CN110065748A - A kind of rotary automatic access method of cargo and three-dimensional container of machinery Hand supplementary - Google Patents
A kind of rotary automatic access method of cargo and three-dimensional container of machinery Hand supplementary Download PDFInfo
- Publication number
- CN110065748A CN110065748A CN201910249541.0A CN201910249541A CN110065748A CN 110065748 A CN110065748 A CN 110065748A CN 201910249541 A CN201910249541 A CN 201910249541A CN 110065748 A CN110065748 A CN 110065748A
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- Prior art keywords
- cargo
- picking
- pedestal
- control module
- lid
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses the rotary automatic access methods of cargo and three-dimensional container of a kind of mechanical Hand supplementary.Existing counter access port is more, and storage package is time-consuming and laborious.The method that the present invention accesses goods is as follows: after opening cover board, by driving motor driving counter rotation, thus by the disposable stock of cargo storage mouth；When picking, scans certificate or input picking number, gripper automatically send cargo to picking case.Three-dimensional container of the present invention, including lid, pedestal, shaft, counter, driving motor, support rod, sliding rail, picking case, lifting device and gripper；Lifting device includes dual-axle motor, pulley and sliding block；Gripper includes electric pushrod, stepper motor, lead screw, pedestal, connecting rod and claw.This invention simplifies access ports, improve space utilization rate, are convenient for intellectual automatic access.
Description
Technical field
The invention belongs to Express Logistics field more particularly to a kind of rotary automatic access methods of cargo of mechanical Hand supplementary
And three-dimensional container.
Background technique
Currently, online shopping becomes more and more popular, the access quantity of small-sized package is increasing, especially the populations such as school, company
More, more intensive region.Some green hand post houses usually need to handle thousands of small-sized package for one day, this will be expended greatly
The manpower and material resources of amount；Traditional counter is all plane formula counter, very inconvenient for the access of package.For the self-service of small-sized package
Access, though there is many plane formula Intelligent cargo cabinets on the market, since its access port is more, staff need to disperse storage package,
It is time-consuming and laborious；And part access port position is higher, and access is very inconvenient；Further, since being the counter of plane formula, space benefit
It can not show a candle to three-dimensional counter with rate.
Summary of the invention
The object of the present invention is to provide the rotary automatic access method of cargo and three-dimensional container of a kind of mechanical Hand supplementary, letters
Change access port, improve space utilization rate, is convenient for intellectual automatic access.
Technical scheme is as follows:
A kind of rotary automatic access method of cargo of mechanical Hand supplementary of the present invention, including two processes of stock and picking；
The process of stock is specific as follows:
1, staff is located at the cover board at cargo storage mouth by the manually opened lid side of key；
2, control panel is operated, driving motor rotation is controlled by control module, to there will be depositing for vacant holding bay body
Goods area domain is rotated to cargo storage mouth, and cargo is put into the vacant holding bay body of the cargo area；Wherein, counter was equipped with along week
To n uniformly distributed cargo area, every piece of cargo area is made of m storage cabin, n >=6, m >=6.
If all storage cabins for 3, being located at the cargo area at cargo storage mouth have been put into cargo, and still need to storage goods
When object, step 2 is returned to；After cargo is all put into, cover board is turned off manually.
The process of picking is specific as follows:
1. picking person scans certificate at identity recognizer or inputs picking number on the control panel, so that control module is read
Picking information；
2. control module controls driving motor, taken so that cargo area corresponding with picking people's picking information be driven to rotate to
At cargo hatch；
3. control module controls the electronic hatch door being located at picking hatch at the top of lid and opens；
4. control module controls dual-axle motor rotation, dual-axle motor driving pulley, thus with movable slider and gripper edge
Sliding rail be moved to right above corresponding with picking people's picking information storage cabin；Then, control module controls electric pushrod
Piston rod is released, to drive in gripper entire lowering to holding bay body corresponding with picking people's picking information；Then, it controls
Module controls stepper motor rotation, and stepper motor drives lead screw, to move up with moving base, and drives gripper through connecting rod
Each claw closure, realize cargo crawl；
5. control module controls electric pushrod, so that gripper is driven integrally to move upward out storage cabin and picking hatch,
Then, control module control dual-axle motor is moved to sliding block and gripper right above picking case along sliding rail；
6. control module controls electric pushrod, so that gripper be driven to be moved downward to close to picking case, mould is then controlled
Block controls stepper motor reversion, to realize that each claw of gripper opens, cargo is fallen into picking case；
7. driving motor, stepper motor, dual-axle motor and electric pushrod reset；
8. control module differentiates that cargo takes in the t time that whether there is or not picking information to input from identity recognizer or control panel, t
The value in 10~15s, if so, thening follow the steps 9.；It is no to then follow the steps 10.；
9. repeating step 1., 2., 4., 5., 6., 7., 8.；
10. control module controls electronic hatch door and closes.
