CN109108971A - The robot of self-navigation - Google Patents
The robot of self-navigation Download PDFInfo
- Publication number
- CN109108971A CN109108971A CN201810994260.3A CN201810994260A CN109108971A CN 109108971 A CN109108971 A CN 109108971A CN 201810994260 A CN201810994260 A CN 201810994260A CN 109108971 A CN109108971 A CN 109108971A
- Authority
- CN
- China
- Prior art keywords
- cabinet
- away
- module
- robot
- rod
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
- A61J7/04—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers
- A61J7/0409—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers
- A61J7/0418—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers with electronic history memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses the robots of self-navigation, including cabinet and clamping device, voice reminder module is connected on the outside of cabinet upper end, voice reminder module side and warning lamp reminding module is connected on the outside of cabinet upper end, pass through setting time timing encoder and induction module, when the old men to take medicine the time when, motor will be pressed from both sides out the correspondence medicine bottle put in drug slot by screw rod and clamping device, then it is placed on and holds on pedestal, it is connected simultaneously according to the corresponding induction module worn on induction module and the old men's body, central control unit by walking module by the robot ambulation to old man by the side of, and it is reminded by voice reminder module and warning lamp module, more perfect supervision makes the old men's timing take medicine, structure of the invention is novel, it is greatly improved the service efficiency of the robot of self-navigation.
Description
Technical field
The present invention relates to robot fields, the in particular to robot of self-navigation.
Background technique
With being constantly progressive for robot technology, robot can semi-autonomous or complete automatically complete independently work in every,
Robot either in daily life, or in industry, all more and more important role of performer in Agricultural Activities, especially
It is that the development of service humanoid robot maintains faster growth rate, and people, in order to improve the quality of living, people are more next
More favor service humanoid robot, therefore service humanoid robot has extensive market.When some aged the old men are in evil case
When fixed point being needed to take medicine, often children cannot remind it to take medicine not by the side of, will so delay it and take medicine the time,
It therefore is a kind of influence on the health of the old men.
Summary of the invention
The object of the invention is that providing the robot of self-navigation to solve the above-mentioned problems, solve existing at present
The problem of having.
To solve the above-mentioned problems, the present invention provides a kind of technical solutions:
The robot of self-navigation, including cabinet and clamping device, the cabinet upper end outside are connected with voice reminder mould
Block, voice reminder module side and is connected with warning lamp reminding module on the outside of cabinet upper end, the voice reminder module
Side is connected with induction module between warning lamp reminding module and outside the enclosure, and the outer two sides of the cabinet are connected with No.1 video camera
Module, corresponding two cabinets outside vertical with the No.1 camara module are connected with No. two camara modules, the cabinet
Bearing plate is equipped in bottom, the bearing plate lower section and outside the enclosure portion are equipped with walking module, bearing plate upper end side company
It is connected to and holds pedestal, the bearing plate upper end, which is away from, to be held the side of pedestal and be connected with fixed strut, under the fixed strut
It between end two sides and bearing plate is connected with welded plate is auxiliarily fixed, be equipped between the fixed strut and cabinet and in cabinet
Control unit is entreated, one end that the fixed strut is away from bearing plate is connected with screw rod servo motor, the screw rod servo motor
The one end for being away from fixed strut is connected with link block, and screw rod servo motor upper end side is connected with PLC electric machine controller,
The outer side of the corresponding cabinet of the PLC electric machine controller connects having time timing encoder.
Preferably, the PLC electric machine controller is connected by conducting wire with time timing encoder, the link block is remote
It is connected with fixed transverse rod from one end of time timing encoder, the fixed transverse rod is away from one end and the cabinet phase of link block
It is fixedly connected, the fixed transverse rod lower end is connected with sliding slot, and described sliding slot one end is connected with No.1 postive stop baffle, the sliding slot phase
No. two postive stop baffles are connected with for the other end of No.1 postive stop baffle, sliding block, the screw rod servo are connected on the sliding slot
Motor side is connected with motor output shaft, and one end that the motor output shaft is away from screw rod servo motor is connected with No.1 tooth
Wheel, No.1 gear upper end are connected with No. two gears, and one end that No. two gears are away from screw rod servo motor is connected with
Screw rod, one end that the screw rod is away from screw rod servo motor are connected with bearing, and the screw rod is connected by bearing with cabinet,
Adjusting nut is arranged on the screw rod, the adjusting nut upper end is connected with No.1 connecting rod, and the No.1 connecting rod is separate
It is connected in one end of adjusting nut with sliding block, one end that the adjusting nut is away from No.1 connecting rod is connected with connection frame.
