CN106003095A - Intelligent express delivery robot - Google Patents

Intelligent express delivery robot Download PDF

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Publication number
CN106003095A
CN106003095A CN201610603239.7A CN201610603239A CN106003095A CN 106003095 A CN106003095 A CN 106003095A CN 201610603239 A CN201610603239 A CN 201610603239A CN 106003095 A CN106003095 A CN 106003095A
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CN
China
Prior art keywords
robot
express delivery
module
client
intelligence
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Pending
Application number
CN201610603239.7A
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Chinese (zh)
Inventor
孙健春
Original Assignee
孙健春
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Application filed by 孙健春 filed Critical 孙健春
Priority to CN201610603239.7A priority Critical patent/CN106003095A/en
Publication of CN106003095A publication Critical patent/CN106003095A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/006Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed

Abstract

The invention belongs to the technical field of intelligent robots, and particularly relates to an intelligent express delivery robot. The intelligent express delivery robot comprises a battery, a base and a host; the battery is fixedly arranged on the lower portion of the base, the host is arranged on the base, a motor, and a wireless receiving and transmitting module and an unmanned driving module are arranged in the host; the two sides of the host are each provided with a vertical lifting rod, the movable parts of the vertical lifting rods are fixedly connected with the base, each vertical lifting rod is provided with a transverse telescopic rod, the fixed parts of the vertical lifting rods are fixedly connected with the fixed parts of the transverse telescopic rods, and the two transverse telescopic rods are horizontally arranged. According to the intelligent express delivery robot, positioning is accurate, automatic driving can be achieved, the express delivery complete process can be automatically completed, and manpower and material resources are saved; the problems that in the prior art, roads are difficult to find when a courier delivers expresses, and time and labor are consumed are well solved.

