CN207917736U - A kind of mobile transfer robot and cargo transfer system - Google Patents
A kind of mobile transfer robot and cargo transfer system Download PDFInfo
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- CN207917736U CN207917736U CN201721466110.2U CN201721466110U CN207917736U CN 207917736 U CN207917736 U CN 207917736U CN 201721466110 U CN201721466110 U CN 201721466110U CN 207917736 U CN207917736 U CN 207917736U
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Abstract
The utility model discloses a kind of mobile transfer robot and cargo transfer systems, mobile transfer robot includes mobile chassis and transport shelf, transport shelf include upper body transport shelf and the cargo aircraft structure that comes in and goes out, and upper body transports shelf and uses tower structure, and upper part, which has, is arranged at intervals with multiple holders；Come in and go out cargo aircraft structure include two levers, by telescoping mechanism setting upper body transport shelf on, and by push or unclamp telescoping mechanism make lever retracts downwards or upwards stretching holder top surface.The utility model, telescopic lever there are two being set on transport shelf on mobile chassis, when by interchange point, it is moved downward by the dynamic telescoping mechanism of pressure lingual ribbon on interchange point and then stays in cargo on shelf, or cargo on interchange point is blocked automatically, using simple mechanical structure, so that it may realize out, be put in storage full-automation, simple in structure, manufacturing cost is low.
Description
Technical field
The utility model is related to intelligent robot technology fields, and in particular to a kind of mobile transfer robot and cargo transfer
System.
Background technology
At this stage, largely mobile transfer robot and intelligence system are introduced into logistic storage and sort home-delivery center, transhipment
The occasions such as center, logistics warehouse, workshop.This application, greatly improves work efficiency, reduces cost of labor.But
Existing intelligent mobile transfer robot has the following problems：
(1) intelligent robot is dominated by intelligence system, the installation and debugging of system are extremely complex, and need IT expert
It is external support, error rate is high, is not easy to implement, and waste of manpower cost.
(2) it needs that the receiver for receiving system signal is installed in robot, the actuator of execution action, and passes through machinery
Hand carrys out loading, unloading cargo, complicated, and manufacturing cost is high.
It can be seen that existing intelligent mobile transfer robot is there are complicated, artificial and manufacturing cost height and not
The problem of easily implementing.
Utility model content
Technical problem to be solved in the utility model is that there are complicated, people for current intelligent mobile transfer robot
The problem of work and manufacturing cost are high and are not easy to implement.
In order to solve the above-mentioned technical problem, there is provided a kind of mobile carrying implements for technical solution used by the utility model
Device people, including mobile chassis and the transport shelf that are arranged on the mobile chassis, the transport shelf include：
Upper body transports shelf, and using tower structure, the top of the upper body transport shelf is with spaced multiple
Bracket, and the gap between bracket is consistent with the travel direction of the mobile chassis；
Come in and go out cargo aircraft structure, including vertically disposed two levers, and two levers are arranged by telescoping mechanism described
Upper body transports on the trailing flank of shelf, and so that the lever is retracted downwards or is stretched upwards by pushing or unclamping the telescoping mechanism
Go out the top surface of the bracket.
In the above scheme, the telescoping mechanism includes：
Guide plate is arranged on two adjacent brackets, and the upper and lower part of each bracket is equipped with two
A guide plate, the lever are threaded through respectively in two guide plates on the same bracket；
Last item is fixedly connected with two levers；
Spring is respectively sleeved on two levers, and positioned at the last item and the guiding below the last item
Between plate.
In the above scheme, the upper body transport shelf include：
Four supporting legs, lower end are fixed on the top surface of the mobile chassis, and two supporting legs in left and right pass through respectively
Floor connects；Two spaced pillars, two branch of correspondence are respectively equipped in the middle part of two floors of front and back arrangement
Column is connected by stud respectively with the top of supporting leg, to form bracket.
In the above scheme, the middle part of two levers is fixed with baffle ring, and the both ends of the last item are respectively with two
A baffle ring is fixed.
In the above scheme, the both ends of the last item are fixedly connected by spacing ring with two levers respectively, and the pressure
Axis is the roller bearing being rotatably arranged on the spacing ring.
In the above scheme, the mobile chassis is equipped with：
Avoidance sensor is arranged in the side of the direction of advance of the mobile chassis；
Visual sensor or electromagnetic sensor are arranged in the bottom surface of the mobile chassis, for reading the mobile chassis
Colour band information, magnetic strip information, Quick Response Code or square matrix code on shiftable haulage line.
In the above scheme, it is equipped with behind the mobile chassis and stops walking sensor, and be set as：
After mobile chassis stops, action sensor detects that staff's foot moves, and sends out enabled instruction.
In the above scheme, the middle part of the mobile chassis is equipped with differential gear.
In the above scheme, the upper body transport shelf are equipped with starting switch.
In the above scheme, upper body transport shelf are equipped with for detect thereon with the presence or absence of turnover box or cargo
Sensor.
The utility model additionally provides a kind of cargo transfer system, includes the mobile conveying robot people and goods of above structure
Transfer station, the interchange point include：
Enter goods shelf, include available for the mobile transfer robot to transport goods by it is left and right enter goods holder and more
It is a enter goods bracket, it is described enter goods bracket be mutually parallel in left-right direction be arranged at intervals on it is described it is left and right enter goods holder between, it is described
It is left and right enter goods holder rear end stretch out described in enter goods bracket, and the upper end is fixedly connected by entering goods horizontal cross bar, it is described enter goods
The lower face of horizontal cross bar be equipped with it is multiple be used for resisting goods consigned on mobile transfer robot enter goods lever, it is described enter goods
The rear end of bracket with it is described enter goods lever fix, be arranged centre described in enter goods bracket bottom surface be equipped with pressure tongue；
Shipment shelf, by the connecting bracket of frame-type with it is described enter goods holder be fixedly connected, the shipment shelf include
Available for the mobile transfer robot to transport goods by left and right shipment holder and multiple shipment brackets, the shipment support
Frame is mutually parallel in left-right direction to be arranged at intervals between the left and right shipment holder, and the rear end of the left and right shipment holder is stretched
Go out the shipment bracket, and the upper end is fixedly connected by shipment horizontal cross bar, the lower face of the shipment horizontal cross bar is equipped with
Multiple montants for being used for resisting cargo, rear end and the montant of the shipment bracket are fixed.
