CN105922255A - Transfer robot for boxes in warehouse - Google Patents
Transfer robot for boxes in warehouse Download PDFInfo
- Publication number
- CN105922255A CN105922255A CN201610553565.1A CN201610553565A CN105922255A CN 105922255 A CN105922255 A CN 105922255A CN 201610553565 A CN201610553565 A CN 201610553565A CN 105922255 A CN105922255 A CN 105922255A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- block
- bearing block
- screw rod
- fixed plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention relates to a robot, in particular to a transfer robot for boxes in a warehouse. The invention aims at solving the technical problem of providing the transfer robot with a simple structure and convenience in operation for the boxes in the warehouse. For solving the technical problem, the invention provides the transfer robot for the boxes in the warehouse. The transfer robot comprises a base plate, a bearing block I, a rotating motor I, a big belt pulley, a rotating shaft I, a flat belt, a rotating shaft II, a small belt pulley, a fixed plate I, a servo motor, a bearing block II, a guide post, a screw rod, a nut, a bearing block III, a guide sleeve, a support, an electric push rod, a clamping device, a fixed plate II, a bearing block IV, a rotating shaft III, a screw I, a rotating motor II, a sliding block, a screw II, a sliding rail, a movable clamping block and a fixed clamping block; the bearing block I and the rotating motor I are sequentially arranged at the top of the base plate from left to right. According to the transfer robot disclosed by the invention, the effects of simple structure and convenience in operation are realized, and the working efficiency of warehouse can be greatly improved.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of warehouse chest transfer robot.
Background technology
Warehouse by the storehouse of storing products, transport transmission of facility (such as crane, elevator, slide etc.), come in and go out the conveyance conduit of storehouse and equipment and fire fighting device, Service center etc. forms, modern warehouse consider managerial income more and not only to store.This is the difference place with old-fashioned warehouse.Therefore, the reasonable Arrangement of passage is all paid attention in modern warehouse from transport turnover, banking system and Architectural Equipment, the distribution mode of goods and the maximum height of accumulation, and configure cost-effective mechanization, automatization's access facility, to improve storage capability and work efficiency.
Robot is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or replace the work of human work, such as, produce the work of industry, building industry, or danger.
The transfer robot in warehouse is the indispensable part in warehouse, and current robot exists structure complexity, the shortcoming of complex operation, therefore needs research and development a kind of simple in construction, easy to operate warehouse chest transfer robot badly.
Summary of the invention
(1) to solve the technical problem that
The present invention is in order to overcome current robot to there is structure complexity, the shortcoming of complex operation, and the technical problem to be solved in the present invention is to provide a kind of simple in construction, easy to operate warehouse chest transfer robot.
(2) technical scheme
nullIn order to solve above-mentioned technical problem，The invention provides such a warehouse chest transfer robot，Include base plate、Bearing block I、Electric rotating machine I、Big belt pulley、Rotating shaft I、Flat belt、Rotating shaft II、Small belt pulley、Fixed plate I、Servomotor、Bearing block II、Guide pillar、Screw mandrel、Nut、Bearing block III、Guide pin bushing、Support、Electric pushrod、Clamping device、Fixed plate II、Bearing block IV、Rotating shaft III、Screw rod I、Electric rotating machine II、Slide block、Screw rod II、Slide rail、Movable clip block and fixing fixture block，Base plate top is sequentially provided with bearing block I and electric rotating machine I from left to right，Electric rotating machine I upper end is provided with rotating shaft II，Rotating shaft II upper end is provided with small belt pulley，Bearing block I upper end is provided with rotating shaft I，It is provided with big belt pulley in the middle part of rotating shaft I，Big belt pulley is positioned on the left of small belt pulley，Flat belt it is wound with between big belt pulley and small belt pulley，Rotating shaft I upper end is provided with fixed plate I，Fixed plate I top is provided with guide pillar，Servomotor it is sequentially provided with from bottom to up on the right side of guide pillar、Bearing block II and bearing block III，It is provided with screw mandrel between bearing block II and bearing block III，Screw mandrel lower end is connected with servomotor，Screw mandrel is provided with nut，Nut coordinates with screw mandrel，Guide pillar is provided with guide pin bushing，It is connected with nut on the right side of guide pin bushing，Support it is provided with on the left of guide pin bushing，Electric pushrod it is provided with on the left of support，Clamping device it is provided with on the left of electric pushrod，Clamping device includes fixed plate II、Bearing block IV、Rotating shaft III、Screw rod、Electric rotating machine II、Slide block、Screw rod II、Slide rail、Movable clip block and fixing fixture block，Fixed plate II is arranged with bearing block IV before and after inside，Rotating shaft III it is provided with between bearing block IV，Rotating shaft III is provided with screw rod I，Electric rotating machine II is installed on rear side of fixed plate II，Rotating shaft III is connected with electric rotating machine II，Fixing fixture block it is provided with on front side of fixed plate II，It is provided with slide rail on the left of fixed plate II，Slide rail left slide formula connects slide block，Screw rod II it is provided with on the right side of slide block，Screw rod II engages with screw rod I，Movable clip block it is provided with on the left of slide block.