Description

A kind of intelligence send express delivery robot
Technical field
The invention belongs to intelligent robot technology field, be specifically related to a kind of intelligence and send express delivery robot.
Background technology
Express delivery has another name called: express delivery, is the door t door logistics activity having postal delivery function concurrently, and Ji Zhi express company passes through railway, public affairs The vehicles such as road, air transport and shipping, carry out speed delivery to client cargo.At a lot of aspects, express delivery is better than the postal of postal service Pass service.In addition to comparatively fast sending to destination and must signing for, current a lot of express delivery dealers are provided which mail tracking function, send and pass The promise of time and other the service that provides is provided by client.Therefore, the charge of express delivery is more high than general postal delivery.Express delivery row Industry, as the important component part of postal industry, has that the field of driving the industry is wide, receives that quantity of employment is many, economic value added is high, skill The features such as art characteristic remarkable.The several functions such as it passes the information on, article delivery, flow of fund and culture diffusion merge one Rising, association produces, circulates, consumes, invests and multiple fields such as finance, is the irreplaceable basic industry of modern society.
Many couriers send express delivery Shi Zhao road difficulty now, waste time and energy.In prior art, although courier can pass through Mobile Telephone Gps, but the most arduous.
Summary of the invention
In order to solve the technological deficiency existing for prior art and technical problem, the present invention provide a kind of accurate positioning, can Automatic running, it is possible to the intelligence being automatically performed the complete procedure sending express delivery send express delivery robot.
For realizing object above, the present invention is achieved by the following technical programs:
A kind of intelligence send express delivery robot, and including battery, pedestal and main frame, described battery is fixedly installed on below pedestal, described Main frame is arranged on above pedestal, and described main frame is internally provided with motor, wireless receiving transmitter module and unmanned module, described Main frame both sides are respectively arranged with a vertical lift bar, and the movable part of described vertical lift bar is fixing with pedestal to be connected, described Being provided with transversal stretching bar on vertical lift bar, the standing part of described vertical lift bar is solid with the standing part of transversal stretching bar Fixed connection, described transversal stretching bar is provided with two, and described transversal stretching bar, for being horizontally disposed with, sets above described transversal stretching bar Being equipped with an express delivery cabinet, the movable part of said two transversal stretching bar is fixing with express delivery cabinet respectively to be connected, and described express delivery is cashier's office in a shop Surface configuration has guidance panel, described guidance panel is provided with touch screen, is provided with matter storage lattice, described storage in described express delivery cabinet Thing lattice are provided with more than one, and each matter storage lattice is respectively arranged with chamber door, and each chamber door is respectively arranged with independently installed to be had Electronic lock, described vertical lift bar is provided with the articulation health diagnostic equipment, and described electronic lock is electrically connected with guidance panel, institute State battery, guidance panel, wireless receiving transmitter module, motor, the articulation health diagnostic equipment and unmanned module the most electrical Connect.
As preferably, two angles below described pedestal front end are respectively arranged with a universal wheel, described pedestal rear end Being respectively arranged with a driving wheel on two angles of lower section, described motor is provided with two, is connected with a driving wheel respectively;Ten thousand Playing a supportive role to wheel, each motor independently drives, and realizes turning to by the difference of two driving wheel rotating speeds.
As preferably, the described articulation health diagnostic equipment includes signal pre-processing module, A/D converter and arm processor, Described signal pre-processing module, A/D converter, arm processor and battery are electrically connected with each other;It is easy to technical staff to robot The health status in joint is monitored.
As preferably, described main frame is arranged for sealing;Prevent rain leakage from entering inside main frame.
As preferably, the standing part lower end of described vertical lift bar is fixedly installed lifting cylinder, described transversal stretching The standing part right-hand member of bar is fixedly installed mobile cylinder;It is easy to send express delivery to the client of different floor heights.
As preferably, described unmanned module includes that control core module, Path Recognition locating module, rear-wheel motor drive Dynamic model block, velocity measuring module, LCD data disaply moudle and prevention crash module;Realize the automatic running of robot to purpose Ground, wherein:
Control core module: use freescale16 position single-chip microcomputer MC9S12DG128B, major function completes to gather signal Process and the output of control signal;
Path Recognition module: complete the collection of runway information, pretreatment and data identification;
Rear-wheel motor drives module: provide reliable drive circuit and control algolithm for motor;
Velocity measuring module: control to provide velocity feedback accurately for motor;
LCD data disaply moudle: the important parameter of display system current state;