In above mentioned goods movement system, the height of the shipment bracket is higher than the mobile conveying robot for transporting goods
The height of transport shelf on people；It is described enter goods bracket height less than the fortune on mobile transfer robot for transporting goods
The height of defeated shelf.
The utility model, sets that there are two telescopic levers on the transport shelf on mobile chassis, by cargo transfer
When standing, is moved downward by the dynamic telescoping mechanism of pressure lingual ribbon on interchange point and then stay in cargo on shelf, or from
The dynamic cargo blocked on interchange point, using simple mechanical structure, so that it may it realizes out, be put in storage full-automation, it is simple in structure,
Manufacturing cost is low.
Description of the drawings
Fig. 1 is the logistics of card or Workplace goods delivery system schematic based on instruction in the utility model；
Fig. 2 is mobile transfer robot schematic diagram in the utility model；
Fig. 3 is the discrepancy goods structural scheme of mechanism of mobile transfer robot in the utility model；
Fig. 4 is the mobile chassis schematic diagram of mobile transfer robot in the utility model；
Fig. 5 is to enter goods transfer station schematic diagram in the utility model；
Fig. 6 is that tongue schematic diagram is pressed in the utility model；
Fig. 7 is shipment transfer station schematic diagram in the utility model；
Fig. 8 is shipment bracket schematic diagram in the utility model；
Fig. 9 is the goods integration double-purpose transfer station schematic diagram that comes in and goes out in the utility model；
Figure 10 is that the action command learning method card of mobile transfer robot card based on instruction in the utility model is set
Set schematic diagram；
Figure 11-25 is the schematic diagram of different instruction card in the utility model；
Figure 26 is the action command learning method flow chart of mobile transfer robot card based on instruction in the utility model；
Figure 27 is that mobile action command learning method of the transfer robot based on FPD card is shown in the utility model
It is intended to；
Figure 28 is the side for the new card for generating the mobile transfer robot of control in the utility model using existing card combinations
Method flow chart.
Specific implementation mode
The utility model provides the logistics of card based on instruction or Workplace cargo intelligent distribution system, and and its
The action command study of matching used mobile transfer robot, interchange point and mobile transfer robot card based on instruction
Action command learning method based on FPD card of method, mobile transfer robot utilizes existing card combinations to generate control
The method of the new card of the mobile transfer robot of system.Method and system provided by the utility model, without central control computer
The operation of the mobile transfer robot of control, can be implemented with rapid deployment, user (staff, operator) can oneself according to need
Ask to by instruct card to modifying, it is easy to use, it is low to the reliability of technical specialist.Mobile transfer robot is passing through
When interchange point, is moved downward by the telescoping mechanism on the dynamic upper body transport shelf of pressure lingual ribbon on interchange point and then will
Cargo stays on shelf, or blocks the cargo on interchange point automatically, it can be achieved that going out, being put in storage full-automation, structure letter
Single, manufacturing cost is low.The utility model is described in detail with specific implementation mode with reference to the accompanying drawings of the specification.
As shown in Figure 1, the utility model is applied to logistics or Workplace cargo intelligently sorts delivery system, the system packet
It includes and is arranged in logistics or colour band on Workplace ground or magnetic stripe terrestrial reference and can be moved along what colour band or magnetic stripe terrestrial reference were run
The quantity of transfer robot, mobile transfer robot is not limited to one.Mobile transfer robot is equipped with visual sensor or electricity
Magnetic Sensor, visual sensor can be used for reading the colour band information on mobile chassis shiftable haulage line, and electromagnetic sensor can be inductively
Magnetic strip information on face.Colour band or magnetic stripe terrestrial reference are pasted onto on the ground of logistics or Workplace, constitute mobile transfer robot
Driving path make mobile carrying implement using the colour band or magnetic stripe terrestrial reference in visual sensor or electromagnetic sensor induction ground
Device people transports cargo along colour band or magnetic stripe terrestrial reference automatic running.
Logistics or Workplace are disposed with cargo storage area, goods warehousing area and cargo and go out goods area.Wherein, cargo storage area
Equipped with multigroup fixed goods shelf 701, cargo is placed on fixed goods shelf 701.Channel 711 between two rows of fixed goods shelfs and same row
Channel 710 between fixed goods shelf is the walking passageway for sorting staff 702, sorts staff 702 only in fixed goods shelf
Between channel 710,711 in walking.Goods warehousing area is equipped with into goods transfer station 708, and cargo goes out goods area and is equipped with shipment transfer station
707。
Be equipped in the side of fixed goods shelf and sort workspace 709, sort workspace 709 ground be equipped with annular colour band or
The opposite place in the channel 711 between magnetic stripe terrestrial reference, the annular colour band or magnetic stripe terrestrial reference and every two rows of fixed goods shelfs is equipped with arc color
The both ends of band or magnetic stripe terrestrial reference, arc colour band or magnetic stripe terrestrial reference are connected with annular colour band or magnetic stripe terrestrial reference respectively.Mobile carrying implement
Device people 703 travels along colour band or magnetic stripe terrestrial reference, constitutes the sorting driving path 712 of mobile transfer robot.Sort workspace 709
Respectively by entering library work area and going out library work area linking, enters library work area 713 and going out in library work area 714 and be also respectively equipped with
Annular colour band or magnetic stripe terrestrial reference respectively constitute the storage driving path 713 and storage driving path 714 of mobile transfer robot,
Storage driving path 713 and storage driving path 714 are connected with driving path 712 is sorted, to realize that mobile transfer robot can
Along storage driving path 713, storage driving path 714 and sort driving path 712 move, realize cargo storage, sort and
Outbound.
It puts on equipped with transfer station 704 is sorted with sorting arc colour band or the magnetic stripe of driving path 712, is put in storage driving path
713 are equipped in goods warehousing area 708 into goods transfer station 706, and outbound driving path 714, which goes out in cargo in reservoir area 707, to be equipped with out
Goods transfer station 705.
Mobile transfer robot is sorting transfer station 704, is entering goods transfer station 706 and shipment transfer station 705 realizes cargo
Enter goods and shipment, that is, when entering goods, cargo thereon is placed on corresponding transfer station by mobile transfer robot, when shipment, is moved
Cargo on corresponding transfer station is removed transport to other transfer stations by dynamic transfer robot.
