CN209382754U - Mobile device of storing in a warehouse and navigation warehouse trucks - Google Patents
Mobile device of storing in a warehouse and navigation warehouse trucks Download PDFInfo
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- CN209382754U CN209382754U CN201821951010.3U CN201821951010U CN209382754U CN 209382754 U CN209382754 U CN 209382754U CN 201821951010 U CN201821951010 U CN 201821951010U CN 209382754 U CN209382754 U CN 209382754U
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- 230000006378 damage Effects 0.000 description 2
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- 238000005299 abrasion Methods 0.000 description 1
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Abstract
The utility model discloses a kind of storage mobile device and navigation warehouse trucks, and navigation warehouse trucks include: car body, path identifier, apart from induction mechanism and hub processor.Navigation warehouse trucks when in use, are placed on position corresponding with terrestrial path information first by above-mentioned navigation warehouse trucks.Then, the signal that hub processor is fed back according to path identifier moves car body by mobile mechanism.At this point, car body is in the process of running, can continue apart from induction mechanism to the distance between hub processor transporting body and barrier information.When ground, routing information is damaged, terrestrial path information can not be recognized accurately in path identifier.At this point, hub processor can control the motion track of car body according to the distance between car body and barrier.Therefore, above-mentioned navigation warehouse trucks passage path identifier and apart from induction mechanism simultaneously to hub processor feedback information, be accurately positioned so as to realize, navigation warehouse trucks avoided to collide with barrier.
Description
Technical field
The utility model relates to guide the technical field of vehicle, store in a warehouse more particularly to a kind of storage mobile device and navigation
Vehicle.
Background technique
AGV (Automated Guided Vehicle, automated guided vehicle) is a kind of common wheeled mobile robot
People refers to equipped with the homing guidances device such as electromagnetism, photoelectricity, GPS can there is safeguard protection along the track automatic running of setting
And the transport vehicle of various transfer functions.With factory automation, the gradually development of computer integrated manufacturing system technology and soft
Property manufacture system extensive use, automatic transportation equipment be realize connection and adjust discrete type logistics system so that it is continuously turned into
The necessary means of industry, therefore, AGV are widely used in fields such as logistics systems.
Currently, as the recruitment cost of banking is high, large labor intensity, and it is average daily go out, storage cash it is larger, all use
Artificial and plate pusher mode implements vanning, piles up, loads and unloads and push and pull, and causes efficiency of operation low, can not be timely in peak time
Dispatching demand is responded, therefore can realize the dispatching demand of peak time using storage AGV.In product test stage and Practical Project
In, need that ground two dimensional code is adjusted and fixed in real time according to use condition, field layout, operation conditions etc., no
It is debugged disconnectedly to reach desired operation.But ground two-dimensional code will receive extraneous factor (personnel walk about, cart moves)
Destruction so that warehouse trucks be easy collide with barrier.For example, in bank vault cross-connecting area, personnel walk about, cart
It passes in and out bigger, is easy to appear two dimensional code abrasion the phenomenon that cause AGV that can not position, needs often to carry out more two dimensional code
It replaces, is unfavorable for the convenience of national treasury operation.
Utility model content
Based on this, it is necessary to provide a kind of storage mobile device and warehouse trucks of navigating, be accurately positioned with realizing, avoid storing in a warehouse
Vehicle collides with barrier, improves the convenience of navigation warehouse trucks.
Its technical solution is as follows:
A kind of navigation warehouse trucks, comprising: car body and path identifier, the car body are equipped with mobile mechanism, the path
Identifier is installed on the car body, path identifier terrestrial path information for identification；It is handled apart from induction mechanism and maincenter
Device, it is described to be installed on the car body apart from induction mechanism, it is described to be used to detect the car body and barrier apart from induction mechanism
The distance between；The mobile mechanism, the path identifier and it is described apart from induction mechanism with hub processor electricity
Property connection.
