CN110539294A - Transfer robot manipulator device and transfer robot - Google Patents
Transfer robot manipulator device and transfer robot Download PDFInfo
- Publication number
- CN110539294A CN110539294A CN201910886215.0A CN201910886215A CN110539294A CN 110539294 A CN110539294 A CN 110539294A CN 201910886215 A CN201910886215 A CN 201910886215A CN 110539294 A CN110539294 A CN 110539294A
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- steering engine
- transfer robot
- power output
- output shaft
- manipulator device
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- Pending
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- 238000012546 transfer Methods 0.000 title claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims description 26
- 239000000523 sample Substances 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 abstract description 3
- 235000011613 Pinus brutia Nutrition 0.000 abstract description 3
- 241000018646 Pinus brutia Species 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 210000001747 pupil Anatomy 0.000 description 1
- 239000013077 target material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a transfer robot manipulator device and a transfer robot. The manipulator device of the transfer robot comprises a fixed base, three steering engines, a mechanical arm and a mechanical gripper mechanism. The second steering wheel machine connects on first steering wheel power output shaft in order to drive the second steering wheel rotatory around vertical line, the manipulator arm connects on second steering wheel power output shaft in order to drive the swing of robotic arm through the second steering wheel, three steering wheel power output shaft transmission connects two paws, drive two paws and swing in opposite directions and grasp the goods with grasping the goods or swinging in order to the pine dorsad, robotic arm swing axis and paw swing axis all horizontal arrangement and robotic arm swing axis and paw swing axis are arranged perpendicularly, namely, the robot adopts the triaxial structure, moreover, the steam generator is simple in structure, and is practical convenient and fast, the snatching stability is good, and the occupation space is little.
Description
Technical Field
The present invention relates to a transfer apparatus, and more particularly to a transfer robot manipulator device and a transfer robot.
Background
Existing transfer robots, for example: CN209158393U, a cargo handling robot, includes main fixed column, the fixed surface of main fixed column is connected with the controller, the bottom fixedly connected with mounting panel of main fixed column, the bottom fixedly connected with rotary rod of mounting panel, the bottom of rotary rod is equipped with rotatory frame, rotatory frame and fixedly connected with driven gear are run through to the bottom of rotary rod, the surperficial swing joint of rotary rod has first bearing. CN power 9209140898U, a transfer robot that flexibility is good, including transfer robot body, pneumatic cylinder, movable plate and hydraulic pump, the bottom of transfer robot body is equipped with the bottom plate, and screw fixed mounting is passed through at the surface of movable plate at the bottom plate both ends, and the movable plate both ends are equipped with the pneumatic cylinder, and the pneumatic cylinder passes through retainer plate fixed mounting on the movable plate, the output of hydraulic pump is connected through hydraulic pressure oil pipe to the pneumatic cylinder input, and hydraulic pump fixed mounting is on the surface of bottom plate, the inside movable mounting of pneumatic cylinder has hydraulic push rod, and hydraulic push rod's one end welding has the supporting seat, the bottom screw thread fixed mounting of movable plate has the universal wheel. CN power 9209063116U, a movable transfer robot relates to the robotechnology field. The mobile robot comprises a crawler traveling device, a rack, a clamping device, a control driving device, a balancing device and a protection device. Crawler belt walking device includes: the crawler baffle and the crawler adopt an inverted triangle design mode. The clamping device is divided into two groups of clamping jaws, can move up and down under the action of the cylinder, and can move horizontally by the aid of the sliding grooves. CN power 9208788569U, a transfer robot, linear CCD base set up in motion main frame front end upper surface intermediate position, and the hook is installed on the motion main frame through first support, and the second steering wheel passes through the support mounting and in the middle position of motion main frame front end, and the color sensor is installed at the front end of second steering wheel, and is located the positive central point in below of manipulator, and the distance sensor is installed on first support, and is located the positive central point in top of manipulator. The robots have the defects of complex structure, large occupied space and insufficient flexibility in carrying.
disclosure of Invention
The invention provides a transfer robot manipulator device and a transfer robot, which overcome the defects of the transfer robot in the background technology.