A kind of rotary automatic taking stereo counter of cargo of mechanical Hand supplementary of the present invention, including lid, pedestal, shaft,
Counter, driving motor, support rod, sliding rail, picking case, lifting device and gripper.Pedestal is fixed in support platform, and lid can
Disassembly is fixed on pedestal；The both ends of lid are respectively and fixedly provided with closed plate；Four support rod array arrangements；Two branch of lid side
It is welded at the top of strut with an one slide rail, two support bar tops of the other side and another one slide rail weld；Four support rod bottoms
Welded with support platform；The shaft is supported on bearing block by bearing, and bearing block is fixed on pedestal；Driving motor
Pedestal fixed with lid, output shaft and the shaft of driving motor are fixed；Counter is placed in lid and pedestal, and is fixed on shaft
On；The bottom of lid is equipped with arcwall face, and arcwall face is equipped at the top of pedestal, and two arcwall faces are equal with the round radial spacing of counter,
Respectively less than 10mm；The side of the lid offers cargo storage mouth, and cover board bottom and lid are located at orientation under cargo storage mouth
The place of setting is connected by a hinge；Pass through lock connection with lid at the top of cover board；Picking hatch is opened up at the top of the lid；Picking hatch
Electronic hatch door is arranged in place；The counter is equipped with n cargo area being evenly distributed, and every piece of cargo area is by m holding bay
Body forms, n >=6, m >=6, passes through partition between adjacent storage cabin and separates.One end of the pedestal is equipped with picking case, picking case
It is fixed in support platform；The closed plate of front is equipped with control panel, control panel and control module communication connection, driving electricity
The control signal end of machine is connect with control module；Electronic hatch door is controlled by control module.
The lifting device includes dual-axle motor, pulley and sliding block；The pedestal of the dual-axle motor is fixed with sliding block, double
Pulley is respectively and fixedly provided on the both ends output shaft of spindle motor, two pulleys and two one slide rails respectively constitute sliding pair.Dual-axle motor
Control signal end is connect with control module.
The gripper includes electric pushrod, stepper motor, lead screw, pedestal, connecting rod and claw；The electric pushrod
Cylinder body is fixed on slider bottom, and the pedestal of stepper motor is fixed on the piston rod of electric pushrod；The output shaft of stepper motor with
Lead screw is fixed；Pedestal and lead screw constitute screw pair；One end of four connecting rods is hinged with pedestal, in the middle part of the other end and four claws
It is respectively articulated with；Four claws are evenly distributed, and tail portion is hinged with the pedestal of stepper motor；The control signal end of stepper motor is equal
It is connect with control module.
By end cap axial limiting, end cap is connected by screw to the bearing of the bearing shaft with closed plate.
Cushion is equipped in the picking case.
Identity recognizer is additionally provided in the closed plate of the front, the signal output end and control module of identity recognizer connect
It connects.
Two one slide rails both pass through the inner cavity of sliding block, and the pedestal of dual-axle motor is fixed on sliding block inner cavity.