Preferably, one end that the connection frame is away from adjusting nut is connected with telescoping mechanism, the telescoping mechanism is remote
It is connected with clamping device from one end in connection frame, is equipped with No. two connecting rods in the clamping device, No. two connecting rods are leaned on
One end of nearly adjusting nut is fixedly connected with connection frame, and No. two connecting rod upper ends two sides are connected with No.1 hinge, and described one
One end that number hinge is away from No. two connecting rods is connected with miniature electric telescopic rod, and the miniature electric telescopic rod is away from No.1
One end of hinge is connected with movable branching rod, No.1 hinge lower end and No. two fixed hinges is connected in No. two connecting rods,
One end that the movable branching rod is away from miniature electric telescopic rod is connected with No. two fixed hinges, the movable branching rod lowermost end
It being connected with clamping plate, the clamping device lower end and is equipped in cabinet and puts medicine plate, described medicine plate one end of putting is fixedly connected with cabinet,
And it is described put be uniformly provided in medicine plate it is several put drug slot, it is described to put drug slot two sides and be uniformly provided on cabinet opposite with drug slot is put
The drug slot dodge gate answered.
Preferably, the adjusting nut is flexibly connected by sliding block with link block, and the sliding slot and link block are mutual
It is arranged in parallel.
Preferably, the clamping device is in the top put medicine plate and hold pedestal.
Preferably, the adjusting nut is fixedly connected with connection frame and No.1 connecting rod.
Preferably, No. two gears and the intermeshing connection of No.1 gear.
Preferably, the miniature electric telescopic rod is flexibly connected with No.1 hinge and movable branching rod, the activity branch
Bar is flexibly connected with No. two fixed hinges.
Preferably, the No.1 camara module is depth camera, No. two camara modules are laser radar, laser thunder
Central control unit is connected up to depth camera.
Beneficial effects of the present invention: the robot of self-navigation of the present invention passes through setting time timing encoder and sense
Answer module, when the old men to take medicine the time when, motor passes through the correspondence that will will put in drug slot of screw rod and clamping device
Medicine bottle presss from both sides out, is then placed on and holds on pedestal, while according to the corresponding induction module worn on induction module and the old men's body
Be connected, central control unit by walking module by the robot ambulation to old man by the side of, and pass through voice reminder module
It is reminded with warning lamp module, more perfect supervision makes the old men's timing take medicine, and structure of the invention is novel, is greatly improved
The service efficiency of the robot of self-navigation.
Detailed description of the invention
Fig. 1 is schematic diagram of internal structure of the invention；
Fig. 2 is external structure schematic diagram of the invention；
Fig. 3 is enlarged structure schematic diagram at A of the invention；
Fig. 4 is enlarged structure schematic diagram at B of the invention；
Fig. 5 is modular structure schematic diagram of the invention.
In figure: 1, bearing plate；2, walking module；3, pedestal is held；4, cabinet；5, No.1 camara module；6, it takes the photograph for No. two
Camera module；7, voice reminder module；8, warning lamp reminding module；9, fixed strut；10, welded plate is auxiliarily fixed；11, screw rod
Servo motor；12, link block；13, PLC electric machine controller；14, time timing encoder；15, fixed transverse rod；16, No.1 limits
Baffle；17, No. two postive stop baffles；18, No. two connecting rods；19, sliding slot；20, sliding block；21, No. two fixed hinges；22, medicine plate is put；
23, drug slot is put；24, central control unit；25, No.1 connecting rod；26, adjusting nut；27, bearing；28, connection frame；29, it presss from both sides
Plate；30, induction module；31, No. two gears；32, motor output shaft；33, No.1 gear；34, No.1 hinge；35, miniature electric
Telescopic rod；36, movable branching rod；37, drug slot dodge gate；38, clamping device；39, screw rod；40, telescoping mechanism.