One of the technical schemes adopted by the invention for solving the technical problems is as follows:
the manipulator device of the transfer robot comprises a fixed base (2), a first steering engine (3), a second steering engine (4), a mechanical arm (5), a third steering engine (6) and a mechanical gripper mechanism; the first steering engine (3) is arranged on the fixed base (2), the axis of a power output shaft of the first steering engine (3) is vertically arranged, the second steering engine (4) is connected to the power output shaft of the first steering engine (3), and the mechanical arm (5) is connected to the power output shaft of the second steering engine (4) in a connecting mode so as to drive the mechanical arm (5) to swing through the second steering engine (4); the mechanical paw mechanism comprises two paws (8), and a power output shaft of the third steering engine (6) is in transmission connection with the two paws (8) and drives the two paws (8) to swing oppositely to grasp goods or swing back to loose the goods; the swing axis of the mechanical arm (5) and the swing axis of the paw (8) are both horizontally arranged, and the swing axis of the mechanical arm (5) and the swing axis of the paw (8) are vertically arranged.
In one embodiment: and power output shafts of the second steering engine (4) and the third steering engine (6) are horizontally arranged, and the power output shaft of the second steering engine (4) and the power output shaft of the third steering engine (6) are vertically arranged.
In one embodiment: the mechanical gripper mechanism further comprises two meshed gear parts (7), each gear part (7) is eccentrically and fixedly provided with the gripper (8), a power output shaft of the third steering engine (6) is in transmission connection with the gear parts (7) and can drive the two gear parts (7) to reversely and synchronously rotate, the swinging axis of the mechanical arm (5) and the rotating axis of the gear parts (7) are horizontally arranged, and the swinging axis of the mechanical arm (5) and the rotating axis of the gear parts (7) are vertically arranged.
In one embodiment: third steering wheel (6) include the motor framework and connect the motor in the motor framework, gear part (7) rotate to be connected on the motor framework, motor drive connects gear part (7).
In one embodiment: the rotation axes of the two gear parts (7) are positioned on the same horizontal plane.
In one embodiment: the claws (8) comprise claw parts (81) fixed relative to the gear part (7), the claw parts (81) are in V-shaped structures, and the V-shaped openings of the claw parts (81) of the two claws (8) face each other.
In one embodiment: the gear part (7) comprises two gears which are coaxially and fixedly connected at intervals, the claw (8) comprises a U-shaped frame (82), the U-shaped frame (82) is provided with a middle rod and two side rods which are fixedly arranged at two sides of the middle rod respectively, and the claw part (81) is fixedly connected with the middle rod of the U-shaped frame (82); the U-shaped frame (82) is clamped with the motor frame, the tail ends of the two side rods are respectively fixedly arranged at the eccentric positions of the two gears of the gear part (7), and the two gears of the gear part (7) are respectively arranged at the two sides of the motor frame.
The second technical scheme adopted by the invention for solving the technical problems is as follows:
A transfer robot comprising a vehicle body (1), a power supply (9) and the transfer robot manipulator device of any one of claims 1 to 7; the vehicle body (1) comprises a bottom plate (11) and a driving motor (12), rear wheels (13) and front wheels (14) are arranged below the bottom plate (11), the front wheels (14) are connected with the bottom plate (11) through a bogie (15), and the driving motor (12) is arranged on the bottom plate (11) and is in transmission connection with the rear wheels (13); the fixed base (2) is fixedly arranged on the bottom plate (11), and the power supply (9) is connected to the vehicle body (1) in an electric mode and electrically connected with the first steering engine (3), the second steering engine (4), the third steering engine (6) and the driving motor (12).
In one embodiment: still include camera (16) and circuit board (17), install on unable adjustment base (2) camera (16), install on bottom plate (11) circuit board (17), circuit board (17) electricity connects camera (16), power (9), first steering wheel (3), second steering wheel (4), third steering wheel (6) and driving motor (12) are connected to circuit board (17).
In one embodiment: the device also comprises a tracking probe (18), wherein the tracking probe (18) is arranged in front of the bottom plate (11), and the circuit board (17) is connected with the tracking probe (18).
Compared with the background technology, the technical scheme has the following advantages:
The manipulator device comprises three steering engines, a mechanical arm and a mechanical paw mechanism, the second steering engine is connected to a first steering engine power output shaft in a connecting mode so as to drive a second steering engine to rotate around a vertical line, the mechanical arm is connected to a second steering engine power output shaft in a connecting mode so as to drive the mechanical arm to swing through the second steering engine, the third steering engine power output shaft is in transmission connection with two paws, the two paws are driven to swing in opposite directions so as to grasp goods tightly or swing in a back direction so as to grasp goods loosely, the mechanical arm swing axis and the paw swing axis are horizontally arranged and the mechanical arm swing axis and the paw swing axis are vertically arranged, namely, the mechanical hand adopts a three-axis structure (a vertical horizontal axis and a double-phase vertical horizontal axis), the structure is simple, practicability and convenience are realized, the grasping stability.