Navigation warehouse trucks when in use, are placed on position corresponding with terrestrial path information first by above-mentioned navigation warehouse trucks
It sets.Then, the signal that hub processor is fed back according to path identifier moves car body by mobile mechanism.At this point, vehicle
Body in the process of running, can continue apart from induction mechanism to the distance between hub processor transporting body and barrier information.
When ground, routing information is damaged, terrestrial path information can not be recognized accurately in path identifier.At this point, hub processor
The motion track of car body can be controlled according to the distance between car body and barrier.Therefore, above-mentioned navigation warehouse trucks pass through
Path identifier and have simultaneously so as to accurately be positioned to hub processor feedback information apart from induction mechanism
It avoids to effect navigation warehouse trucks from colliding with barrier, improves the convenience of navigation warehouse trucks.
The principles of the present invention, effect are further illustrated below with reference to above scheme:
It further include obstacle avoidance sensor apart from induction mechanism, the obstacle avoidance sensor is installed on the car body, the anticollision
Sensor and the hub processor are electrically connected.
Mobile mechanism further includes driving motor, active wheels, the first driven wheel group and the second driven wheel group, the driving electricity
Machine and the hub processor are electrically connected, and for the driving motor for driving the active wheels to rotate, described first is driven
Wheel group and the second driven wheel group are arranged at intervals on the vehicle bottom, and the active wheels are installed in the vehicle bottom,
And the active wheels are between the first driven wheel group and the second driven wheel group.
Navigation warehouse trucks further include accelerometer and gyroscope, and the accelerometer and the gyroscope are installed in the car body
On, and the accelerometer and the gyroscope are corresponding with the active wheels.
Scram button is also provided on the car body, the scram button is connected with the hub processor.
Warehouse trucks of navigating further include anticollision layer, and the anticollision layer is set in the outside of the car body.
A kind of storage mobile device, including the navigation warehouse trucks and cage case, cage bottom portion are offered for described
The channel that navigation warehouse trucks pass through, the navigation warehouse trucks are equipped with jacking component, and the jacking component is used for and the cage case
It is inconsistent.
Institute's goods and materials to be transported when in use, need to be only fitted into cage case by above-mentioned storage mobile device, and by cage case put to
In the carrying region that navigation warehouse trucks can reach.At this point, navigation warehouse trucks can be by looking for predetermined trajectory to enter navigation warehouse trucks
Channel in, then, cage case jacked up by jacking component, until the bottom of cage case and supporting surface are detached from, navigation warehouse trucks are again
The carrying of the transfer to cage case can be realized in secondary movement.Above-mentioned storage mobile device can accurately determine under the drive of storage navigation vehicle
Position, avoids colliding with barrier, to improve the working efficiency of storage mobile device.
The jacking component includes pallet and lifting pin, and the first opening, the lifting pin installing are offered on the car body
In the vehicle body, the lifting pin is connected with the pallet, and the pallet protrudes from the vehicle by first opening
Body, and it is inconsistent with cage case.
Mobile device of storing in a warehouse further includes barcode scanning identifier, and the cage case is equipped with the cage case two for the identification of barcode scanning identifier
Code is tieed up, the barcode scanning identifier is installed in the vehicle body, offers inside the pallet corresponding with the barcode scanning identifier
Second opening.
Mobile device of storing in a warehouse further includes multiple buffering convex blocks, and multiple buffering convex blocks are set along the circumferential direction of second opening
It sets on the pallet.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of navigation warehouse trucks described in an embodiment of the present invention；
Fig. 2 is the front view of navigation warehouse trucks described in an embodiment of the present invention；
Fig. 3 is the schematic diagram of internal structure of navigation warehouse trucks described in an embodiment of the present invention；
Fig. 4 is the bottom substance schematic diagram of navigation warehouse trucks described in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of storage mobile device described in an embodiment of the present invention.
Description of symbols:
100, car body, 110, mobile mechanism, 111, driving motor, 112, active wheels, the 1121, first driving wheel, 1122,
Second driving wheel, the 113, first driven wheel group, the 114, second driven wheel group, 115, damper, 120, accelerometer, 130, gyro
Instrument, 140, scram button, 150, jacking component, 151, pallet, the 1511, second opening, 1512, buffering convex block, 152, lifting pin,
160, the first opening, 170, barcode scanning identifier, 200, path identifier, 210, aperture, 300, apart from induction mechanism, 310, anticollision
Sensor, 400, cage case, 410, channel.