Prevention crash module: control robot start and stop and dodge.
As preferably, described pedestal being provided with charging inlet, described charging inlet is electrically connected with the battery.Facilitate battery Charging.
As preferably, described intelligence send the work process of express delivery robot, comprises the following steps:
S1. mobile phone is connected by wireless network by staff with robot, and by pickup code and robot program time of advent Send to Client handset;
S2. in difference quick despatch is respectively put into different matter storage lattice by staff and close upper chamber door, by mobile phone by client reservation Positional information be sent to robot, the articulation health diagnostic equipment starts robot is carried out Gernral Check-up, it is ensured that robot is just Often run;
S3. after robot captures signal, controlled by unmanned module, drive to client institute voluntarily nearby;
S4., time near robot ride to client, mobile phone is connected with robot by client by wireless network;
S5. client controls robot ride, the position of regulation robot to the more convenient pickup such as balcony or window by mobile phone; Being controlled by mobile phone, lifting cylinder drives vertical lift bar to rise, and makes express delivery cabinet reach the height required for client again;Pass through again Mobile phone controls, and mobile air cylinder driven transversal stretching bar is traversing, is moved in face of client by express delivery cabinet;
S6. the pickup code that client will receive, is input in express delivery cabinet by touching screen, and the chamber door of corresponding matter storage lattice is opened, visitor Family pickup success;
S7. vertical lift bar and transversal stretching bar are retracted by robot automatically, are controlled by unmanned module, drive to voluntarily Near next Customer Location.
As preferably, the design of the described articulation health diagnostic equipment is as follows:
S1. fault message is gathered by signal pre-processing module;
S2. fault message treated device A/D modular converter, use wavelet transform filtering technology filtering, by FFT by signal from Time domain is changed to frequency-region signal, it is thus achieved that the time domain of two class Heterogeneous Sensor, the characteristic of frequency domain;
S3.ARM processor reads and is sent to mobile phone terminal by wireless receiving transmitter module after data after analysis.
The invention has the beneficial effects as follows: the present invention is provided with unmanned module, and can to drive to client place voluntarily attached Closely;Robot can be continuously power owing to being provided with battery, owing to being provided with charging inlet, can be battery charging;Owing to setting It is equipped with vertical lift bar and transversal stretching bar, facilitates client's pickup;Owing to being provided with the peace that express delivery cabinet has ensured the express mail of client Entirely;Judge joint of robot health status owing to being provided with the articulation health diagnostic equipment and can remotely monitor, detecting, send out in fault Before death in time by robot power-off.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the overall structure figure that a kind of intelligence send express delivery robot;
Fig. 2 is the articulation health diagnostic equipment structured flowchart that a kind of intelligence send express delivery robot.
Wherein, 1 battery, 2, pedestal, 3, main frame, 4, vertical lift bar, 5, transversal stretching bar, 6, express delivery cabinet, 7, operating surface Plate, 8, touch screen, 9, matter storage lattice, 10, chamber door, 11, the articulation health diagnostic equipment, 12, universal wheel, 13, driving wheel, 14, promote Cylinder, 15, mobile cylinder, 16, signal pre-processing module, 17, A/D converter, 18, arm processor.
Detailed description of the invention
Below in conjunction with the accompanying drawings the preferred embodiments of the present invention are described in detail, so that advantages and features of the invention energy It is easier to be readily appreciated by one skilled in the art, thus protection scope of the present invention is made apparent clear and definite defining.
A kind of intelligence as shown in Figure 1 send express delivery robot, and including battery 1, pedestal 2 and main frame 3, described battery 1 is fixed Being arranged on below pedestal 2, described main frame 3 is arranged on above pedestal 2, and described main frame 3 is internally provided with motor (not shown), wireless Receiving transmitter module 19 and unmanned module (not shown), described main frame 3 both sides are respectively arranged with a vertical lift bar 4, The movable part of described vertical lift bar 4 is fixing with pedestal 2 to be connected, and described vertical lift bar 4 is provided with transversal stretching bar 5, The standing part of described vertical lift bar 4 is fixing with the standing part of transversal stretching bar 5 to be connected, and described transversal stretching bar 5 is arranged Having two, described transversal stretching bar 5 is for being horizontally disposed with, and described transversal stretching bar 5 is provided above an express delivery cabinet 6, and described two The movable part of individual transversal stretching bar 5 is fixing with express delivery cabinet 6 respectively to be connected, and described express delivery cabinet 6 upper surface is provided with guidance panel 7, described guidance panel 7 is provided with touch screen 8, in described express delivery cabinet 6, is provided with matter storage lattice 9, described matter storage lattice 9 is provided with one More than individual, each matter storage lattice 9 being respectively arranged with chamber door 10, each chamber door 10 is respectively arranged with independently installed has electronic lock (not shown), described vertical lift bar 4 is provided with the articulation health diagnostic equipment 11, described electronic lock (not shown) and operating surface Plate 7 is electrically connected with, and described battery 1, guidance panel 7, wireless receiving transmitter module 19, motor (not shown), articulation health diagnose Device 11 and unmanned module (not shown) are electrically connected with each other.