Specific embodiment
As shown in Figs. 1-5, present embodiment uses following technical scheme: the robot of self-navigation, including cabinet 4
With clamping device 38, it is connected with voice reminder module 7 on the outside of 4 upper end of cabinet, 7 side of voice reminder module and in case
It is connected with warning lamp reminding module 8 on the outside of 4 upper end of body, between the voice reminder module 7 and warning lamp reminding module 8 and in case
Induction module 30 is connected on the outside of body 4, the outer two sides of the cabinet 4 are connected with No.1 camara module 5, with the No.1 video camera
It is connected with No. two camara modules 6 on the outside of vertical corresponding two cabinets 4 of module 5, is equipped with bearing plate 1 in 4 bottom of cabinet,
Walking module 2 is equipped with below the bearing plate 1 and outside cabinet 4, the 1 upper end side of bearing plate, which is connected with, holds pedestal 3,
1 upper end of bearing plate, which is away from, to be held the side of pedestal 3 and is connected with fixed strut 9, the fixed 9 lower end two sides of strut and is held
It is connected between weight plate 1 and welded plate 10 is auxiliarily fixed, center control is equipped between the fixed strut 9 and cabinet 4 and in cabinet 4
Unit 24 processed, one end that the fixed strut 9 is away from bearing plate 1 are connected with screw rod servo motor 11, the screw rod servo electricity
One end that machine 11 is away from fixed strut 9 is connected with link block 12, and the 11 upper end side of screw rod servo motor is connected with PLC electricity
Machine controller 13, the 13 outer side of corresponding cabinet 4 of PLC electric machine controller connect having time timing encoder 14.Induction
Module 30 incudes the position for the inductor worn on the old men's body, is sent to central control unit 24, central control unit 24
It is mobile to carry out control walking module 2.
In the present embodiment, No.1 camara module 5 is depth camera, and No. two camara modules 6 are laser radar, laser thunder
Up to central control unit 24 is connected with depth camera, the acquisition to robot surrounding scene is realized, for evading all kinds of obstacles.Swash
The data fusion of optical radar and depth camera, more precise acquisition surrounding scene.Fusion is divided into Primary Stage Data fusion and later data
Fusion, the data that Primary Stage Data fusion acquires laser radar and depth camera merge, and then look for mark point, later period again
Data fusion directly merges mark point.
Wherein, the PLC electric machine controller 13 is connected by conducting wire with time timing encoder 14, the link block 12
The one end for being away from time timing encoder 14 is connected with fixed transverse rod 15, and the fixed transverse rod 15 is away from the one of link block 12
End is fixedly connected with 4 phase of cabinet, and 15 lower end of fixed transverse rod is connected with sliding slot 19, and described 19 one end of sliding slot is connected with No.1 limit
Position baffle 16, the sliding slot 19 are connected with No. two postive stop baffles 17, the sliding slot relative to the other end of No.1 postive stop baffle 16
Sliding block 20 is connected on 19,11 side of screw rod servo motor is connected with motor output shaft 32, and the motor output shaft 32 is remote
It is connected with No.1 gear 33 from one end of screw rod servo motor 11,33 upper end of No.1 gear is connected with No. two gears 31,
One end that No. two gears 31 are away from screw rod servo motor 11 is connected with screw rod 39, and the screw rod 39 is away from screw rod servo
One end of motor 11 is connected with bearing 27, and the screw rod 39 is connected with cabinet 4 by bearing 27, is arranged on the screw rod 39
Adjusting nut 26,26 upper end of adjusting nut are connected with No.1 connecting rod 25, and the No.1 connecting rod 25 is away from adjusting spiral shell
One end of mother 26 is connected with sliding block 20, and one end that the adjusting nut 26 is away from No.1 connecting rod 25 is connected with connection frame
28。
One end that the connection frame 28 is away from adjusting nut 26 is connected with telescoping mechanism 40, and the telescoping mechanism 40 is separate
It is connected with clamping device 38 in one end of connection frame 28, is equipped with No. two connecting rods 18, No. two companies in the clamping device 38
Extension bar 18 is fixedly connected close to one end of adjusting nut 26 with connection frame 28, and the 18 upper end two sides of No. two connecting rods are connected with one
Number hinge 34, one end that the No.1 hinge 34 is away from No. two connecting rods 18 is connected with miniature electric telescopic rod 35, described micro-
One end that type electric telescopic rod 35 is away from No.1 hinge 34 is connected with movable branching rod 36,34 lower end of No.1 hinge and two
Be connected with No. two fixed hinges 21 in number connecting rod 18, the movable branching rod 36 be away from one end of miniature electric telescopic rod 35 with
No. two fixed hinges 21 are connected, and 36 lowermost end of movable branching rod is connected with clamping plate 29,38 lower end of clamping device and
It is equipped in cabinet 4 and puts medicine plate 22, described 22 one end of medicine plate of putting is fixedly connected with cabinet 4, and described put is uniformly provided in medicine plate 22
It is several to put drug slot 23, it is described to put 23 two sides of drug slot and be uniformly provided with drug slot dodge gate corresponding with drug slot 23 is put on cabinet 4
37。
The adjusting nut 26 is flexibly connected by sliding block 20 with link block 12, and the sliding slot 19 and link block 12 are mutual
It is arranged in parallel.The clamping device 38 is in the top put medicine plate 22 and hold pedestal 3.The adjusting nut 26 with connection
Frame 28 is fixedly connected with No.1 connecting rod 25.No. two gears 31 and the intermeshing connection of No.1 gear 33.The micro electric
Dynamic telescopic rod 35 is flexibly connected with No.1 hinge 34 and movable branching rod 36, and the movable branching rod 36 and No. two fixed hinges 21 are living
Dynamic connection.