Preferably, also include rubber blanket I and rubber blanket II, be provided with rubber blanket I on rear side of fixing fixture block, on front side of movable clip block, be provided with rubber blanket II.
Preferably, the material of base plate is rustless steel.
Operation principle: when the needs tote box period of the day from 11 p.m. to 1 a.m, control servomotor to rotate, servomotor drives screw mandrel to rotate, screw mandrel drives nut to move downward, nut drives guide pin bushing to move downward, guide pin bushing drives attachment means on the left of it to move downward, and when clamping device is moved downward to chest side, controls servomotor and stops operating.Controlling electric rotating machine II to rotate counterclockwise, electric rotating machine II drives rotating shaft III to rotate counterclockwise, and rotating shaft III drives screw rod I to rotate counterclockwise, and screw rod I drives screw rod II rearward movement, screw rod II band movable slider rearward movement, and slide block drives movable clip block rearward movement.When distance between movable clip block and fixing fixture block is more than the width of chest, controls electric rotating machine II and stop operating.Controlling electric pushrod elongation, electric pushrod promotes clamping device to left movement, after chest is between movable clip block and fixing fixture block, controls electric pushrod stop motion.Control electric rotating machine II to rotate clockwise, electric rotating machine II drives rotating shaft III to rotate clockwise, rotating shaft III drives screw rod I to rotate clockwise, screw rod I drives screw rod II to travel forward, screw rod II band movable slider travels forward, slide block drives movable clip block to travel forward, and movable clip block travels forward and clamped by chest, controls electric rotating machine II afterwards and stops operating.Control electric rotating machine I to rotate, electric rotating machine I drives rotating shaft II rotation, rotating shaft II drives small belt pulley to rotate, small belt pulley drives big belt pulley to rotate by flat belt, big belt pulley drives rotating shaft I to rotate, rotating shaft I drives end connection device on it to rotate, and when above chest turns to the position of required placement, controls electric rotating machine I and stops operating.Control electric rotating machine II to rotate counterclockwise, electric rotating machine II drives rotating shaft III to rotate counterclockwise, rotating shaft III drives screw rod I to rotate counterclockwise, screw rod I drives screw rod II rearward movement, screw rod II band movable slider rearward movement, slide block drives movable clip block rearward movement, and chest is unclamped by clamping device, and chest is placed on the position of required placement.Controlling electric pushrod to shorten, electric pushrod drives clamping device to remove from chest, after clamping device is removed from chest, controls electric pushrod stop motion.
Because also including rubber blanket I and rubber blanket II, on rear side of fixing fixture block, being provided with rubber blanket I, being provided with rubber blanket II, rubber cushion I and rubber blanket II on front side of movable clip block and can prevent clamping device from damaging chest, also clamping device can be made to be held by chest more firm simultaneously.
Because the material of base plate is rustless steel, rustless steel can be effectively increased the service life of device.
(3) beneficial effect
Invention achieves simple in construction, easy to operate effect, the work efficiency of warehouse work can be improved greatly.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the present invention.
Fig. 2 is the first plan structure schematic diagram of the clamping device of the present invention.
Fig. 3 is the second plan structure schematic diagram of the clamping device of the present invention.
Being labeled as in accompanying drawing: 1-base plate, 2-bearing block I, 3-electric rotating machine I, 4-big belt pulley, 5-rotating shaft I, 6-flat belt, 7-rotating shaft II, 8-small belt pulley, 9-fixed plate I, 10-servomotor, 11-bearing block II, 12-guide pillar, 13-screw mandrel, 14-nut, 15-bearing block III, 16-guide pin bushing, 17-support, 18-electric pushrod, 19-clamping device, 20-fixed plate II, 21-bearing block IV, 22-rotating shaft III, 23-screw rod I, 24-electric rotating machine II, 25-slide block, 26-screw rod II, 27-slide rail, 28-movable clip block, 29-fixes fixture block, 30-rubber blanket I, 31-rubber blanket II.
Detailed description of the invention
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings.