A universal wheel 12 it is respectively arranged with, below described pedestal 2 rear end on two angles below described pedestal 2 front end Being respectively arranged with a driving wheel 13 on two angles, described motor (not shown) is provided with two, respectively with a driving wheel 13 It is connected;Universal wheel 12 supports and steering-effecting, and each motor (not shown) is independent drives two driving wheels 13, is driven by two The difference of the rotating speed of driving wheel 13 realizes turning to.
The described articulation health diagnostic equipment 11 includes signal pre-processing module 16, A/D converter 17 and arm processor 18, Described signal pre-processing module 16, A/D converter 17, arm processor 18 and battery 1 are electrically connected with each other;It is easy to technical staff The health status of joint of robot is monitored.
Described main frame 3 is arranged for sealing;Prevent rain leakage from entering main frame 3 internal.
The standing part lower end of described vertical lift bar 4 is fixedly installed lifting cylinder 14, consolidating of described transversal stretching bar 5 Determine part right-hand member and be fixedly installed mobile cylinder 15;It is easy to send express delivery to the client of different floor heights.
As preferably, described unmanned module (not shown) includes that control core module (not shown), Path Recognition are fixed Position module (not shown), rear-wheel motor drive module (not shown), velocity measuring module (not shown), LCD data disaply moudle (not shown) and prevention crash module (not shown);Realize the automatic running of robot to destination, wherein:
Control core module: use freescale16 position single-chip microcomputer MC9S12DG128B, major function completes to gather signal Process and the output of control signal;
Path Recognition module: complete the collection of runway information, pretreatment and data identification;
Rear-wheel motor drives module: provide reliable drive circuit and control algolithm for motor;
Velocity measuring module: control to provide velocity feedback accurately for motor;
LCD data disaply moudle: the important parameter of display system current state;
Prevention crash module: control robot start and stop and dodge.
Being provided with charging inlet 16 on described pedestal 2, described charging inlet 16 is electrically connected with battery 1.Battery is facilitated to fill Electricity.
Described intelligence send the work process of express delivery robot, comprises the following steps:
S1. mobile phone is connected by wireless network by staff with robot, and by pickup code and robot program time of advent Send to Client handset;
S2. in difference quick despatch is respectively put into different matter storage lattice by staff and close upper chamber door, by mobile phone by client reservation Positional information be sent to robot, the articulation health diagnostic equipment starts robot is carried out Gernral Check-up, it is ensured that robot is just Often run;
S3. after robot captures signal, controlled by unmanned module, drive to client institute voluntarily nearby;
S4., time near robot ride to client, mobile phone is connected with robot by client by wireless network;
S5. client controls robot ride, the position of regulation robot to the more convenient pickup such as balcony or window by mobile phone; Being controlled by mobile phone, lifting cylinder drives vertical lift bar to rise, and makes express delivery cabinet reach the height required for client again;Pass through again Mobile phone controls, and mobile air cylinder driven transversal stretching bar is traversing, is moved in face of client by express delivery cabinet;
S6. the pickup code that client will receive, is input in express delivery cabinet by touching screen, and the chamber door of corresponding matter storage lattice is opened, visitor Family pickup success;
S7. vertical lift bar and transversal stretching bar are retracted by robot automatically, are controlled by unmanned module, drive to voluntarily Near next Customer Location.
The design of the described articulation health diagnostic equipment 11 is as follows:
S1. fault message is gathered by signal pre-processing module;
S2. fault message treated device A/D modular converter, use wavelet transform filtering technology filtering, by FFT by signal from Time domain is changed to frequency-region signal, it is thus achieved that the time domain of two class Heterogeneous Sensor, the characteristic of frequency domain;
S3.ARM processor reads and is sent to mobile phone terminal by wireless receiving transmitter module after data after analysis.
The invention has the beneficial effects as follows: the present invention is provided with unmanned module, and can to drive to client place voluntarily attached Closely;Robot can be continuously power owing to being provided with battery, owing to being provided with charging inlet, can be battery charging;Owing to setting It is equipped with vertical lift bar and transversal stretching bar, facilitates client's pickup;Owing to being provided with the peace that express delivery cabinet has ensured the express mail of client Entirely;Judge joint of robot health status owing to being provided with the articulation health diagnostic equipment and can remotely monitor, detecting, send out in fault Before death in time by robot power-off.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any The change expected without creative work or replacement, all should contain within protection scope of the present invention.Therefore, the present invention Protection domain should be as the criterion with the protection domain that claims are limited.