In the present embodiment, cargo storage divides into Zuo Qu and You Qu, and goods warehousing area and cargo shipment area are deposited positioned at cargo
The homonymy in area is put, and is separated by the region of a convex shape, which forms the logical of mobile transfer robot traveling
Road goes out goods area corresponding to cargo storage area, goods warehousing area and cargo, is respectively formed and sorts driving path 712, storage traveling road
Diameter 713 and outbound driving path 714.
The operation principle of the utility model is as follows：
Goods warehousing：
After cargo reaches goods warehousing area 708, cargo is removed and is placed on goods transfer station 706 by staff, is moved
Dynamic transfer robot is passed by into goods transfer station 706, is loaded and is travelled along storage driving path 713, then travelled in storage
Path 713 and the intersection for sorting driving path 712, drive into and sort driving path 712, reach and sort transfer station 704 accordingly
Afterwards, it is discharged in and is sorted on transfer station 704, removed, be placed on fixed goods shelf by staff.
Cargo outbound：
Staff removes cargo on fixed goods shelf and is placed on nearest sorting transfer station 704 according to order, moves
Dynamic transfer robot sorts transfer station 704, and loads cargo automatically, then along driving path 712 is sorted to reservoir area traveling is gone out, arrives
Up to outbound driving path 714 with after the intersection of sorting driving path 712, outbound driving path 714 is driven into, and travel along outbound
Path 714 travels, and reaches shipment transfer station 705, cargo is discharged in automatically on shipment transfer station 705, is removed by staff
Entrucking.
As shown in Figure 2 and Figure 3, the mobile transfer robot in the utility model includes mobile chassis 502 and is fixed on shifting
Transport shelf on dynamic 502 top surface of chassis.Transport shelf include upper body transport shelf and the cargo aircraft structure that comes in and goes out.
Upper body transports shelf and uses tower structure, including four supporting legs 501 being fixed on 502 top surface of mobile chassis,
Four supporting legs 501 are vertical with the top surface of mobile chassis 502, and the top of upper body transport shelf, which has, is arranged at intervals with multiple brackets.
The travel direction (front-rear direction) in gap and mobile chassis between bracket is consistent.
It is fixedly connected respectively by floor between two supporting legs 501 in left and right, the middle part difference of two floors of front and back arrangement
If there are two spaced pillar, two pillars of correspondence and the top of supporting leg are connected by stud 506 respectively, to
Form 4 brackets.
The cargo aircraft structure that comes in and goes out includes vertically disposed two levers 504, and two levers 504 are arranged by telescoping mechanism in upper body
On the trailing flank for transporting shelf, make the retraction downwards of lever 504 or upwards stretching bracket (support by pushing or unclamping telescoping mechanism
Column 506) top surface.
Telescoping mechanism includes guide plate 509, last item 503 and the spring 507 for guiding lever 504 to move up and down.Lever 504
It is arranged respectively in the upper and lower part of pillar by two guide plates 509 arranged up and down, specifically, the trailing flank of each pillar
Upper and lower part be respectively equipped with a guide plate 509, guide plate 509 is equipped with pilot hole, and lever 504 is inserted into arrangement up and down
Two guide plates 509 on pilot hole in, and can be moved up and down along pilot hole.
The both ends of last item 503 are fixedly connected by spacing ring with two levers 504 respectively, and last item 503 can be relative to limit
Position ring rotation, forms rolling shaft structure.Spring 507 is equipped between spacing ring and the guide plate of lower section 509.In two levers 504
Portion is fixed with baffle ring,
Towing post is stretched out on the top of lever 504, presses last item, and last item drives two levers 504 to overcome the resistance of spring downward
Movement, makes the height on the top of two levers 504 be less than the height of towing post, and cargo can transport on shelf from upper body and be transferred to cargo
On transfer station.
As shown in figure 4, in the present embodiment, for mobile chassis using 6 wheel mobile chassis, middle part sets that there are two differential gears
105, the rotation of zero turning radius may be implemented in each arrangement one in left and right, front and back to be respectively equipped with driven wheel 107, is symmetrical arranged.
3 main sensors are installed on mobile chassis, including avoidance sensor 102, visual sensor 103 and stop walking
(Stop＆Go) sensor 111.Avoidance sensor 102 can be infrared sensor, sonac or laser sensor, position
In the front lower of mobile chassis, the obstacle for detect front can actively stop avoiding barrier, keep advancing it is safe away from
From.Visual sensor 103 is arranged in the bottom surface of mobile chassis, can be video camera or scanner, be read by visual sensor 103
Take code blocks or the bar code information such as patch colour band information and Quick Response Code on the ground, square matrix code and various types of bar codes；
Can also the bottom surface of mobile chassis be arranged electromagnetic sensor, incude ground on magnetic strip information, if visual sensor 103 or
Electromagnetic sensor can not find colour band, will continue to be automatically stopped traveling after travelling a certain distance (for example 20 centimetres), then show
The warning lamp to report an error.Stop walking (Stop＆Go) sensor 111 at the rear portion of mobile chassis, is removed for restarting movement after stopping
Robot is transported, manual intervention is not necessarily to.Specific implementation is：Stop walking (Stop＆Go) sensor 111 once detecting staff's
Foot moves, and system just sends out mobile transfer robot enabling signal, continues to travel immediately.
Mobile transfer robot automatic charging or can replace battery using rechargeable battery powered.Battery case is arranged in movement
The rear portion on chassis, at least 8 hours rechargeable battery duration can connect external power supply by charge port and charge, also may be used
More to renew battery.Battery case is equipped with the indicator light for being easy to observation.
The front and back of mobile transfer robot is respectively equipped with indicator light 108, can show that movement is removed by flickering
Robot is transported to turn left, turn right or keep straight on.The front of mobile transfer robot is equipped with indicator light 110, if flickering or being always on
Represent following information：
First indicator light shows mobile transfer robot software systems mistake or hardware error；
Second indicator light shows that mobile transfer robot battery capacity is insufficient；
Third indicator light shows that mobile transfer robot encounters barrier；
4th indicator light shows that mobile transfer robot has current goal information；
The rear end of mobile transfer robot is equipped with starting switch, and both sides are equipped with scram button 109.
Upper body transport shelf are equipped with starting switch and for detecting the sensing that whether there is turnover box or cargo thereon
Device.