Specific embodiment
It is below in conjunction with attached drawing and specifically real for the purpose of this utility model, technical solution and advantage is more clearly understood
Mode is applied, the utility model is described in further detail.It should be understood that the specific embodiments described herein
Only to explain the utility model, the protection scope of the utility model is not limited.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term " and or " used herein packet
Include any and all combinations of one or more related listed items.
" first " described in the utility model, " second " do not represent specific quantity and sequence, are only used for title
It distinguishes.
As shown in Figures 1 to 4, in one embodiment, a kind of navigation warehouse trucks (or AGV), comprising: car body 100, path
Identifier 200, apart from induction mechanism 300 and hub processor (not shown).The car body 100 is equipped with mobile mechanism 110, institute
It states path identifier 200 to be installed on car body 100, the path identifier 200 routing information for identification.Specifically, described
100 bottom of car body is equipped with aperture 210, and the path identifier 200 is believed by the 210 scanning recognition ground two-dimensional code of aperture
Breath.It is described to be installed on the car body 100 apart from induction mechanism 300, it is described to be used to detect the car body apart from induction mechanism 300
The distance between 100 and barrier.The mobile mechanism 110, the path identifier 200 and described apart from induction mechanism 300
It is electrically connected with the hub processor.
Navigation warehouse trucks when in use, are placed on position corresponding with terrestrial path information first by above-mentioned navigation warehouse trucks
It sets.Then, the signal that hub processor is fed back according to path identifier 200 moves car body 100 by mobile mechanism 110
It is dynamic.At this point, car body 100 is in the process of running, can continue apart from induction mechanism 300 to hub processor transporting body 100 and barrier
Hinder the distance between object information.When ground, routing information is damaged, road of ground surface can not be recognized accurately in path identifier 200
Diameter information.At this point, hub processor can carry out the motion track of car body 100 according to the distance between car body 100 and barrier
Control.Therefore, above-mentioned navigation warehouse trucks passage path identifier 200 and apart from induction mechanism 300 simultaneously to hub processor
Feedback information is effectively prevented from navigation warehouse trucks and collides with barrier so as to be accurately located.
In one embodiment, the path identifier is two dimensional code path identifier or RFID path identifier.Specifically
Ground, the path identifier are two dimensional code path identifier.The path identifier 200 is equipped with the first identification camera.It is described
First identification camera is installed in the bottom of the car body 100, and described first identifies camera towards ground two-dimensional code.Specifically,
The first identification camera can automatically adjust the distance that camera lens reaches ground two-dimensional code, to realize the first identification camera and ground
Face two dimensional code is effectively focused, and improves path identifier 200 for the recognition effect of ground two-dimensional code.
In one embodiment, navigation warehouse trucks further include obstacle avoidance sensor 310, and the obstacle avoidance sensor 310 is installed in
On the car body 100, the obstacle avoidance sensor 310 is electrically connected with the hub processor.Specifically, in the present embodiment,
It is described apart from induction mechanism 300 be laser radar or laser scanner.It is described apart from induction mechanism 300 be laser scanner.Into
One step apart from induction mechanism 300 is scanned and is formed to storehouse internal environment when warehouse trucks are in different storehouse operations
The workshop inner space signal, and finally it is transmitted to hub processor.At this point, navigation warehouse trucks one side passage path identifier
200 identification ground two-dimensional codes are moved, and also hub processor can be mentioned other hand navigation warehouse trucks according to laser scanner
The workshop inner space signal of confession navigates to navigation warehouse trucks.Further, when between navigation warehouse trucks and barrier
Distance reach the preset distance of reaction of the obstacle avoidance sensor 310 after, obstacle avoidance sensor 310 can to hub processor issue believe
Number, so that it is mobile towards barrier to avoid navigation warehouse trucks from continuing, avoid colliding.Therefore, above-mentioned this embodiment passes through
The identification of ground two-dimensional code and laser signal detection two ways control the movement of navigation warehouse trucks simultaneously, realize and are accurately positioned,
The probability that navigation warehouse trucks are detached from default running track is thus greatly reduced, while also avoiding navigation warehouse trucks and barrier
Accident collision occurs.