Embodiment
1
nullA kind of warehouse chest transfer robot，As Figure 1-3，Include base plate 1、Bearing block I 2、Electric rotating machine I 3、Big belt pulley 4、Rotating shaft I 5、Flat belt 6、Rotating shaft II 7、Small belt pulley 8、Fixed plate I 9、Servomotor 10、Bearing block II 11、Guide pillar 12、Screw mandrel 13、Nut 14、Bearing block III 15、Guide pin bushing 16、Support 17、Electric pushrod 18、Clamping device 19、Fixed plate II 20、Bearing block IV 21、Rotating shaft III 22、Screw rod I 23、Electric rotating machine II 24、Slide block 25、Screw rod II 26、Slide rail 27、Movable clip block 28 and fixing fixture block 29，Base plate 1 top is sequentially provided with bearing block I 2 and electric rotating machine I 3 from left to right，Electric rotating machine I 3 upper end is provided with rotating shaft II 7，Rotating shaft II 7 upper end is provided with small belt pulley 8，Bearing block I 2 upper end is provided with rotating shaft I 5，Big belt pulley 4 it is provided with in the middle part of rotating shaft I 5，Big belt pulley 4 is positioned on the left of small belt pulley 8，Flat belt 6 it is wound with between big belt pulley 4 and small belt pulley 8，Rotating shaft I 5 upper end is provided with fixed plate I 9，Fixed plate I 9 top is provided with guide pillar 12，Servomotor 10 it is sequentially provided with from bottom to up on the right side of guide pillar 12、Bearing block II 11 and bearing block III 15，Screw mandrel 13 it is provided with between bearing block II 11 and bearing block III 15，Screw mandrel 13 lower end is connected with servomotor 10，Screw mandrel 13 is provided with nut 14，Nut 14 coordinates with screw mandrel 13，Guide pillar 12 is provided with guide pin bushing 16，It is connected with nut 14 on the right side of guide pin bushing 16，Support 17 it is provided with on the left of guide pin bushing 16，Electric pushrod 18 it is provided with on the left of support 17，Clamping device 19 it is provided with on the left of electric pushrod 18，Clamping device 19 includes fixed plate II 20、Bearing block IV 21、Rotating shaft III 22、Screw rod、Electric rotating machine II 24、Slide block 25、Screw rod II 26、Slide rail 27、Movable clip block 28 and fixing fixture block 29，Fixed plate II 20 is arranged with bearing block IV 21 before and after inside，Rotating shaft III 22 it is provided with between bearing block IV 21，Rotating shaft III 22 is provided with screw rod I 23，Electric rotating machine II 24 is installed on rear side of fixed plate II 20，Rotating shaft III 22 is connected with electric rotating machine II 24，Fixing fixture block 29 it is provided with on front side of fixed plate II 20，Slide rail 27 it is provided with on the left of fixed plate II 20，Slide rail 27 left slide formula connects slide block 25，Screw rod II 26 it is provided with on the right side of slide block 25，Screw rod II 26 engages with screw rod I 23，Movable clip block 28 it is provided with on the left of slide block 25.
Also include rubber blanket I 30 and rubber blanket II 31, be provided with rubber blanket I 30 on rear side of fixing fixture block 29, on front side of movable clip block 28, be provided with rubber blanket II 31.
The material of base plate 1 is rustless steel.