The cooperation realization that mobile transfer robot transports shelf and transfer station by upper body enters goods and shipment automatically.Transfer station
Including three kinds of structure types, individually enter goods transfer station, individual shipment transfer station and the goods integration double-purpose transfer station that comes in and goes out,
Enter goods transfer station and shipment transfer station can be used alone.
As shown in figure 5, it includes into goods shelf and being fixed on and entering goods auxiliary goods frame into goods shelf side to enter goods transfer station.
Enter goods shelf include it is left and right enter goods holder and be mutually parallel in left-right direction it is spaced it is multiple enter goods bracket
606, enter roller bearing arranged side by side there are two being set on the top surface of goods bracket 606.It is left and right enter goods holder between composition for movement remove
Transport robot by channel, it is left and right enter goods holder rear end stretch out upwards, the upper end of external part 601 is horizontal horizontal by entering goods
Bar 602 is fixedly connected, enter goods horizontal cross bar 602 lower face be equipped with it is multiple it is vertical enter goods lever 605, enter goods bracket 606
Rear end is fixed with goods lever 605 is entered, and can be supported the cargo on mobile conveying robot upper part of human body transport shelf by entering goods lever 605
Gear is on the top surface for entering goods bracket 606.Enter on the gap between goods bracket 606 and the upper body transport shelf of mobile transfer robot
Bracket it is corresponding, the height of the bracket on the upper body transport shelf of mobile transfer robot is higher than the height into goods bracket 606,
The gap respectively entered between goods lever 605 passes through for bracket, the proper motion for hindering mobile transfer robot is avoided, to ensure to move
Dynamic transfer robot can pass freely through.
The intermediate bottom surface for entering goods bracket 606 is equipped with pressure tongue 607, and pressure tongue 607 can guarantee and can push last item, and make shifting
Lever 504 on dynamic transfer robot moves down into the top surface of upper body transport shelf hereinafter, the outer end of pressure tongue 607 is cambered surface, certainly
It is continuously decreased away from ground level after forward direction, as shown in Figure 6.
It includes frame body to enter goods auxiliary goods frame, and the top surface of frame body is equipped with multiple roller bearings 603, and the top surface direction of frame body enters goods goods
Frame direction tilts upwards, enters the height of goods auxiliary goods frame and gradually rises towards entering goods shelf direction.It is auxiliary that staff can will enter goods
It helps the cargo on shelf to shift onto on goods auxiliary goods frame, and the other end into goods auxiliary goods frame is slid into along inclined-plane.Enter goods auxiliary
Top surface of the shelf far from the one end for entering goods shelf is equipped with limiting plate, prevents cargo from skidded off on goods auxiliary goods frame from entering.
In use, when mobile transfer robot is by entering goods shelf, since the height of bracket 606 is less than mobile carrying implement
The height of the bracket of device people, mobile transfer robot lift cargo by bracket and advance in the top of bracket 606, at this time each bracket
606 and enter interlaced between goods lever 605 and lever 504, the end of pressure tongue 607 is contacted with last item, due to pressing tongue 607
End face is arc shape, and during mobile transfer robot is advanced, pressure tongue 607 gradually pushes the upper body of mobile transfer robot
The last item 503 on shelf is transported, then last item 503 drives lever 504 to move down, and is retracted into upper body transport shelf downwards
Hereinafter, lever 504 is made no longer to keep out in one end of cargo, mobile transfer robot moves on, and enters goods lever 605 and keeps out for top surface
Cargo simultaneously stays on bracket 606, and the cargo on upper body transport shelf is transferred on bracket 606, and is entered goods lever 605 and kept off
Firmly, it completes once to enter goods.
As shown in fig. 7, shipment transfer station includes shipment shelf and is arranged shipment auxiliary goods frame in shipment shelf side.
Shipment shelf include left and right shipment holder and the spaced multiple shipment brackets that are mutually parallel in left-right direction
612, shipment bracket 612 is equipped with roller bearing, as shown in Figure 8.It is formed between left and right shipment holder logical for mobile transfer robot
The rear end in the channel crossed, left and right shipment holder is stretched out upwards, and the upper end of external part is fixedly connected by shipment horizontal cross bar, is gone out
The lower face of goods horizontal cross bar is equipped with multiple vertical montants, and rear end and the montant of shipment bracket 612 are fixed, and montant prevents cargo
Deviate from from shipment shelf 612.Gap between shipment bracket 612 and the support on the upper body transport shelf of mobile transfer robot
Frame is corresponding, and the height of the bracket on the upper body transport shelf of mobile transfer robot is less than the height of shipment bracket 612, each perpendicular
Gap between bar passes through for bracket, avoids the proper motion for hindering mobile transfer robot, to ensure mobile conveying robot
People can pass freely through.
Shipment auxiliary goods frame includes shipment frame body, and the top surface of shipment frame body is equipped with multiple roller bearings, shipment auxiliary goods frame
Top surface is tilted down towards shipment shelf direction.Staff can shift the cargo on shipment auxiliary goods frame onto shipment goods along inclined-plane
On frame.
In use, when mobile transfer robot passes through shipment shelf, since the height of shipment bracket is carried higher than mobile
The height of the bracket of robot, mobile transfer robot lift cargo by bracket and advance in the lower section of bracket, each shipment at this time
Interlaced between bracket and montant and lever 504, in mobile transfer robot forward movement, lever drives shipment goods
Cargo on frame follows mobile transfer robot to move, to make cargo be moved to the upper of mobile transfer robot from shipment bracket
Body transports on shelf, completes a shipment.
As shown in figure 9, come in and go out goods integration double-purpose transfer station by front and back arrangement shipment transfer station and enter goods transfer station group
At.Shipment transfer station and enter goods transfer station using the shipment transfer station of above structure and enter goods transfer station, and the two it
Between be fixedly connected by the connecting bracket of a frame-type.
The utility model, setting transport shelf, transport lever there are two being set on shelf, can pass through lever on mobile chassis
The cargo gone out on shelf is taken away, while lever is also connected with equipped with telescoping mechanism, triggerable this can be set on entering shelf and stretched
The pressure tongue of mechanism is then stayed in cargo by pressing the dynamic telescoping mechanism of lingual ribbon to move downward when transporting shelf by going out shelf
Enter on shelf, using simple mechanical structure, so that it may realize out, be put in storage full-automation, simple in structure, manufacturing cost is low, very
It is worthy to be popularized and uses.