The invention has the advantages that:
1, the present invention can mitigate the burden of staff by reducing cargo access port；
2, the present invention can improve space utilization rate by three-dimensional shelf；
3, the present invention can improve convenience by three-dimensional shelf, and picking people only need to can light picking in bottom；
4, the present invention takes one to deposit, withdraw mouth, and it is excessively high to avoid picking position relative to traditional shelf, is unfavorable for picking person
The shortcomings that taking package.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is side view of the invention；
Fig. 3 is the side view after present invention removal lid；
Fig. 4 is lifting device schematic diagram of the invention；
Fig. 5 is gripper structural perspective of the invention.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1,2 and 3, a kind of rotary automatic taking stereo counter of cargo of mechanical Hand supplementary, including lid 1,
Pedestal 16, shaft 15, counter 14, driving motor 30, support rod 6, sliding rail 7, picking case 10, lifting device and gripper 27.Seat
Body 16 is fixed in support platform 28, and lid 1 detachable (passing through bolt) is fixed on pedestal 16；The both ends of lid 1 are fixed
There is closed plate 5；Four 6 array arrangements of support rod；Two support rods, 6 top of 1 side of lid is welded with an one slide rail 7, another
It is welded with another one slide rail 7 at two support rods, 6 top of side；It is welded with support platform 28 four 6 bottoms of support rod；Shaft 15
It is supported on bearing block 13 by bearing, bearing block 13 is fixed on pedestal 16；End cap to the bearing axial limiting, and with closing
Plate 5 is connected by screw to；The pedestal and lid 1 of driving motor 30 are fixed, and the output shaft and shaft 15 of driving motor are fixed；Counter
14 are placed in lid 1 and pedestal 16, and are fixed in shaft 15；Driving motor driving counter 14 is rotated；The bottom of lid 1
Equipped with arcwall face, arcwall face is equipped at the top of pedestal 16, two arcwall faces are equal with the round radial spacing of counter 14, respectively less than
10mm；Due to thering is lid 1 and pedestal 16 to cover counter 14, so will not fall when being wrapped in counter 14 downward.Lid
1 side of body offers cargo storage mouth 2, and 4 bottom of cover board is located at cargo storage mouth lower position with lid 1 and is connected by hinge 3
It connects；After cover board 4 turns over covering goods storage mouth 2, it can be locked with lid 1 (passing through lock) at the top of cover board 4；It opens up and takes at the top of lid 1
Cargo hatch 31；Electronic hatch door is set at picking hatch 31；Counter 14 is equipped with six cargo areas being evenly distributed, and is denoted as respectively
A,B,C,D,E,F；Every piece of cargo area is made of six storage cabins, is denoted as a, b, c, d, e, f respectively, adjacent storage cabin it
Between separated by partition 29.16 one end of pedestal is equipped with picking case 10, and picking case 10 is fixed in support platform 28；In picking case 10
Equipped with cushion, cushion is used to store the buffering of package, picking case damage caused by package when gripper being avoided to put down package
Wound；The closed plate 5 of front is equipped with identity recognizer 11 and control panel 12, the signal output end of identity recognizer 11 and control
Module 17 connects, and control panel 12 and control module communication connection, the control signal end of driving motor are connect with control module 17；
Electronic hatch door is controlled by control module.
As shown in figs. 1 and 4, lifting device includes dual-axle motor (Double shaft-extension asynchronous motor) 20, pulley 19 and sliding block 9；
Two one slide rails 7 both pass through the inner cavity of sliding block 9；The pedestal of dual-axle motor 20 is fixed on 9 inner cavity of sliding block, and the both ends of dual-axle motor 20 are defeated
Pulley 19 is respectively and fixedly provided on shaft 18, two pulleys 19 and two one slide rails 7 respectively constitute sliding pair.The control of dual-axle motor 20 is believed
Number end is connect with control module 17.
As described in figures 1 and 5, gripper 27 includes electric pushrod 24, stepper motor 8, lead screw 25, pedestal 23,21 and of connecting rod
Claw 22；The cylinder body of electric pushrod 24 is fixed on 9 bottom of sliding block, and the pedestal of stepper motor 8 is fixed on the piston of electric pushrod 24
On bar 26；The output shaft and lead screw 25 of stepper motor 8 are fixed；Pedestal 23 and lead screw 21 constitute screw pair；The one of four connecting rods 21
End is hinged with pedestal 23, is respectively articulated in the middle part of the other end and four claws 22；Four claws 22 are evenly distributed, tail portion with
The pedestal of stepper motor 8 is hinged；The control signal end of stepper motor 8 is connect with control module 17.