As shown in Figure 3 and Figure 4, in one embodiment, mobile mechanism 110 further includes driving motor 111, active wheels
112, the first driven wheel group 113 and the second driven wheel group 114, the driving motor 111 are electrically connected with the hub processor,
The driving motor 111 is for driving the active wheels 112 to rotate, the first driven wheel group 113 and described second driven
Wheel group 114 is arranged at intervals on 100 bottom of car body, and the active wheels 112 are installed in 100 bottom of car body, and described
Active wheels 112 are between the first driven wheel group 113 and the second driven wheel group 114.Specifically, in the present embodiment
In, the active wheels 112 include the first driving wheel 1121 and the second driving wheel 1122, when warehouse trucks of navigating along straight ahead or
When retrogressing, first driving wheel 1121 rotates in the same direction with second driving wheel 1122, when navigation warehouse trucks need
When steering, and the first driving wheel 1121 and the incorgruous rotation of the second driving wheel 1122 (such as: the first driving wheel 1121 along turning clockwise
Dynamic, the second driving wheel 1122 rotates counterclockwise).Therefore, above-mentioned this embodiment need to only pass through control active wheels 112
Advance, retrogressing and the steering operation of navigation warehouse trucks can be realized forward or reverse.
The active wheels 112 bottom bulge size, with the first driven wheel group 113 and the second driven wheel group
114 bulge size in bottom is consistent, when mobile so as to the warehouse trucks that guarantee to navigate, active wheels 112, the first driven wheel
Group 113 and 114 three of the second driven wheel group can be in contact with supporting surface (ground or plate face), and navigation warehouse trucks is avoided to beat
Sliding phenomenon, improves the stability of navigation warehouse trucks.Further, in the present embodiment, supporting surface will appear steep area sometimes
Domain (such as slope), when warehouse trucks of navigating need to cross sharp regions, 100 one end of car body is first in contact with precipitous place, produces at this time
The mobile resistance of limitation navigation warehouse trucks is given birth to, active wheels 112 can continue rotation and overcome above-mentioned resistance.In the process, vehicle
The end of body 100 and the contact site at precipitous place can change, until precipitous place is crossed in 100 end of car body.At this point, driving wheel
Group 112 can still be contradicted with supporting surface, while mobile with motor vehicles bodies 100, and final active wheels 112 directly connect with precipitous place
Touching, in the case where guaranteeing the power abundance of active wheels 112, active wheels 112 can pass through precipitous place, so that
Navigation warehouse trucks can overcome sharp regions, promote climbing capacity.
In one embodiment, navigation warehouse trucks further include damper 115.The damper 115 is installed in the car body
Inside 100, and one end of the damper 115 is connected with the driving motor 111.Specifically, in the present embodiment, driving electricity
Machine 111 itself can generate vibration at runtime, can have an impact at this time to the movement of navigation warehouse trucks.Therefore, by damper 115
One end is connected with car body 100, and the other end of damper 115 is connected with driving motor 111, so as to be effectively reduced driving electricity
Vibration of the machine 111 inside car body 100.
As shown in Figure 1, in one embodiment, navigation warehouse trucks further include accelerometer 120 and gyroscope 130.It is described to add
Speed meter 120 is installed on the car body 100 with the gyroscope 130, and the accelerometer 120 and the gyroscope 130 are
It is corresponding with the active wheels.Specifically, the attitude angle of car body 100 itself, accelerometer can be effectively detected in gyroscope 130
120 for detecting the speed state of navigation warehouse trucks.It, can be to maincenter by the mutual cooperation of accelerometer 120 and gyroscope 130
Processor transmits the signals such as accurate orientation, level, position, velocity and acceleration, so that the movement of navigation warehouse trucks is more
Add precisely.