In the utility model, the automatic running of mobile transfer robot does not need central control computer, control mode
It is the inspiration obtained from card games, mobile transfer robot can pass through a variety of different instruction cards or different instruction card
Combination carry out instruction study, and obtain corresponding action command, user can very easily use instruction card to movement
Transfer robot issues action command and gives specific information.The utility model includes mainly the following aspects.
One, the logistics of card or Workplace goods delivery system based on instruction.
The system includes：
Colour band or magnetic stripe terrestrial reference are arranged on the ground of logistics or Workplace, are transported automatically as mobile transfer robot
Capable travel route.
Mobile transfer robot, chassis are equipped with electromagnetic sensor, incude ground colour band or magnetic using electromagnetic sensor
Terrestrial reference simultaneously can realize automatic running along colour band or the operation of magnetic stripe terrestrial reference.
Card is instructed, is respectively equipped in each instruction card and is encoded with its unique corresponding card, and encoded with card
Corresponding identification code.
Card coding and the corresponding table of action command are preserved in the control system of mobile transfer robot.
Instruction card is pasted onto on the ground beside colour band or magnetic stripe terrestrial reference, and mobile transfer robot passes through scan instruction card
Card coding on board obtains action command.
Specifically, the chassis of mobile transfer robot is equipped with scanner, and mobile transfer robot is along colour band or magnetic stripe
Automatic running is marked, when by instructing card, the identification code in instruction card is read by scanner, which can be item
Shape code, Quick Response Code or square matrix code obtain card coding using identification code and encode table corresponding with action command by searching for card
Corresponding action command is obtained, corresponding action is then executed according to action command.
In a kind of specific embodiment as shown in Figure 10, colour band or magnetic stripe terrestrial reference that ground on the scene is arranged include straight line
Colour band 302 or straight line magnetic stripe and an arcuate limb 305 being connected with its middle part, straight line colour band 302 or straight line magnetic stripe and arc
Branch 305 constitutes the travel route of mobile transfer robot 301, can be by straight line colour band 302 or straight line magnetic stripe and arc
The mobile transfer robot 301 of setting instruction card control selects the travel route after joint in front of the joint of branch, such as
Continue to travel along straight-line travelling or the arcuately branch 305 that turns.
Wherein 303 be navigation card, for example, mobile transfer robot can be notified to turn right or keep straight on, while
It is fork road that can tell mobile transfer robot here.Wherein 304,305 be location information while or mobile carrying
Robot halt instruction card, mobile transfer robot are run to according to the instruction in card in the card, for example stop 30 seconds,
60 seconds, or directly stop and wait for staff and stop and walk (Stop ＆Go) sensing by the rear of mobile transfer robot
Device, the movement of people's sensor detecting work personnel's foot, the rear device people's enabling signal for providing machine, machine continue to run with.
Such as：Right-hand bend card 303 is pasted on the ground beside colour band or magnetic stripe terrestrial reference in front of joint, then is moved
When transfer robot 301 is driven to herein, automatically scanning right-hand bend card 303 obtains right-hand bend action command, and then movement is removed
Robot 301 is transported by that after joint, will turn right and drive into arcuate limb 305.If being not provided with right-hand bend card
303, then transfer robot 301 is moved by continuing along straight-line travelling after joint.
It can respectively be pasted with and stop in the terminal point of the terminal point and arcuate limb 305 of straight line colour band 302 or straight line magnetic stripe
Only card 304 when mobile transfer robot 301 drives to terminal, stop card 304 by scanning, obtain instruction out of service,
Then it moves transfer robot and stops at terminal.
Described above is a kind of simplest application mode, can be with for complicated travel route or control mode
It is controlled by the way of multiple card combinations.
Such as：Deceleration card and turning card are sequentially placed, then moving transfer robot can be carried out with slower speed
Turning.Into after straight line, card can also be accelerated to give it the gun by setting again.
In the present invention, instruction card is designed using What You See Is What You Get, is not necessarily to user (staff, operator)
Programming knowledge.In order to allow user to facilitate arrangement card, mark of the four kinds of patterns of playing card as the arrangement concluded has been used.
Along the card of ribbon path bonding, to provide related path layout to mobile transfer robot, target point and action command
Information.There are chart and explanatory note in card simultaneously, user is facilitated to understand the meaning of card.Instruction card can have following several
Class：
(1) navigation in path point, positioning and action command card.
Such instruction card pattern is diamond, for path layout, target point and operational order to be arranged,
For example：Setting is turned left, the navigation instruction card turned right etc., and setting anchor point (refers to until staff gives
Enabling can just move on) positioning instruction card, setting stops the action command card of specific time (for example stop one minute).
As shown in figure 11, wherein 202 is for the corresponding unique Quick Response Code of each type card, arrangements in a strip shape.203
For arrow, the direction of card stickup on the ground, i.e., the direction that the direction pastes the colour band on landing ground are represented.
204 be the unique number of card number, and for example D represents the classification of diamond pattern representative, and 00001 represents the card in the category
The son number in face.205 be card brief explanatory note and card name, and user oneself can define, and 206 be the card
Icon representation understands the meaning that the card represents convenient for user at a glance.207 be the pattern icon similar to playing card, just
In user for card summarizing.208 be the further specific description of card, for example Target id 1.209 be to use the card
The Business Name of board ensures to obscure in this way, because some companies exist using the specific warehouse or construction number of the card
There is specifically defined card inside different particular warehouses or factory.
Card is instructed shown in Figure 12, indicates to stop 30 seconds in the position.
Card is instructed shown in Figure 13, is indicated in traveling speed doublings.
Card, expression is instructed to turn right in the position shown in Figure 14.
Instruction card shown in figure 15, expression are turned left in the position.
(2) mobile transfer robot self study card.
Pattern is plum blossom, by the setting of card, mobile transfer robot can be allowed to learn the environmental information in entire place
Deng, such as the position of transfer station, quantity etc..
Instruction card as shown in figure 16 indicates that the place has 18 transfer stations.
Instruction card as shown in figure 17 indicates that mobile transfer robot will stay on a Nr1 transfer stations.
(3) card is arranged in mobile transfer robot.