The mechanical paw mechanism further comprises two meshed gear parts, each gear part is eccentrically and fixedly provided with the paw, a third steering engine power output shaft is in transmission connection with the gear parts and can drive the two gear parts to reversely and synchronously rotate, the structure is simple and compact, and the grabbing stability is good.
The rotation axes of the two gear parts are positioned on the same horizontal plane, so that the grabbing stability is good.
The hand claw comprises a hand claw part fixed relative to the gear part, the hand claw part is of a V-shaped structure, V-shaped openings of the hand claw parts of the two hand claws face each other, and grabbing stability is good.
The hand claw comprises a U-shaped frame, the power supply 9U-shaped frame is provided with a middle rod and two side rods which are respectively fixedly arranged on two sides of the middle rod, the hand claw part is fixedly connected with the middle rod of the U-shaped frame, the U-shaped frame is clamped with the motor frame, the tail ends of the two side rods are respectively fixedly arranged at the eccentric positions of the two gears of the gear part, and the two gears of the gear part are respectively arranged on two sides of the motor frame.
Drawings
the invention is further described with reference to the following figures and detailed description.
Fig. 1 is a perspective view of a transfer robot according to an embodiment.
Fig. 2 is a perspective exploded schematic view of the transfer robot according to the embodiment.
Fig. 3 is a schematic structural view of a transfer robot manipulator device according to an embodiment.
Detailed Description
Referring to fig. 1 to 3, the transfer robot includes a vehicle body 1, a power supply 9, a transfer robot manipulator device, a camera 16, a circuit board 17, and a tracking probe 18.
The vehicle body 1 comprises a bottom plate 11 and a driving motor 12, rear wheels 13 and front wheels 14 are arranged below the bottom plate 11, the rear wheels 13 are mounted on a wheel frame fixedly connected below the bottom plate 11, the front wheels 14 are connected with the bottom plate 11 through a bogie 15 (so that the front wheels form universal wheels), and the driving motor 12 is mounted below the bottom plate 11 and is in transmission connection with the rear wheels 13 to drive the vehicle body 1 to walk.
The manipulator device of the carrying robot comprises a fixed base 2, a first steering engine 3, a second steering engine 4, a mechanical arm 5, a third steering engine 6 and a mechanical gripper mechanism. The steering engines 3, 4 and 6 adopt MAX ES09MD digital steering engines (torque: 2.6Kg.cm), and the steering engines are all provided with power output shafts. The first steering engine 3 is arranged on the fixed base 2, the axis of a power output shaft of the first steering engine 3 is vertically arranged, the second steering engine 4 is connected to the power output shaft of the first steering engine 3, and the mechanical arm 5 is connected to the power output shaft of the second steering engine 4 in a connecting mode so as to drive the mechanical arm 5 to swing through the second steering engine 4; the mechanical paw mechanism comprises two meshed gear parts 7, a paw 8 is eccentrically and fixedly arranged on each gear part 7, and a power output shaft of the third steering engine 6 is in transmission connection with the gear parts 7 and can drive the two gear parts 7 to reversely and synchronously rotate so as to drive the two paws 8 to grasp or loosen. The power output shafts of the second steering engine 4 and the third steering engine 6 are horizontally arranged, the power output shaft of the second steering engine 4 and the power output shaft of the third steering engine 6 are vertically arranged, further, the swing axis of the mechanical arm 5 and the rotation axis of the gear part 7 are horizontally arranged, and the swing axis of the mechanical arm 5 and the rotation axis of the gear part 7 are vertically arranged.
In this embodiment: third steering wheel 6 includes motor frame 61 and the motor of dress in the motor frame, gear part 7 rotates to be connected on the motor frame, motor drive connects gear part 7.
In this embodiment: the axes of rotation of the two gear portions 7 are located in the same horizontal plane. The claw 8 comprises claw parts 81 fixed relative to the gear part 7, the claw parts 81 are in V-shaped structures, and V-shaped openings of the claw parts 81 of the two claws 8 face each other. Further, the gear part 7 comprises two gears coaxially and fixedly connected at intervals, the paw 8 comprises a U-shaped frame 82, the U-shaped frame 82 is provided with a middle rod and two side rods fixedly arranged at two sides of the middle rod respectively, and the paw part 81 is fixedly connected to the middle rod of the U-shaped frame 82; the U-shaped frame 82 is clamped with the motor frame, the ends of the two side rods are respectively fixed at the eccentric positions of the two gears of the gear part 7, and the two gears of the gear part 7 are respectively arranged at the two sides of the motor frame.