Specific: the old men when in use, are first needed the medicine eaten to be put into anti-medicine from drug slot dodge gate 37 by the present invention
In slot 23, then PLC electric machine controller 13 is encoded by time timing encoder 14, to lead within the corresponding time
It crosses clamping device 38 and required medicine bottle is pressed from both sides into out house on holding pedestal 3, while according to induction module 30 and the old men's body
The correspondence inductor worn on body is connected, and passes through 5, No. two video camera moulds of No.1 camara module according to central control unit 24
Block 6 and walking module 2 after analysis by the robot ambulation to old man by the side of, and pass through voice reminder module 7 and alert
Show that lamp module 8 is reminded, more perfect supervision makes the old men's timing take medicine, and structure of the invention is novel, is greatly improved certainly
The service efficiency of the robot of dynamic navigation.
Above embodiments are used for illustrative purposes only, rather than limitation of the present invention, the technology people in relation to technical field
Member, without departing from the spirit and scope of the present invention, can also make various transformation or modification, therefore all equivalent
Technical solution also should belong to scope of the invention, should be limited by each claim.
Claims (9)
1. the robot of self-navigation, including cabinet (4) and clamping device (38), it is characterised in that: outside cabinet (4) upper end
Side is connected with voice reminder module (7), voice reminder module (7) side and is connected with warning on the outside of cabinet (4) upper end
Lamp reminding module (8) is connected between the voice reminder module (7) and warning lamp reminding module (8) and on the outside of cabinet (4)
Induction module (30), the outer two sides of the cabinet (4) are connected with No.1 camara module (5), with the No.1 camara module (5)
It is connected with No. two camara modules (6) on the outside of vertical corresponding two cabinets (4), is equipped with bearing plate in cabinet (4) bottom
(1), walking module (2) are equipped with below the bearing plate (1) and outside cabinet (4), bearing plate (1) the upper end side connection
It holds pedestal (3), bearing plate (1) upper end, which is away from, to be held the side of pedestal (3) and be connected with fixed strut (9), described
Be connected with and be auxiliarily fixed welded plate (10) between fixed strut (9) lower end two sides and bearing plate (1), the fixed strut (9) and
Central control unit (24) are equipped between cabinet (4) and in cabinet (4), the fixed strut (9) is away from bearing plate (1)
One end is connected with screw rod servo motor (11), and one end that the screw rod servo motor (11) is away from fixed strut (9) is connected with
Link block (12), screw rod servo motor (11) the upper end side are connected with PLC electric machine controller (13), the PLC motor control
Outer side connection having time timing encoder (14) of the corresponding cabinet (4) of device (13) processed.