Pattern is red heart, and for mobile transfer robot travel speed, turning speed to be set or adjusted, acceleration slows down
Degree, it is enabled etc. into the speed of automatic transfer station and residence time or function.For example, it is possible to specify mobile conveying robot
People opens or closes corresponding function, specifies the threshold value of mobile transfer robot charging, and if it opens alarm and promotes the tinkle of bells, and
A series of other mobile transfer robot setting instructions.
Instruction card as shown in figure 18, expression travel speed are 0.8 meter per second.
Instruction card as shown in figure 19, expression acceleration are 1 meter per second square (1m/s2).
Instruction card as shown in figure 20 indicates to close alarm song.
Instruction card as shown in figure 21 indicates that order starts.
Instruction card as shown in figure 22 indicates that order terminates.
(4) mode setting card.
Pattern is spade, for operational mode of the mobile transfer robot under different application scenarios to be arranged, for example storehouse
Storing stream mode, production logistics pattern, travel speed under the operating parameter of pattern of quality testing etc., including this pattern turn
Curved speed etc..
Instruction card as shown in figure 23 indicates warehouse logistics pattern, after mobile transfer robot reads the card, moves
Dynamic transfer robot will enter logistic storage application model, and a series of speed reports an error, and the setting of stop will be assigned to the shifting
Dynamic transfer robot.
(5) other special setting cards.
Pattern is clown's board, such as：Original state is replied, learning Content etc. is emptied.
Card is instructed as of fig. 24, indicates to reply original state.
Instruction card as shown in figure 25, expression empty learning Content.
Along the instruction card of ribbon path bonding, the life of mobile transfer robot can also be provided by the form of combination
It enables.For example using being multiplied by 2 cards, stopping card below, move in this way transfer robot rest on appointed place when
Between can become 2 double-lengths.
When mobile transfer robot is read or when study instruction card, mobile transfer robot can automatic reduction of speed, believe simultaneously
Number indicator light can light, and notify staff, mobile transfer robot correctly reads and learn instruction, in case of wrong
Accidentally, the false alarm indicator light of mobile transfer robot can light prompt staff.
The logistics of card or Workplace cargo intelligent distribution system based on instruction, by instructing card or card combinations
Action command can be assigned to mobile transfer robot, rapid deployment moves the running route and operation mould of transfer robot
Formula, without complicated central control system, staff can easily realize.Also, staff can be referred to by setting
Card is enabled to be described, be arranged and optimize the working map of existing mobile transfer robot, to obtain best route rule
It draws.
Two, the action command learning method of mobile transfer robot card based on instruction.
Existing mobile transfer robot is typically based on the action command that central control system issues and realizes automatic fortune
Row, and the utility model logistics of card or Workplace cargo intelligent distribution system based on instruction, it is proposed that a kind of movement is removed
Transport the action command learning method of robot card based on instruction, the action command that need not be issued by central control system,
Mobile transfer robot can be by instructing the ensemble learning action command of card or instruction card, and then is moved according to what is learnt
Make order automatic running.
This method can be completed in mobile transfer robot operational process, can also first be learnt, then automatic fortune
Row.As shown in Figure 10, Figure 26, this approach includes the following steps：
According to the action that mobile transfer robot will be realized, selects corresponding instruction card or instruct the group of card
It closes, and the instruction card of the mobile machine operation of these controls is placed in order on the running route of mobile transfer robot；
Mobile transfer robot traveling passes by all instructions card put, and scans successively in order in the process of moving
Obtain the card coding of each Zhang Zhiling cards；
After often obtaining card coding, encode that obtain present instruction card with the action command table of comparisons corresponding according to card
An action command, and in the memory being stored in order in the control system of mobile transfer robot；
All order card bridge queens have been read, sequentially take out action command from memory successively and have been executed corresponding
Action.
Wherein, first instruction card that mobile transfer robot is read is to start card, last instruction card is
Terminate card.
It is exemplified below：
Following card is put in order：
Order starts that -0.8 meter per second of speed-stops Nr1 transfer stations-stopping 30 seconds -1.5 meter per second of speed-and stops Nr2 transfer stations -
Alarm song-order is closed to terminate.
Mobile transfer robot scans above-mentioned card successively, learns the instruction in card.
After the completion of study, mobile transfer robot is such as given an order, and is travelled with the speed of 0.8 meter per second, and enters Nr1
Transfer station is stopped 30 seconds in Nr1 transfer stations, is then travelled with the speed of 1.5 meter per seconds, and carry out Nr2 transfer stations, close alarm
Sound simultaneously stops at Nr2 transfer stations.
It is this to obtain operating instruction by way of card study, it can easily modify and need not change at any time
Program, very convenient arrangement implements and system debug.
Three, mobile action command learning method of the transfer robot based on FPD card.
The action command learning method of above-mentioned mobile transfer robot card based on instruction, needs a variety of instruction card combinations
It puts, it is very inconvenient, and it is easy error.For this purpose, the utility model proposes a kind of improved method, that is, move carrying implement
Action command learning method of the device people based on FPD card, learns to act in the way of tablet computer switching command card
Order.As shown in figure 27, this approach includes the following steps：
According to the mobile action to be completed of transfer robot, required for being selected in the instruction card library of tablet computer
Instruction card, and sequentially sort；
Scanner on mobile transfer robot is directed at tablet computer, selected finger is playd in order using tablet computer
Card picture, mobile transfer robot is enabled to scan successively and obtain the card coding of each Zhang Zhiling cards；
After often obtaining card coding, encode that obtain present instruction card with the action command table of comparisons corresponding according to card
An action command, and in the memory being stored in order in the control system of mobile transfer robot；
All order card bridge queens have been read, sequentially take out the action command of preservation from memory successively and have been held
The corresponding action of row.
Tablet computer is used to instruct the selection, sequence and broadcasting of card.Wherein, three portions are divided into the display of tablet computer
Point.
Centre is that large-size screen monitors show broadcast area, shows an instruction card or is continuously played.
Right side region is instruction card library, and people from institute in idsplay order card library instructs the thumbnail of card, selected for user.
Lower zone is sequence area, is shown displayed across the thumbnail of the instruction card of user's selection, and can drag change sequence.
In use, user clicks order card board from the instruction card library of right side region, selected instruction card is shown in
Centre shows broadcast area, and is added to simultaneously in the sequence area of lower section.
After the completion of selection, broadcast button is clicked, then the instruction card to sort in area exists successively according to the sequencing of selection
Show that broadcast area plays.
User can change the sequence of instruction card in sequence area by way of dragging, be adjusted or debug.