The fixed base 2 is fixed on the bottom plate 11, the camera 16 is installed on the camera frame 19 fixed on the bottom plate 11, the circuit board 17 is installed on the bottom plate 11, and the tracking probe 18 is installed in front of the bottom plate 11. And the power supply 9 is arranged on the rear part of a bottom plate 11 of the vehicle body 1 and electrically connected with the first steering engine 3, the second steering engine 4, the third steering engine 6 and the driving motor 12. The circuit board 17 is electrically connected with the camera 16, and the circuit board 17 is connected with the power supply 9, the first steering engine 3, the second steering engine 4, the third steering engine 6 and the driving motor 12. The circuit board 17 is a chip with a model number of STM32F429VGT6, which is produced by Shenzhen Yong Chengda electronic technology Limited. The tracing probe adopts a 5-path tracing sensor with the model number of TCRT 50001. And a plurality of infrared obstacle avoidance sensors are also arranged on the bottom plate 11. In order to meet the walking requirement of the robot, a three-wheel mechanism with rear wheels for orientation and universal front wheels is adopted, a tracing probe is used for identifying a route, and a row of infrared obstacle avoidance sensors are arranged in front of a vehicle head, so that the robot walks along a track, the deviation can be avoided, and the route is continuously corrected.
The working process of the robot of the embodiment is as follows: the robot starts from a starting point, scans the two-dimensional code through the camera 16 to obtain a carrying task; the robot plans the route automatically, walk and drive two rear wheels 13 to rotate separately by the driving motor 12, the front wheel 14 is a universal wheel as the direction, utilize and seek the probe 18 and infrared obstacle avoidance sensor to walk along the route, go to the supplies area, shoot the supplies area through the camera 16, and carry on the characteristic acquisition of the supplies, record colour, shape, through with carrying the task comparison, confirm the target material carried; the second steering engine 4 rotates the grabbing direction to the material direction, the second steering engine 4 rotates the mechanical arm 5, and the paw 8 is put down to surround the material; the third steering engine 6 closes the paw to clamp the material, and the mechanical arm 5 recovers and resets; the robot walks to a material placing area, takes a picture by using the camera 16, determines the placing area and finishes placing; finally, the robot returns to the starting point, and the power supply 9 provides energy for the whole process until the material handling is completed. The camera adopts an open MV identification camera 16, the digital camera of the open MV transmits the collected image to an open MV module (generated by H7 star pupil technology) for image information processing, and then signals are transmitted to a circuit board through serial port communication, so that the steering engine and the motor are controlled to realize identification and tracking.
Among this embodiment, transfer robot manipulator device adopts three shaft type mechanical gripper structures, simple structure, and is practical convenient, snatchs stability well. The robot car head is equipped with and seeks the mark probe to install a plurality of infrared obstacle avoidance sensors, guarantee the walking safety of dolly. The third steering wheel drives two paws to eccentrically swing in opposite directions to press from both sides and get the goods, or, the goods is grabbed with the pine in the eccentric swing dorsad, compact structure, and required space of stepping down is little, grabs the goods in order to can snatch the goods arc pine in narrow and small space, and it is big to snatch the dynamics, snatchs reliable and stable.
The above description is only a preferred embodiment of the present invention, and therefore should not be taken as limiting the scope of the invention, which is defined by the appended claims and their equivalents.
Claims (10)
1. A handling robot manipulator device comprising a fixed base (2); the method is characterized in that: the manipulator further comprises a first steering engine (3), a second steering engine (4), a mechanical arm (5), a third steering engine (6) and a mechanical gripper mechanism; the first steering engine (3) is arranged on the fixed base (2), the axis of a power output shaft of the first steering engine (3) is vertically arranged, the second steering engine (4) is connected to the power output shaft of the first steering engine (3), and the mechanical arm (5) is connected to the power output shaft of the second steering engine (4) in a connecting mode so as to drive the mechanical arm (5) to swing through the second steering engine (4); the mechanical paw mechanism comprises two paws (8), and a power output shaft of the third steering engine (6) is in transmission connection with the two paws (8) and drives the two paws (8) to swing oppositely to grasp goods or swing back to loose the goods; the swing axis of the mechanical arm (5) and the swing axis of the paw (8) are both horizontally arranged, and the swing axis of the mechanical arm (5) and the swing axis of the paw (8) are vertically arranged.
2. The transfer robot manipulator device according to claim 1, wherein: and power output shafts of the second steering engine (4) and the third steering engine (6) are horizontally arranged, and the power output shaft of the second steering engine (4) and the power output shaft of the third steering engine (6) are vertically arranged.