In one embodiment, be also provided with scram button 140 on the car body 100, the scram button 140 with it is described
Hub processor is connected.Specifically, in the present embodiment, when accident collision or stagnation of movement situation, Ke Yizhi occur in navigation warehouse trucks
Connect press scram button 140 by navigate warehouse trucks inside all devices stop working, so as to avoid 100 internal components of car body
The continuous service under unexpected situation.
In one embodiment, navigation warehouse trucks further include anticollision layer.The anticollision layer is set in the outer of the car body 100
Portion.Specifically, when warehouse trucks of navigating surprisingly hit barrier, anticollision layer can effectively cancel out external impact force to car body
100 damage.
As shown in figure 5, in one embodiment, a kind of storage mobile device, including the navigation warehouse trucks and cage case
400.400 bottom of cage case offers the channel 410 passed through for the navigation warehouse trucks, and the navigation warehouse trucks are equipped with
Component 150 is jacked, the jacking component 150 is used for inconsistent with the cage case 400.
Institute's goods and materials to be transported when in use, need to be only fitted into cage case 400 by above-mentioned storage mobile device, and by cage case
400 put in the carrying region that navigation warehouse trucks can reach.At this point, navigation warehouse trucks can be by looking for predetermined trajectory to enter navigation
In the channel 410 of warehouse trucks, then, cage case 400 is jacked up by jacking component 150, until the bottom of cage case 400 and supporting surface
It is detached from, navigation warehouse trucks move again can be realized the carrying of the transfer to cage case 400.Above-mentioned storage mobile device is navigated in storage
It can be realized accurate positionin under the drive of vehicle, avoid colliding with barrier, to improve the work of storage mobile device
Efficiency.
In one embodiment, the jacking component 150 includes pallet 151 and lifting pin 152.It is opened on the car body 100
Equipped with the first opening 160, the lifting pin 152 is installed in inside the car body 100, the lifting pin 152 and the pallet 151
It is connected, the pallet 151 protrudes from the car body 100 by first opening 160, and inconsistent with cage case 400.Specifically
Ground lifts pallet 151 by lifting pin 152, until pallet 151 lifts cage case 400.Compared to directly passing through jacking
Bar 152 is lifted, and above-mentioned this embodiment expands the contact area of lifting pin 152 Yu cage case 400.More specifically,
Buffering convex block 1512 is added on pallet 151, increases the frictional force between pallet 151 and cage case 400, to improve navigation storehouse
Store up stability when vehicle transport cage case 400.
In one embodiment, navigation warehouse trucks further include barcode scanning identifier 170.The cage case 400 is equipped with for sweeping
The cage case two dimensional code that code identifier 170 identifies, the barcode scanning identifier 170 are installed in inside the car body 100, the pallet
Second opening 1511 corresponding with the barcode scanning identifier 170 is offered inside 151.Specifically, first by goods and materials to be handled
It is placed on inside cage case 400, cage case 400 is then placed on the carrying region that navigation warehouse trucks can reach.According to actual work
Condition, multiple cage casees 400 can be stored by carrying region.Therefore, in order to which the warehouse trucks that guarantee to navigate can accurately reach default cage case
400, different cage case two dimensional codes is posted in the bottom of each cage case 400, when navigation warehouse trucks enter the channel of cage case 400
After in 410, barcode scanning identifier 170 can identify the two dimensional code of 400 bottom of cage case, judge whether cage case 400 belongs to this
Warehouse trucks of navigating institute default cage case 400 to be transported.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of navigation warehouse trucks characterized by comprising
Car body and path identifier, the car body are equipped with mobile mechanism, and the path identifier is installed on the car body, the road
Diameter identifier terrestrial path information for identification；
It is described to be installed on the car body apart from induction mechanism apart from induction mechanism and hub processor, it is described apart from induction machine
Structure is for detecting the distance between the car body and barrier；
The mobile mechanism, the path identifier and it is described apart from induction mechanism with the hub processor be electrically connected.