Four, the method for the new card of combination producing of existing card is utilized.
In practical applications, the instruction card of the mobile conveying robot human action of existing control cannot be satisfied the need of user sometimes
It asks, and makes that new instruction card is more complicated, and have stylish instruction card only disposable, to keep away
Exempt to waste, improve efficiency, the mobile transfer robot of control is generated using existing card combinations the utility model proposes a kind of
The method of new card, as shown in figure 28, this approach includes the following steps：
Step 1401：Multiple existing instruction cards of the action can be implemented in combination by being selected according to new action command；
Step 1402：Mobile transfer robot reading order first starts card；
Step 1403：It is successively read existing instruction card in order, after often obtaining a card coding, is encoded according to card
The corresponding action command of present instruction card is obtained with the action command table of comparisons, and is preserved in order；
Step 1404：Mobile transfer robot has read existing order card bridge queen, then reads the instruction card of a blank,
Obtain card number；
Step 1405：Reading order terminates card；
Step 1406：Sequentially each action command of preservation is taken out successively and is combined into a new element life
It enables, the new element order and card number is added in card coding and the action command table of comparisons.
In this way, the instruction card of this blank is just provided with function possessed by existing combination card.
Action command content can be marked in this new command card.
The beneficial effects of the utility model are：
(1) entire system need not be integrated into the IT management systems of an entirety, can independent arrangement, avoid a large amount of systems
System integrates expense expenditure.And can modification vehicle line as needed quick, flexible without complicated installation and
Prepare.System is very flexible, can be customized according to specific requirements and be changed when needed.
(2) system can implement (Plug＆Work/Plug＆Play) immediately, need not set up WLAN (WLAN)
Or cruise Control Module and scheduling and control software.
(3) system operatio is intuitive, and user need not train or Special Training.
(4) the card design for the What You See Is What You Get innovated, is not necessarily to the programming knowledge of user (staff, operator).For
It allows user to facilitate arrangement card, has used mark of the four kinds of patterns of playing card as the arrangement concluded.Have in card simultaneously
Chart and explanatory note facilitate user to understand the meaning of card.
(5) card has an endless combinations, user (staff, operator) can oneself according to demand to by card to moving
Dynamic handling robot system is modified.
(6) user can newly define card by the combination of old card, without upgrading the inside of mobile transfer robot
Software, mobile transfer robot can learn new pattern and instruction.
(7) card has the identical code-bar of string of code along its length, it is ensured that mobile transfer robot reads code
Item, and navigate under driving mode in card, it is ensured that mobile transfer robot accurately stops on the last one code.
(8) the utility model proposes mobile conveying robot upper part of human body holder and transfer station, be all simple purely mechanic knot
Structure need not carry out wiring without auxiliary electrical or pneumatic consumption, non-maintaining.
(9) reading that the electronic ink screen tablet of low-power consumption or ordinary flat can dynamically be shown is used to support, this
Sample can dynamically give card, more convenient user's operation.
(10) user (staff, operator) oneself can change travel route and stop quickly through the use of card
Point is supported without external.It easily can change or be adapted to the vehicle line and anchor point of mobile transfer robot.Easily
Addition and removal transfer station, connect goods yard and set, position of getting in stocks.
(11) whether mobile transfer robot can be has turnover box, by being mounted on the pallet of automatic sensing upper body holder
The sensor (for example, photoelectric sensor) of the upper body holder of special designing is identified.It is upper on mobile transfer robot simultaneously
Another sensor (for example, photoelectric sensor) of body holder may determine that on transfer station whether there is turnover box.
There is the ingehious design worked in coordination between (12) three kinds of holders, wherein the upper body holder for moving transfer robot is high
Degree is higher than the L-type support bottom level into the holder of goods transfer station, and is less than shipment transfer station L-type support bottom level.It is mobile
The plan-position of the upper body holder of transfer robot and the L-type support bottom for entering goods and shipment transfer station intersects successively, does not do mutually
It relates to.
(13) special designing stop and walk (Stop＆Go) sensor can improve working efficiency.Stop and walks (Stop ＆Go)
Sensor, can be by stopping and walking (Stop＆ after mobile transfer robot stops on the trailing flank of mobile transfer robot
Go) the mobile transfer robot of sensor restarting, is not necessarily to manual intervention.Realization method is：Stop and walk (Stop ＆Go) sensing
Device just provides mobile transfer robot enabling signal immediately once detecting the movement of foot, and machine can continue to travel.
(14) holder on mobile transfer robot also provides button, and user need not bend over by positioned at mobile conveying robot
Button on people.
(15) transfer station has several designs, individually enters goods transfer station, individual shipment transfer station, and the goods that comes in and goes out integrally is transported
It stands, also double-deck or multilayer the transfer station design.Transfer station can arrange in pairs or groups idler wheel simultaneously, can be accelerated by the gravity of the gradient
Degree is realized unloads goods on automatic, provides storage efficiency.
(16) field division is picking staff's service aisle, and mobile transfer robot special mobile channel, work people
Member and mobile transfer robot not only ensure safety but also can ensure that mobile transfer robot high speed is moved in different channels operations
It is dynamic.Mobile transfer robot does not enter inside the road of people's picking, and the driving path of mobile transfer robot is simply single.By turning
The use at station is transported, mobile transfer robot can automatically take turnover box from transfer station, and can support to deposit on transfer station
Multiple turnover boxes are taken, are greatly improved the efficiency.
The utility model, sets that there are two telescopic levers on the transport shelf on mobile chassis, by cargo transfer
When standing, is moved downward by the dynamic telescoping mechanism of pressure lingual ribbon on interchange point and then stay in cargo on shelf, or from
The dynamic cargo blocked on interchange point, using simple mechanical structure, so that it may it realizes out, be put in storage full-automation, it is simple in structure,
Manufacturing cost is low.
The utility model is not limited to above-mentioned preferred forms, and anyone should learn that under the enlightenment of the utility model
The structure change made, it is every that there is same or similar technical solution with the utility model, each fall within the guarantor of the utility model
Within the scope of shield.