Operation principle: when the needs tote box period of the day from 11 p.m. to 1 a.m, control servomotor 10 to rotate, servomotor 10 drives screw mandrel 13 to rotate, screw mandrel 13 drives nut 14 to move downward, nut 14 drives guide pin bushing 16 to move downward, guide pin bushing 16 drives attachment means on the left of it to move downward, and when clamping device 19 is moved downward to chest side, controls servomotor 10 and stops operating.Control electric rotating machine II 24 to rotate counterclockwise, electric rotating machine II 24 drives rotating shaft III 22 to rotate counterclockwise, and rotating shaft III 22 drives screw rod I 23 to rotate counterclockwise, and screw rod I 23 drives screw rod II 26 rearward movement, screw rod II 26 band movable slider 25 rearward movement, slide block 25 drives movable clip block 28 rearward movement.When distance between movable clip block 28 and fixing fixture block 29 is more than the width of chest, controls electric rotating machine II 24 and stop operating.Controlling electric pushrod 18 to extend, electric pushrod 18 promotes clamping device 19 to left movement, after chest is between movable clip block 28 and fixing fixture block 29, controls electric pushrod 18 stop motion.Control electric rotating machine II 24 to rotate clockwise, electric rotating machine II 24 drives rotating shaft III 22 to rotate clockwise, rotating shaft III 22 drives screw rod I 23 to rotate clockwise, screw rod I 23 drives screw rod II 26 to travel forward, screw rod II 26 band movable slider 25 travels forward, slide block 25 drives movable clip block 28 to travel forward, and movable clip block 28 travels forward and clamped by chest, controls electric rotating machine II 24 afterwards and stops operating.Control electric rotating machine I 3 to rotate, electric rotating machine I 3 drives rotating shaft II 7 to rotate, rotating shaft II 7 drives small belt pulley 8 to rotate, small belt pulley 8 drives big belt pulley 4 to rotate by flat belt 6, big belt pulley 4 drives rotating shaft I 5 to rotate, rotating shaft I 5 drives end connection device on it to rotate, and when above chest turns to the position of required placement, controls electric rotating machine I 3 and stops operating.Control electric rotating machine II 24 to rotate counterclockwise, electric rotating machine II 24 drives rotating shaft III 22 to rotate counterclockwise, rotating shaft III 22 drives screw rod I 23 to rotate counterclockwise, screw rod I 23 drives screw rod II 26 rearward movement, screw rod II 26 band movable slider 25 rearward movement, slide block 25 drives movable clip block 28 rearward movement, and chest is unclamped by clamping device 19, and chest is placed on the position of required placement.Controlling electric pushrod 18 to shorten, electric pushrod 18 drives clamping device 19 to remove from chest, after clamping device 19 is removed from chest, controls electric pushrod 18 stop motion.
Because also including rubber blanket I 30 and rubber blanket II 31, it is provided with rubber blanket I 30 on rear side of fixing fixture block 29, being provided with rubber blanket II 31, rubber cushion I and rubber blanket II 31 on front side of movable clip block 28 can prevent clamping device 19 from damaging chest, also clamping device 19 can be made to be held by chest more firm simultaneously.
Because the material of base plate 1 is rustless steel, rustless steel can be effectively increased the service life of device.
Embodiment described above only have expressed the preferred embodiment of the present invention, and it describes more concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation, improve and substitute, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (3)
- null1. a warehouse chest transfer robot，It is characterized in that，Include base plate (1)、Bearing block I (2)、Electric rotating machine I (3)、Big belt pulley (4)、Rotating shaft I (5)、Flat belt (6)、Rotating shaft II (7)、Small belt pulley (8)、Fixed plate I (9)、Servomotor (10)、Bearing block II (11)、Guide pillar (12)、Screw mandrel (13)、Nut (14)、Bearing block III (15)、Guide pin bushing (16)、Support (17)、Electric pushrod (18)、Clamping device (19)、Fixed plate II (20)、Bearing block IV (21)、Rotating shaft III (22)、Screw rod I (23)、Electric rotating machine II (24)、Slide block (25)、Screw rod II (26)、Slide rail (27)、Movable clip block (28) and fixing fixture block (29)，Base plate (1) top is sequentially provided with bearing block I (2) and electric rotating machine I (3) from left to right，Electric rotating machine I (3) upper end is provided with rotating shaft II (7)，Rotating shaft II (7) upper end is provided with small belt pulley (8)，Bearing block I (2) upper end is provided with rotating shaft I (5)，Rotating shaft I (5) middle part is provided with big belt pulley (4)，Big belt pulley (4) is positioned at small belt pulley (8) left side，Flat belt (6) it is wound with between big belt pulley (4) and small belt pulley (8)，Rotating shaft I (5) upper end is provided with fixed plate I (9)，Fixed plate I (9) top is provided with guide pillar (12)，Guide pillar (12) right side is sequentially provided with servomotor (10) from bottom to up、Bearing block II (11) and bearing block III (15)，Screw mandrel (13) it is provided with between bearing block II (11) and bearing block III (15)，Screw mandrel (13) lower end is connected with servomotor (10)，Screw mandrel (13) is provided with nut (14)，Nut (14) coordinates with screw mandrel (13)，Guide pillar (12) is provided with guide pin bushing (16)，Guide pin bushing (16) right side is connected with nut (14)，Guide pin bushing (16) left side is provided with support (17)，Support (17) left side is provided with electric pushrod (18)，Electric pushrod (18) left side is provided with clamping device (19)，Clamping device (19) includes fixed plate II (20)、Bearing block IV (21)、Rotating shaft III (22)、Screw rod、Electric rotating machine II (24)、Slide block (25)、Screw rod II (26)、Slide rail (27)、Movable clip block (28) and fixing fixture block (29)，Fixed plate II (20) is arranged with bearing block IV (21) before and after inside，Rotating shaft III (22) it is provided with between bearing block IV (21)，Rotating shaft III (22) is provided with screw rod I (23)，Fixed plate II (20) rear side is provided with electric rotating machine II (24)，Rotating shaft III (22) is connected with electric rotating machine II (24)，Fixed plate II (20) front side is provided with fixing fixture block (29)，Fixed plate II (20) left side is provided with slide rail (27)，Slide rail (27) left slide formula connects slide block (25)，Slide block (25) right side is provided with screw rod II (26)，Screw rod II (26) engages with screw rod I (23)，Slide block (25) left side is provided with movable clip block (28).