The method of the rotary automatic taking stereo counter automatic access cargo of the cargo of the machinery Hand supplementary, including stock and
Two processes of picking；
The process of stock is specific as follows:
1, by staff's manual operations, cargo storage mouth 2 is opened by the manually opened cover board 4 of key；
2, control panel 12 is operated, driving motor rotation is controlled by control module, to there will be vacant holding bay body
Cargo area is rotated to cargo storage mouth 2, and cargo is put into the vacant holding bay body of the cargo area；
If all storage cabins for 3, being located at the cargo area at cargo storage mouth 2 have been put into cargo, and still need to store
When cargo, step 2 is returned to；After cargo is all put into, cover board 4 is turned off manually.
The process of picking is specific as follows:
1. picking person scans certificate at identity recognizer 11 or inputs picking number on control panel 12, to control mould
Block 17 reads picking information；Here, input picking number as identification go wrong can not be successfully read picking people information when
Another read approach；
2. control module 17 controls 30 rotate driving shaft 15 of driving motor, to drive corresponding with picking people's picking information
Cargo area rotate at picking hatch 31；
3. control module 17 controls electronic hatch door and opens；
Rotated 4. control module 17 controls dual-axle motor 20,20 driving pulley 19 of dual-axle motor, thus with movable slider 9 and
Gripper 27 is moved to right above storage cabin corresponding with picking people's picking information along sliding rail 7；Then, control module 17 is controlled
The piston rod 26 of electric pushrod 24 processed is released, to drive 27 entire lowering of gripper to storage corresponding with picking people's picking information
It deposits in cabin；Then, control module 17 controls stepper motor 8 and rotates, and stepper motor 8 drives lead screw 25, thus with moving base 23
It moves up, to drive each claw of gripper 27 to be closed through connecting rod 21, realizes cargo crawl；
5. control module 17 controls electric pushrod 24, so that gripper 27 is driven integrally to move upward out storage cabin, then,
Control module 17, which controls dual-axle motor 20, is moved to sliding block 9 and gripper 27 right above picking case 10 along sliding rail 7；
6. control module 17 controls electric pushrod 24, so that gripper 27 be driven to be moved downward to close to picking case 10, so
Control module 17 controls stepper motor 8 and inverts afterwards, to realize that each claw of gripper 27 opens, cargo falls into picking case 10
It is interior；Cushion in picking case can effectively prevent cargo damage；
7. driving motor, stepper motor 8, dual-axle motor 20 and electric pushrod 24 reset；
8. it is defeated from identity recognizer 11 or control panel 12 that control module differentiates that cargo takes in 15s that whether there is or not picking information
Enter, if so, thening follow the steps 9.；It is no to then follow the steps 10.；
9. repeating step 1., 2., 4., 5., 6., 7., 8., the electronic hatch door of repeat switch in the short time is avoided；
10. electronic hatch door is closed.
Claims (6)
1. a kind of rotary automatic access method of cargo of machinery Hand supplementary, including two processes of stock and picking；Its feature exists
In:
The process of stock is specific as follows:
Step 1, staff are located at the cover board at cargo storage mouth by the manually opened lid side of key；
Step 2, operation control panel control driving motor rotation by control module, to will have depositing for vacant holding bay body
Goods area domain is rotated to cargo storage mouth, and cargo is put into the vacant holding bay body of the cargo area；Wherein, counter was equipped with along week
To n uniformly distributed cargo area, every piece of cargo area is made of m storage cabin, n >=6, m >=6；
If all storage cabins of step 3, the cargo area being located at cargo storage mouth have been put into cargo, and still need to storage goods
When object, step 2 is returned to；After cargo is all put into, cover board is turned off manually；
The process of picking is specific as follows:
1. picking person scans certificate at identity recognizer or inputs picking number on the control panel, so that control module takes
Goods information；
2. control module controls driving motor, so that cargo area corresponding with picking people's picking information be driven to rotate to picking cabin
At mouthful；
3. control module controls the electronic hatch door being located at picking hatch at the top of lid and opens；
4. control module controls dual-axle motor rotation, dual-axle motor driving pulley, thus with movable slider and gripper along cunning
Rail is moved to right above storage cabin corresponding with picking people's picking information；Then, the piston of control module control electric pushrod
Bar is released, to drive in gripper entire lowering to holding bay body corresponding with picking people's picking information；Then, control module
Stepper motor rotation is controlled, stepper motor drives lead screw, to move up with moving base, and drives each of gripper through connecting rod
A claw closure, realizes cargo crawl；
5. control module controls electric pushrod, so that gripper is driven integrally to move upward out storage cabin and picking hatch, then,
Control module control dual-axle motor is moved to sliding block and gripper right above picking case along sliding rail；
6. control module controls electric pushrod, so that gripper be driven to be moved downward to close to picking case, then control module control
Stepper motor reversion processed, to realize that each claw of gripper opens, cargo is fallen into picking case；
7. driving motor, stepper motor, dual-axle motor and electric pushrod reset；
8. control module differentiates that cargo takes in the t time that whether there is or not picking information to input from identity recognizer or control panel, t is 10
Value in~15s, if so, thening follow the steps 9.；It is no to then follow the steps 10.；
9. repeating step 1., 2., 4., 5., 6., 7., 8.；
10. control module controls electronic hatch door and closes.