Claims (12)
1. a kind of mobile transfer robot, including mobile chassis and the transport shelf that are arranged on the mobile chassis, it is special
Sign is that the transport shelf include：
Upper body transports shelf, and using tower structure, the top of the upper body transport shelf has spaced multiple brackets,
And the gap between bracket is consistent with the travel direction of the mobile chassis；
Come in and go out cargo aircraft structure, including vertically disposed two levers, and two levers are arranged by telescoping mechanism in the upper body
On the trailing flank for transporting shelf, and the lever is set to retract downwards or stretch out institute upwards by pushing or unclamping the telescoping mechanism
State the top surface of bracket.
2. mobile transfer robot as described in claim 1, which is characterized in that the telescoping mechanism includes：
Guide plate is arranged on two adjacent brackets, and the upper and lower part of each bracket is all provided with that there are two institutes
Guide plate is stated, the lever is threaded through respectively in two guide plates on the same bracket；
Last item is fixedly connected with two levers；
Spring is respectively sleeved on two levers, and the guide plate below the last item and the last item it
Between.
3. mobile transfer robot as described in claim 1, which is characterized in that the upper body transports shelf and includes：
Four supporting legs, lower end are fixed on the top surface of the mobile chassis, and two supporting legs in left and right pass through floor respectively
Connection；Be respectively equipped with two spaced pillars in the middle part of two floors of front and back arrangement, two pillars of correspondence and
The top of supporting leg is connected by stud respectively, to form bracket.
4. mobile transfer robot as claimed in claim 2, which is characterized in that the middle part of two levers is fixed with
The both ends of baffle ring, the last item are fixed with two baffle rings respectively.
5. mobile transfer robot as claimed in claim 2, which is characterized in that the both ends of the last item pass through spacing ring respectively
It is fixedly connected with two levers, and the last item is the roller bearing being rotatably arranged on the spacing ring.
6. mobile transfer robot as described in claim 1, which is characterized in that the mobile chassis is equipped with：
Avoidance sensor is arranged in the side of the direction of advance of the mobile chassis；
Visual sensor or electromagnetic sensor are arranged in the bottom surface of the mobile chassis, for reading the mobile chassis movement
Colour band information, magnetic strip information, Quick Response Code or square matrix code on circuit.
7. mobile transfer robot as described in claim 1, which is characterized in that be equipped with behind the mobile chassis and stop walking biography
Sensor, and be set as：
After mobile chassis stops, action sensor detects that staff's foot moves, and sends out enabled instruction.
8. mobile transfer robot as described in claim 1, which is characterized in that the middle part of the mobile chassis is equipped with differential
Wheel.
9. mobile transfer robot as described in claim 1, which is characterized in that the upper body transport shelf, which are equipped with to start, to be opened
It closes.
10. mobile transfer robot as described in claim 1, which is characterized in that the upper body transport shelf, which are equipped with, to be used for
Detection whether there is the sensor of turnover box or cargo thereon.
11. a kind of cargo transfer system, which is characterized in that move carrying implement including such as claim 1-10 any one of them
Device people and goods' transfer station, the interchange point include：
Enter goods shelf, include available for the mobile transfer robot to transport goods by it is left and right enter goods holder and it is multiple enter
Goods bracket, it is described enter goods bracket be mutually parallel in left-right direction be arranged at intervals on it is described it is left and right enter goods holder between, it is described it is left,
The right side enter goods holder rear end stretch out described in enter goods bracket, and the upper end is fixedly connected by entering goods horizontal cross bar, it is described enter goods water
The lower face of flat cross bar be equipped with it is multiple be used for resisting goods consigned on mobile transfer robot enter goods lever, it is described enter goods support
The rear end of frame with it is described enter goods lever fix, be arranged centre described in enter goods bracket bottom surface be equipped with pressure tongue；
Shipment shelf, by the connecting bracket of frame-type with it is described it is left and right enter goods holder be fixedly connected, the shipment shelf include
Available for the mobile transfer robot to transport goods by left and right shipment holder and multiple shipment brackets, the shipment support
Frame is mutually parallel in left-right direction to be arranged at intervals between the left and right shipment holder, and the rear end of the left and right shipment holder is stretched
Go out the shipment bracket, and the upper end is fixedly connected by shipment horizontal cross bar, the lower face of the shipment horizontal cross bar is equipped with
Multiple montants for being used for resisting cargo, rear end and the montant of the shipment bracket are fixed.
12. cargo transfer system as claimed in claim 11, which is characterized in that
Height of the height of the shipment bracket higher than the transport shelf on the mobile transfer robot for transporting goods；
It is described enter goods bracket height less than the transport shelf on mobile transfer robot for transporting goods height.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721466110.2U CN207917736U (en) | 2017-11-07 | 2017-11-07 | A kind of mobile transfer robot and cargo transfer system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721466110.2U CN207917736U (en) | 2017-11-07 | 2017-11-07 | A kind of mobile transfer robot and cargo transfer system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109636188A (en) * | 2018-12-13 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Order allocator and electronic equipment, dispensing machine people and movement system |
| TWI676934B (en) * | 2018-10-03 | 2019-11-11 | 東元電機股份有限公司 | Expandable mobile platform |
| CN110716567A (en) * | 2019-10-18 | 2020-01-21 | 上海快仓智能科技有限公司 | Mobile equipment and control method and control device thereof |
| CN112518708A (en) * | 2020-12-26 | 2021-03-19 | 张学莉 | Large-scale cargo handling robot |
| CN113650999A (en) * | 2020-05-12 | 2021-11-16 | 深圳市海柔创新科技有限公司 | Transfer robot, battery replacement system and method |
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2017
- 2017-11-07 CN CN201721466110.2U patent/CN207917736U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI676934B (en) * | 2018-10-03 | 2019-11-11 | 東元電機股份有限公司 | Expandable mobile platform |
| CN109636188A (en) * | 2018-12-13 | 2019-04-16 | 拉扎斯网络科技（上海）有限公司 | Order allocator and electronic equipment, dispensing machine people and movement system |
| CN110716567A (en) * | 2019-10-18 | 2020-01-21 | 上海快仓智能科技有限公司 | Mobile equipment and control method and control device thereof |
| CN113650999A (en) * | 2020-05-12 | 2021-11-16 | 深圳市海柔创新科技有限公司 | Transfer robot, battery replacement system and method |
| CN113650999B (en) * | 2020-05-12 | 2022-09-27 | 深圳市海柔创新科技有限公司 | Power changing method for carrying robot |
| CN112518708A (en) * | 2020-12-26 | 2021-03-19 | 张学莉 | Large-scale cargo handling robot |
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