2. the robot of self-navigation according to claim 1, it is characterised in that: the PLC electric machine controller (13) is logical
It crosses conducting wire to be connected with time timing encoder (14), the link block (12) is away from one end of time timing encoder (14)
It being connected with fixed transverse rod (15), one end that the fixed transverse rod (15) is away from link block (12) is mutually fixedly connected with cabinet (4),
Fixed transverse rod (15) lower end is connected with sliding slot (19), and described sliding slot (19) one end is connected with No.1 postive stop baffle (16), institute
It states sliding slot (19) and is connected with No. two postive stop baffles (17) relative to the other end of No.1 postive stop baffle (16), on the sliding slot (19)
It is connected with sliding block (20), screw rod servo motor (11) side is connected with motor output shaft (32), the motor output shaft
(32) one end for being away from screw rod servo motor (11) is connected with No.1 gear (33), and No.1 gear (33) upper end is connected with
No. two gears (31), one end that No. two gears (31) are away from screw rod servo motor (11) is connected with screw rod (39), described
One end that screw rod (39) is away from screw rod servo motor (11) is connected with bearing (27), the screw rod (39) by bearing (27) with
Cabinet (4) is connected, and is arranged with adjusting nut (26) on the screw rod (39), and adjusting nut (26) upper end is connected with No.1
Connecting rod (25), one end that the No.1 connecting rod (25) is away from adjusting nut (26) are connected with sliding block (20), the tune
One end that section nut (26) is away from No.1 connecting rod (25) is connected with connection frame (28).
3. the robot of self-navigation according to claim 2, it is characterised in that: the connection frame (28) is away from adjusting
One end of nut (26) is connected with telescoping mechanism (40), and one end that the telescoping mechanism (40) is away from connection frame (28) is connected with
Clamping device (38), is equipped with No. two connecting rods (18) in the clamping device (38), and No. two connecting rods (18) are close to adjusting
One end of nut (26) is fixedly connected with connection frame (28), and No. two connecting rods (18) the upper end two sides are connected with No.1 hinge
(34), one end that the No.1 hinge (34) is away from No. two connecting rods (18) is connected with miniature electric telescopic rod (35), described
One end that miniature electric telescopic rod (35) is away from No.1 hinge (34) is connected with movable branching rod (36), the No.1 hinge (34)
Lower end and No. two fixed hinges (21) are connected on No. two connecting rods (18), the movable branching rod (36) is away from miniature electric
One end of telescopic rod (35) is connected with No. two fixed hinges (21), and movable branching rod (36) lowermost end is connected with clamping plate
(29), clamping device (38) lower end and being equipped in the cabinet (4) is put medicine plate (22), described to put medicine plate (22) one end and cabinet
(4) be fixedly connected, and it is described put be uniformly provided on medicine plate (22) it is several put drug slot (23), it is described to put drug slot (23) two sides and in case
Drug slot dodge gate (37) corresponding with drug slot (23) are put is uniformly provided on body (4).
4. the robot of self-navigation according to claim 2, it is characterised in that: the adjusting nut (26) passes through sliding block
(20) it is flexibly connected with link block (12), and the sliding slot (19) and link block (12) are arranged in parallel.
5. the robot of self-navigation according to claim 3, it is characterised in that: the clamping device (38), which is in, puts
Medicine plate (22) and the top for holding pedestal (3).
6. the robot of self-navigation according to claim 2, it is characterised in that: the adjusting nut (26) with connection
Frame (28) is fixedly connected with No.1 connecting rod (25).
7. the robot of self-navigation according to claim 2, it is characterised in that: No. two gears (31) and No.1 tooth
Take turns (33) intermeshing connection.
8. the robot of self-navigation according to claim 3, it is characterised in that: the miniature electric telescopic rod (35) is equal
It is flexibly connected with No.1 hinge (34) and movable branching rod (36), the movable branching rod (36) connects with No. two fixed hinge (21) activities
It connects.
9. the robot of self-navigation according to claim 1, it is characterised in that: the No.1 camara module (5) is
Depth camera, No. two camara modules (6) are laser radar, and laser radar connects central control unit (24) with depth camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810994260.3A CN109108971A (en) | 2018-08-29 | 2018-08-29 | The robot of self-navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810994260.3A CN109108971A (en) | 2018-08-29 | 2018-08-29 | The robot of self-navigation |
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| Publication Number | Publication Date |
|---|---|
| CN109108971A true CN109108971A (en) | 2019-01-01 |
Family
ID=64861182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810994260.3A Pending CN109108971A (en) | 2018-08-29 | 2018-08-29 | The robot of self-navigation |
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| Country | Link |
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| CN (1) | CN109108971A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181479A (en) * | 2019-04-09 | 2019-08-30 | 彭乃仁 | It is a kind of that there is the AI robot for taking medicine and transfer function for medical treatment |
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| PB01 | Publication | ||
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Application publication date: 20190101 |