2. a kind of rotary automatic taking stereo counter of cargo of machinery Hand supplementary, including lid, pedestal, counter and picking case,
Pedestal is fixed in support platform, and lid is detachably secured on pedestal；The both ends of lid are respectively and fixedly provided with closed plate；Its feature exists
In: it further include shaft, driving motor, support rod, sliding rail, lifting device and gripper；Four support rod array arrangements；Lid one
Two support bar tops of side and an one slide rail weld, and two support bar tops of the other side and another one slide rail weld；Four
It is welded with support platform support rod bottom；The shaft is supported on bearing block by bearing, and bearing block is fixed on pedestal
On；The pedestal of driving motor is fixed with lid, and output shaft and the shaft of driving motor are fixed；Counter is placed in lid and pedestal,
And it is fixed in shaft；The bottom of lid is equipped with arcwall face, and arcwall face, the diameter of two arcwall faces and round counter are equipped at the top of pedestal
It is equal to spacing, respectively less than 10mm；The side of the lid offers cargo storage mouth, and cover board bottom and lid are deposited positioned at cargo
A mouthful lower position is put to be connected by a hinge；Pass through lock connection with lid at the top of cover board；Picking cabin is opened up at the top of the lid
Mouthful；Electronic hatch door is set at picking hatch；The counter is equipped with n cargo area being evenly distributed, every piece of cargo area
It is made of m storage cabin, n >=6, m >=6, is separated between adjacent storage cabin by partition；One end of the pedestal is equipped with and takes
Container, picking case are fixed in support platform；The closed plate of front is equipped with control panel, and control panel and control module communicate
Connection, the control signal end of driving motor are connect with control module；Electronic hatch door is controlled by control module；
The lifting device includes dual-axle motor, pulley and sliding block；The pedestal of the dual-axle motor is fixed with sliding block, twin shaft electricity
Pulley is respectively and fixedly provided on the both ends output shaft of machine, two pulleys and two one slide rails respectively constitute sliding pair；The control of dual-axle motor
Signal end is connect with control module；
The gripper includes electric pushrod, stepper motor, lead screw, pedestal, connecting rod and claw；The cylinder body of the electric pushrod
It is fixed on slider bottom, the pedestal of stepper motor is fixed on the piston rod of electric pushrod；The output shaft and lead screw of stepper motor
It is fixed；Pedestal and lead screw constitute screw pair；One end of four connecting rods is hinged with pedestal, in the middle part of the other end and four claws respectively
Hingedly；Four claws are evenly distributed, and tail portion is hinged with the pedestal of stepper motor；The control signal end of stepper motor with control
The connection of molding block.
3. a kind of rotary automatic taking stereo counter of cargo of mechanical Hand supplementary according to claim 2, feature exist
In: by end cap axial limiting, end cap is connected by screw to the bearing of the bearing shaft with closed plate.
4. a kind of rotary automatic taking stereo counter of cargo of mechanical Hand supplementary according to claim 2, feature exist
In: cushion is equipped in the picking case.
5. a kind of rotary automatic taking stereo counter of cargo of mechanical Hand supplementary according to claim 2, feature exist
In: identity recognizer is additionally provided in the closed plate of the front, the signal output end of identity recognizer is connect with control module.