Claims (9)

1. an intelligence send express delivery robot, it is characterised in that: include that battery, pedestal and main frame, described battery are fixedly installed on Below pedestal, described main frame is arranged on above pedestal, and described main frame is internally provided with motor, wireless receiving transmitter module and unmanned Driving module, described main frame both sides are respectively arranged with a vertical lift bar, the movable part of described vertical lift bar and pedestal Fixing connection, described vertical lift bar is provided with transversal stretching bar, the standing part of described vertical lift bar and transversal stretching The standing part of bar is fixing to be connected, and described transversal stretching bar is provided with two, described transversal stretching bar for being horizontally disposed with, described horizontal stroke Being provided above an express delivery cabinet to expansion link, the movable part of said two transversal stretching bar is fixing with express delivery cabinet respectively to be connected Connecing, described express delivery surface configuration cashier's office in a shop has guidance panel, and described guidance panel is provided with touch screen, arranges in described express delivery cabinet There are matter storage lattice, described matter storage lattice to be provided with more than one, each matter storage lattice are respectively arranged with chamber door, each chamber door sets respectively Being equipped with independently installed has electronic lock, and described vertical lift bar is provided with the articulation health diagnostic equipment, described electronic lock and operation Panel be electrically connected with, described battery, guidance panel, wireless receiving transmitter module, motor, the articulation health diagnostic equipment and nobody drive Sail module to be electrically connected with each other.
A kind of intelligence the most according to claim 1 send express delivery robot, it is characterised in that: two below described pedestal front end It is respectively arranged with a universal wheel on individual angle, two angles below described pedestal rear end are respectively arranged with a driving wheel, institute State motor and be provided with two, be connected with a driving wheel respectively.
A kind of intelligence the most according to claim 1 send express delivery robot, it is characterised in that: the described articulation health diagnostic equipment Including signal pre-processing module, A/D converter and arm processor, described signal pre-processing module, A/D converter, ARM process Device and battery are electrically connected with each other.
A kind of intelligence the most according to claim 1 send express delivery robot, it is characterised in that: described main frame is arranged for sealing.
A kind of intelligence the most according to claim 1 send express delivery robot, it is characterised in that: fixing of described vertical lift bar Part lower end is fixedly installed lifting cylinder, and the standing part right-hand member of described transversal stretching bar is fixedly installed mobile cylinder.
A kind of intelligence the most according to claim 1 send express delivery robot, it is characterised in that: described unmanned module includes Control core module, Path Recognition locating module, rear-wheel motor drive module, velocity measuring module, LCD data disaply moudle and Prevention crash module.
A kind of intelligence the most according to claim 1 send express delivery robot, it is characterised in that: it is provided with charging on described pedestal Interface, described charging inlet is electrically connected with the battery.
A kind of intelligence the most according to claim 1 send express delivery robot, it is characterised in that: described intelligence send express delivery robot The detailed process sending express delivery includes:
S1. mobile phone is connected by wireless network by staff with robot, and by pickup code and robot program time of advent Send to Client handset;
S2. in difference quick despatch is respectively put into different matter storage lattice by staff and close upper chamber door, by mobile phone by client reservation Positional information be sent to robot, the articulation health diagnostic equipment starts robot is carried out Gernral Check-up, it is ensured that robot is just Often run;
S3. after robot captures signal, controlled by unmanned module, drive to client institute voluntarily nearby;
S4., time near robot ride to client, mobile phone is connected with robot by client by wireless network;
S5. client controls robot ride, the position of regulation robot to the more convenient pickup such as balcony or window by mobile phone; Being controlled by mobile phone, lifting cylinder drives vertical lift bar to rise, and makes express delivery cabinet reach the height required for client again;Pass through again Mobile phone controls, and mobile air cylinder driven transversal stretching bar is traversing, is moved in face of client by express delivery cabinet;
S6. the pickup code that client will receive, is input in express delivery cabinet by touching screen, and the chamber door of corresponding matter storage lattice is opened, visitor Family pickup success;
S7. vertical lift bar and transversal stretching bar are retracted by robot automatically, are controlled by unmanned module, drive to voluntarily Near next Customer Location.
A kind of intelligence the most according to claim 8 send express delivery robot, it is characterised in that: the described articulation health diagnostic equipment The Gernral Check-up process of robot is included:
S1. fault message is gathered by signal pre-processing module;
S2. fault message treated device A/D modular converter, use wavelet transform filtering technology filtering, by FFT by signal from Time domain is changed to frequency-region signal, it is thus achieved that the time domain of two class Heterogeneous Sensor, the characteristic of frequency domain;
S3.ARM processor reads and is sent to mobile phone terminal by wireless receiving transmitter module after data after analysis.
CN201610603239.7A 2016-07-27 2016-07-27 Intelligent express delivery robot Pending CN106003095A (en)

