one end, second chain (8) be arranged in parallel with first chain (16) and with
The driven sprocket of the other end for clamping transmission shaft (14) is sequentially connected, and first chain (16) and the second chain (8) are equal
It is connect with first retractable fork (6).
10. agile type according to claim 9 refers to formula pallet fork, which is characterized in that the outside for clamping transmission shaft (14)
If there are two the swelling devices (17) for being respectively used to the first chain of tensioner (16) and the second chain (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820096707.0U CN207759985U (en) | 2018-01-19 | 2018-01-19 | Agile type refers to formula pallet fork |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820096707.0U CN207759985U (en) | 2018-01-19 | 2018-01-19 | Agile type refers to formula pallet fork |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207759985U true CN207759985U (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820096707.0U Active CN207759985U (en) | 2018-01-19 | 2018-01-19 | Agile type refers to formula pallet fork |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109292340A (en) * | 2018-10-29 | 2019-02-01 | 太原市奥特莱物流科技有限公司 | A kind of push-and-pull picking auxiliary device for shuttle |
| CN110054124A (en) * | 2018-01-19 | 2019-07-26 | 沈阳新松机器人自动化股份有限公司 | A kind of agile type refers to formula pallet fork |
| CN110872082A (en) * | 2018-08-30 | 2020-03-10 | 沈阳新松机器人自动化股份有限公司 | Single deep hooking type pallet fork |
| CN110963447A (en) * | 2018-09-30 | 2020-04-07 | 沈阳新松机器人自动化股份有限公司 | Double-deep-position fork |
| CN111591641A (en) * | 2019-02-21 | 2020-08-28 | 江苏华章物流科技股份有限公司 | Automatic three-dimensional container system and storing and taking method thereof |
| CN113460913A (en) * | 2021-05-25 | 2021-10-01 | 诺力智能装备股份有限公司 | Self-adjusting error removing device suitable for AGV, AGV and use mode of AGV |
| CN113716256A (en) * | 2021-09-15 | 2021-11-30 | 北京京东乾石科技有限公司 | Shuttle car |
| CN114572905A (en) * | 2022-03-21 | 2022-06-03 | 中研技术有限公司 | Double-deep-position fork |
-
2018
- 2018-01-19 CN CN201820096707.0U patent/CN207759985U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110054124A (en) * | 2018-01-19 | 2019-07-26 | 沈阳新松机器人自动化股份有限公司 | A kind of agile type refers to formula pallet fork |
| CN110872082A (en) * | 2018-08-30 | 2020-03-10 | 沈阳新松机器人自动化股份有限公司 | Single deep hooking type pallet fork |
| CN110963447A (en) * | 2018-09-30 | 2020-04-07 | 沈阳新松机器人自动化股份有限公司 | Double-deep-position fork |
| CN109292340A (en) * | 2018-10-29 | 2019-02-01 | 太原市奥特莱物流科技有限公司 | A kind of push-and-pull picking auxiliary device for shuttle |
| CN111591641A (en) * | 2019-02-21 | 2020-08-28 | 江苏华章物流科技股份有限公司 | Automatic three-dimensional container system and storing and taking method thereof |
| CN113460913A (en) * | 2021-05-25 | 2021-10-01 | 诺力智能装备股份有限公司 | Self-adjusting error removing device suitable for AGV, AGV and use mode of AGV |
| CN113460913B (en) * | 2021-05-25 | 2022-11-11 | 诺力智能装备股份有限公司 | AGV use mode |
| CN113716256A (en) * | 2021-09-15 | 2021-11-30 | 北京京东乾石科技有限公司 | Shuttle car |
| CN113716256B (en) * | 2021-09-15 | 2023-12-05 | 北京京东乾石科技有限公司 | Shuttle vehicle |
| CN114572905A (en) * | 2022-03-21 | 2022-06-03 | 中研技术有限公司 | Double-deep-position fork |
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