6. a kind of rotary automatic taking stereo counter of cargo of mechanical Hand supplementary according to claim 2, feature exist
In: two one slide rails both pass through the inner cavity of sliding block, and the pedestal of dual-axle motor is fixed on sliding block inner cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910249541.0A CN110065748B (en) | 2019-03-29 | 2019-03-29 | Manipulator-assisted rotary automatic goods storing and taking method and three-dimensional container |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910249541.0A CN110065748B (en) | 2019-03-29 | 2019-03-29 | Manipulator-assisted rotary automatic goods storing and taking method and three-dimensional container |
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| CN110065748A true CN110065748A (en) | 2019-07-30 |
| CN110065748B CN110065748B (en) | 2021-02-09 |
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| CN110742408A (en) * | 2019-10-23 | 2020-02-04 | 桂林电子科技大学 | Intelligent wardrobe based on image recognition technology and use method |
| CN111301551A (en) * | 2020-02-22 | 2020-06-19 | 杭州电子科技大学 | Magnetic bar framework full-magnetic control robot based on paper folding art and magnetic control method thereof |
| CN111498360A (en) * | 2020-05-08 | 2020-08-07 | 陈铁生 | Unmanned aerial vehicle connects goods platform |
| CN111582783A (en) * | 2020-04-27 | 2020-08-25 | 贵州电网有限责任公司 | Intelligent tool management cabinet |
| CN111674794A (en) * | 2020-05-26 | 2020-09-18 | 南京荣强仓储有限公司 | Storage loading and unloading high strength arm |
| CN112027705A (en) * | 2020-08-11 | 2020-12-04 | 宁夏飞姆斯自动化技术有限公司 | Flexible feeding and discharging control method for robot |
| CN112031441A (en) * | 2020-09-04 | 2020-12-04 | 清华大学 | Large-stroke clamping mechanism with brick size self-adaption function |
| CN112716157A (en) * | 2020-12-23 | 2021-04-30 | 杭州电子科技大学 | Foldable lifting kitchen hanging cabinet and using method thereof |
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| CN110742408A (en) * | 2019-10-23 | 2020-02-04 | 桂林电子科技大学 | Intelligent wardrobe based on image recognition technology and use method |
| CN110742408B (en) * | 2019-10-23 | 2023-08-04 | 桂林电子科技大学 | Intelligent wardrobe based on image recognition technology and use method |
| CN111301551A (en) * | 2020-02-22 | 2020-06-19 | 杭州电子科技大学 | Magnetic bar framework full-magnetic control robot based on paper folding art and magnetic control method thereof |
| CN111301551B (en) * | 2020-02-22 | 2021-05-25 | 杭州电子科技大学 | Magnetic bar framework full-magnetic control robot based on paper folding art and magnetic control method thereof |
| CN111582783A (en) * | 2020-04-27 | 2020-08-25 | 贵州电网有限责任公司 | Intelligent tool management cabinet |
| CN111498360A (en) * | 2020-05-08 | 2020-08-07 | 陈铁生 | Unmanned aerial vehicle connects goods platform |
| CN111674794A (en) * | 2020-05-26 | 2020-09-18 | 南京荣强仓储有限公司 | Storage loading and unloading high strength arm |
| CN112027705A (en) * | 2020-08-11 | 2020-12-04 | 宁夏飞姆斯自动化技术有限公司 | Flexible feeding and discharging control method for robot |
| CN112031441A (en) * | 2020-09-04 | 2020-12-04 | 清华大学 | Large-stroke clamping mechanism with brick size self-adaption function |
| CN112031441B (en) * | 2020-09-04 | 2021-11-02 | 清华大学 | Large-stroke clamping mechanism with brick size self-adaption function |
| CN112716157A (en) * | 2020-12-23 | 2021-04-30 | 杭州电子科技大学 | Foldable lifting kitchen hanging cabinet and using method thereof |
| CN112716157B (en) * | 2020-12-23 | 2023-05-05 | 杭州电子科技大学 | Foldable lifting kitchen hanging cabinet and use method thereof |
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Effective date of registration: 20221110 Address after: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Address before: 310018 No. 2 street, Xiasha Higher Education Zone, Hangzhou, Zhejiang Patentee before: HANGZHOU DIANZI University |
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