2. navigation warehouse trucks according to claim 1, which is characterized in that it further include obstacle avoidance sensor, the anticollision sensing
Device is installed on the car body, and the obstacle avoidance sensor and the hub processor are electrically connected.
3. navigation warehouse trucks according to claim 1, which is characterized in that mobile mechanism further includes driving motor, driving wheel
Group, the first driven wheel group and the second driven wheel group, the driving motor and the hub processor are electrically connected, the driving electricity
For machine for driving the active wheels to rotate, the first driven wheel group and the second driven wheel group are arranged at intervals on the vehicle
Body bottom, the active wheels are installed in the vehicle bottom, and the active wheels are located at the first driven wheel group and institute
It states between the second driven wheel group.
4. navigation warehouse trucks according to claim 3, which is characterized in that further include accelerometer and gyroscope, the acceleration
Meter is installed on the car body with the gyroscope, and the accelerometer is opposite with the active wheels with the gyroscope
It answers.
5. navigation warehouse trucks according to claim 1, which is characterized in that be also provided with scram button, institute on the car body
Scram button is stated to be connected with the hub processor.
6. navigation warehouse trucks according to claim 1, which is characterized in that further include anticollision layer, the anticollision layer is set in
The outside of the car body.
7. a kind of storage mobile device, including navigation warehouse trucks described in claim 1 to 6 any one and cage case, feature
It is, cage bottom portion offers the channel passed through for the navigation warehouse trucks, and the navigation warehouse trucks are equipped with jacking
Component, the jacking component are used for inconsistent with the cage case.
8. storage mobile device according to claim 7, which is characterized in that the jacking component includes pallet and jacking
Bar, the first opening is offered on the car body, and the lifting pin is installed in the vehicle body, the lifting pin and the pallet
It is connected, the pallet protrudes from the car body by first opening, and inconsistent with cage case.
9. storage mobile device according to claim 8, which is characterized in that further include barcode scanning identifier, on the cage case
Equipped with the cage case two dimensional code identified for barcode scanning identifier, the barcode scanning identifier is installed in the vehicle body, the pallet
Inside offers the second opening corresponding with the barcode scanning identifier.
10. storage mobile device according to claim 9, which is characterized in that it further include multiple buffering convex blocks, it is multiple described
Convex block is buffered to be arranged on the pallet along the circumferential of the second opening.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821951010.3U CN209382754U (en) | 2018-11-26 | 2018-11-26 | Mobile device of storing in a warehouse and navigation warehouse trucks |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821951010.3U CN209382754U (en) | 2018-11-26 | 2018-11-26 | Mobile device of storing in a warehouse and navigation warehouse trucks |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111153134A (en) * | 2020-01-15 | 2020-05-15 | 深圳市罗博威视科技有限公司 | Code dividing and scanning equipment |
| CN114212362A (en) * | 2021-12-31 | 2022-03-22 | 北京合锐赛尔电力科技股份有限公司 | Robot-based chemical reagent storage device and control method |
| CN114560242A (en) * | 2021-12-21 | 2022-05-31 | 苏州大方特种车股份有限公司 | A steel plate transport device |
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2018
- 2018-11-26 CN CN201821951010.3U patent/CN209382754U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111153134A (en) * | 2020-01-15 | 2020-05-15 | 深圳市罗博威视科技有限公司 | Code dividing and scanning equipment |
| CN111153134B (en) * | 2020-01-15 | 2024-05-14 | 深圳市罗博威视科技有限公司 | Code scanning equipment for dividing discs |
| CN114560242A (en) * | 2021-12-21 | 2022-05-31 | 苏州大方特种车股份有限公司 | A steel plate transport device |
| CN114212362A (en) * | 2021-12-31 | 2022-03-22 | 北京合锐赛尔电力科技股份有限公司 | Robot-based chemical reagent storage device and control method |
| CN114212362B (en) * | 2021-12-31 | 2024-12-03 | 北京合锐赛尔电力科技股份有限公司 | Chemical reagent storage device and control method based on robot |
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