- A kind of warehouse the most according to claim 1 chest transfer robot, it is characterized in that, also including rubber blanket I (30) and rubber blanket II (31), fixing fixture block (29) rear side is provided with rubber blanket I (30), and movable clip block (28) front side is provided with rubber blanket II (31).
- A kind of warehouse the most according to claim 1 chest transfer robot, it is characterised in that the material of base plate (1) is rustless steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610553565.1A CN105922255A (en) | 2016-07-14 | 2016-07-14 | Transfer robot for boxes in warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610553565.1A CN105922255A (en) | 2016-07-14 | 2016-07-14 | Transfer robot for boxes in warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105922255A true CN105922255A (en) | 2016-09-07 |
Family
ID=56827573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610553565.1A Pending CN105922255A (en) | 2016-07-14 | 2016-07-14 | Transfer robot for boxes in warehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105922255A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521799A (en) * | 2017-09-25 | 2017-12-29 | 浙江智辰能源科技有限公司 | A kind of electric industry vehicle charger handling device |
| CN108608400A (en) * | 2018-04-03 | 2018-10-02 | 黄永怀 | A kind of transfer robot captured automatically |
| CN109129537A (en) * | 2017-06-28 | 2019-01-04 | 上海昱庄机械科技有限公司 | Handling gripper manipulator |
| CN109437063A (en) * | 2018-12-27 | 2019-03-08 | 江苏中天华宇智能科技有限公司 | The two-way grip picking fork of high stability on high-speed buck stacker |
| CN110340918A (en) * | 2019-07-15 | 2019-10-18 | 钱海燕 | A kind of mechanical arm |
| CN112158593A (en) * | 2020-10-29 | 2021-01-01 | 德清世锦智能科技有限公司 | Mechanical grabbing equipment for cargo carrying |
| CN112590955A (en) * | 2020-12-31 | 2021-04-02 | 广东技术师范大学 | Combined type mobile robot |
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| US4909701A (en) * | 1983-02-14 | 1990-03-20 | Brooks Automation Inc. | Articulated arm transfer device |
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| CN201198134Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Cylindrical storehouse stacking robot |
| CN103753523A (en) * | 2013-12-20 | 2014-04-30 | 江苏大学 | Thermoformed loading and unloading mechanical arm |
| CN105437226A (en) * | 2015-11-28 | 2016-03-30 | 重庆永重重工有限公司 | Novel multi-motor transmission device |
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| DE2057515A1 (en) * | 1969-11-24 | 1971-06-03 | Steelweld Ltd | Mechanical handling device |
| US4909701A (en) * | 1983-02-14 | 1990-03-20 | Brooks Automation Inc. | Articulated arm transfer device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129537A (en) * | 2017-06-28 | 2019-01-04 | 上海昱庄机械科技有限公司 | Handling gripper manipulator |
| CN107521799A (en) * | 2017-09-25 | 2017-12-29 | 浙江智辰能源科技有限公司 | A kind of electric industry vehicle charger handling device |
| CN108608400A (en) * | 2018-04-03 | 2018-10-02 | 黄永怀 | A kind of transfer robot captured automatically |
| CN109437063A (en) * | 2018-12-27 | 2019-03-08 | 江苏中天华宇智能科技有限公司 | The two-way grip picking fork of high stability on high-speed buck stacker |
| CN110340918A (en) * | 2019-07-15 | 2019-10-18 | 钱海燕 | A kind of mechanical arm |
| CN112158593A (en) * | 2020-10-29 | 2021-01-01 | 德清世锦智能科技有限公司 | Mechanical grabbing equipment for cargo carrying |
| CN112590955A (en) * | 2020-12-31 | 2021-04-02 | 广东技术师范大学 | Combined type mobile robot |
| CN112590955B (en) * | 2020-12-31 | 2022-02-08 | 广东技术师范大学 | Combined type mobile robot |
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Application publication date: 20160907 |