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CN106272438A (en) * 2016-10-17 2017-01-04 宁德师范学院 The robot express mail dissemination system being applied in express delivery office for incoming and outgoing mail and control method
CN106364589A (en) * 2016-10-23 2017-02-01 高小秒 Intelligent express delivery robot
CN106553209A (en) * 2016-11-24 2017-04-05 东台市苏中电工机械有限公司 A kind of high ferro locomotive Gernral Check-up device
CN106625555A (en) * 2016-11-24 2017-05-10 东台市苏中电工机械有限公司 Railway conveying robot
CN106708047A (en) * 2016-12-21 2017-05-24 精效新软新技术(北京)有限公司 Intelligent article delivery robot device and control method
CN106853640A (en) * 2017-03-21 2017-06-16 北京京东尚科信息技术有限公司 Dispensing machine people control method and device, dispensing machine people and control system
CN106991765A (en) * 2017-02-24 2017-07-28 杭州电子科技大学 A kind of robot portable type intelligently sends part case
CN107053196A (en) * 2017-03-09 2017-08-18 黑龙江科技大学 One kind takes out dispensing machine people
CN107323815A (en) * 2017-06-15 2017-11-07 中国能源建设集团广东省电力设计研究院有限公司 Intelligent express delivery dispensing cartridge
CN108297064A (en) * 2018-04-27 2018-07-20 阜阳盛东智能制造技术研发有限公司 A kind of box body pick-and-place manipulator
CN111741699A (en) * 2018-02-21 2020-10-02 许克国际两合公司 Window, door, ramp or facade element with a device for sending and receiving letters and parcels by a drone
CN112060051A (en) * 2020-09-15 2020-12-11 安庆帆盛机电科技有限公司 Lifting mechanism and robot thereof

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CN106272438A (en) * 2016-10-17 2017-01-04 宁德师范学院 The robot express mail dissemination system being applied in express delivery office for incoming and outgoing mail and control method
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CN106364589A (en) * 2016-10-23 2017-02-01 高小秒 Intelligent express delivery robot
CN106364589B (en) * 2016-10-23 2018-06-26 朱明甫 A kind of intelligence express delivery carrier robot
CN106553209A (en) * 2016-11-24 2017-04-05 东台市苏中电工机械有限公司 A kind of high ferro locomotive Gernral Check-up device
CN106625555A (en) * 2016-11-24 2017-05-10 东台市苏中电工机械有限公司 Railway conveying robot
CN106708047B (en) * 2016-12-21 2019-08-13 精效新软新技术(北京)有限公司 Intelligent article delivers robot device and its control method
CN106708047A (en) * 2016-12-21 2017-05-24 精效新软新技术(北京)有限公司 Intelligent article delivery robot device and control method
CN106991765A (en) * 2017-02-24 2017-07-28 杭州电子科技大学 A kind of robot portable type intelligently sends part case
CN107053196A (en) * 2017-03-09 2017-08-18 黑龙江科技大学 One kind takes out dispensing machine people
CN106853640A (en) * 2017-03-21 2017-06-16 北京京东尚科信息技术有限公司 Dispensing machine people control method and device, dispensing machine people and control system
CN107323815A (en) * 2017-06-15 2017-11-07 中国能源建设集团广东省电力设计研究院有限公司 Intelligent express delivery dispensing cartridge
CN111741699A (en) * 2018-02-21 2020-10-02 许克国际两合公司 Window, door, ramp or facade element with a device for sending and receiving letters and parcels by a drone
CN108297064A (en) * 2018-04-27 2018-07-20 阜阳盛东智能制造技术研发有限公司 A kind of box body pick-and-place manipulator
CN108297064B (en) * 2018-04-27 2020-09-25 江苏卓燃工程咨询有限公司 Box body taking and placing manipulator
CN112060051A (en) * 2020-09-15 2020-12-11 安庆帆盛机电科技有限公司 Lifting mechanism and robot thereof

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Application publication date: 20161012