3. The transfer robot manipulator device according to claim 1, wherein: the mechanical gripper mechanism further comprises two meshed gear parts (7), each gear part (7) is eccentrically and fixedly provided with the gripper (8), a power output shaft of the third steering engine (6) is in transmission connection with the gear parts (7) and can drive the two gear parts (7) to reversely and synchronously rotate, the swinging axis of the mechanical arm (5) and the rotating axis of the gear parts (7) are horizontally arranged, and the swinging axis of the mechanical arm (5) and the rotating axis of the gear parts (7) are vertically arranged.
4. The transfer robot manipulator device according to claim 3, wherein: third steering wheel (6) include the motor framework and connect the motor in the motor framework, gear part (7) rotate to be connected on the motor framework, motor drive connects gear part (7).
5. The transfer robot manipulator device according to claim 2, wherein: the rotation axes of the two gear parts (7) are positioned on the same horizontal plane.
6. The transfer robot manipulator device according to claim 4, wherein: the claws (8) comprise claw parts (81) fixed relative to the gear part (7), the claw parts (81) are in V-shaped structures, and the V-shaped openings of the claw parts (81) of the two claws (8) face each other.
7. The transfer robot manipulator device according to claim 6, wherein: the gear part (7) comprises two gears which are coaxially and fixedly connected at intervals, the claw (8) comprises a U-shaped frame (82), the U-shaped frame (82) is provided with a middle rod and two side rods which are fixedly arranged at two sides of the middle rod respectively, and the claw part (81) is fixedly connected with the middle rod of the U-shaped frame (82); the U-shaped frame (82) is clamped with the motor frame, the tail ends of the two side rods are respectively fixedly arranged at the eccentric positions of the two gears of the gear part (7), and the two gears of the gear part (7) are respectively arranged at the two sides of the motor frame.
8. A transfer robot is characterized in that: comprising a vehicle body (1), a power source (9) and a handling robot manipulator device according to any of claims 1 to 7; the vehicle body (1) comprises a bottom plate (11) and a driving motor (12), rear wheels (13) and front wheels (14) are arranged below the bottom plate (11), the front wheels (14) are connected with the bottom plate (11) through a bogie (15), and the driving motor (12) is arranged on the bottom plate (11) and is in transmission connection with the rear wheels (13); the fixed base (2) is fixedly arranged on the bottom plate (11), and the power supply (9) is connected to the vehicle body (1) in an electric mode and electrically connected with the first steering engine (3), the second steering engine (4), the third steering engine (6) and the driving motor (12).
9. The transfer robot of claim 8, wherein: still include camera (16) and circuit board (17), install on unable adjustment base (2) camera (16), install on bottom plate (11) circuit board (17), circuit board (17) electricity connects camera (16), power (9), first steering wheel (3), second steering wheel (4), third steering wheel (6) and driving motor (12) are connected to circuit board (17).
10. The transfer robot of claim 9, wherein: the device also comprises a tracking probe (18), wherein the tracking probe (18) is arranged in front of the bottom plate (11), and the circuit board (17) is connected with the tracking probe (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910886215.0A CN110539294A (en) | 2019-09-19 | 2019-09-19 | Transfer robot manipulator device and transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910886215.0A CN110539294A (en) | 2019-09-19 | 2019-09-19 | Transfer robot manipulator device and transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110539294A true CN110539294A (en) | 2019-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910886215.0A Pending CN110539294A (en) | 2019-09-19 | 2019-09-19 | Transfer robot manipulator device and transfer robot |
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| Country | Link |
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| CN (1) | CN110539294A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745618A (en) * | 2020-07-14 | 2020-10-09 | 浙江大学昆山创新中心 | Robot chassis |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
| CN110202540A (en) * | 2019-07-15 | 2019-09-06 | 安徽理工大学 | A kind of taking care of books intelligent robot |
| CN210850260U (en) * | 2019-09-19 | 2020-06-26 | 华侨大学 | Transfer robot manipulator device and transfer robot |
-
2019
- 2019-09-19 CN CN201910886215.0A patent/CN110539294A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270237A (en) * | 2015-11-04 | 2016-01-27 | 河海大学常州校区 | Three-wheeled robot trolley |
| CN110202540A (en) * | 2019-07-15 | 2019-09-06 | 安徽理工大学 | A kind of taking care of books intelligent robot |
| CN210850260U (en) * | 2019-09-19 | 2020-06-26 | 华侨大学 | Transfer robot manipulator device and transfer robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745618A (en) * | 2020-07-14 | 2020-10-09 | 浙江大学昆山创新中心 | Robot chassis |
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Application publication date: 20191206 |
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| RJ01 | Rejection of invention patent application after publication |