CN106426077A - Intelligent warehouse transfer robot - Google Patents
Intelligent warehouse transfer robot Download PDFInfo
- Publication number
- CN106426077A CN106426077A CN201610898640.8A CN201610898640A CN106426077A CN 106426077 A CN106426077 A CN 106426077A CN 201610898640 A CN201610898640 A CN 201610898640A CN 106426077 A CN106426077 A CN 106426077A
- Authority
- CN
- China
- Prior art keywords
- equiped
- rotation driving
- gear
- rotary
- servomotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Abstract
The invention discloses an intelligent warehouse transfer robot. An MCU controller, a power supply battery, a rear wheel driving servomotor and a speed reduction gearbox are embedded into a base containing cavity of a movable base, a power-driven lifting frame is mounted on the upper surface of the movable base, the movable base is provided with two moving front wheels and two moving rear wheels, and a lifting movable plate on the upper end part of the power-driven frame is provided with a rotary driving servomotor, a rotary driving gear, a rotary driving gear ring and a planetary driving gear; the upper surface of the rotary driving gear ring is spirally provided with a rotary movable plate, the upper surface of the rotary movable plate is provided with a linear driving module, a driving end of the linear driving module is provided with a movable mounting seat, the front end part of the movable mounting seat is provided with a power-driven clamping pawl, and a camera mounting frame on the upper end part of the movable mounting seat is provided with a CCD industrial camera. Through the structural design above, the intelligent warehouse transfer robot has the advantages of novel structural design, high automated degree and high intelligent degree, and can effectively replace manual work and realize automatic transfer operation work of warehouse goods.
Description
Technical field
The present invention relates to warehouse Handling device technical field, more particularly to a kind of intelligent repository transfer robot.
Background technology
Build under the historical background of high speed development in Chinese national economy, Process of Urbanization Construction and science and technology, automatic production
Product are increasingly faster to be come among life, and the management for articles from the storeroom is even more and needs.In present warehouse, goods major part is
Volume is big, weight is big, surface is dirty, and the working environment in warehouse is poor, is unfavorable for that people work, is such as permitted in the workshop of factory
Greasy dirt is stained with above many parts, above some parts, has also retained some burrs, unfavorable ten a dead lift.Meanwhile, in warehouse
Goods is put and is also required to consume suitable a part of manpower.Therefore, people's exigence one kind can replace manually completing
Content of the invention
Present invention aims to the deficiencies in the prior art and a kind of intelligent repository transfer robot is provided, this intelligence
Warehouse transfer robot novel in structural design, high degree of automation, intelligence degree height, and effectively can replace artificial and real
Existing articles from the storeroom automatic transporting operation.
For reaching above-mentioned purpose, the present invention is achieved through the following technical solutions.
A kind of intelligent repository transfer robot, includes mobile base, and the inside of mobile base forms base containing cavity,
MCU controller, supplying cell is embedded with base containing cavity, and the upper surface of mobile base is equiped with electric elevating rack, dump bottom
Seat leading section be rotatably equiped with two mobile front-wheels, two mobile front-wheels or so just to arrange, mobile base
Rearward end is rotatably equiped with two mobile trailing wheels, and two mobile trailing wheels or so are just to arrangement, the base of mobile base
Accommodating intracavity corresponds to each mobile trailing wheel and is equiped with rear wheel drive servomotor, reduction gear box, each rear wheel drive servo electricity respectively
The power output shaft of machine power input shaft drive connection respectively with corresponding reduction gear box, the power of each reduction gear box is defeated
Shaft is connected with corresponding mobile rear wheel drive respectively, and supplying cell, electric elevating rack and each rear wheel drive servomotor divide
Do not electrically connect with MCU controller；
The upper end of electric elevating rack is equiped with the lifting portable plate in horizontal cross arrangement, the lower surface of lifting portable plate
Be equiped with rotation driving servomotor, rotation driving servomotor is electrically connected with MCU controller, rotation driving servomotor dynamic
Power output shaft passes through lifting portable plate and extends to the upper end side of lifting portable plate, and the upper surface of lifting portable plate can be relatively rotated
Be equiped with rotary drive gear, in toroidal and be set in rotary drive gear periphery rotation driving gear ring, rotation drive
Moving gear set is stuck in the power output shaft upper end of rotation driving servomotor, and the upper surface of lifting portable plate is in rotation driving tooth
Rotatably it is equiped with least three planets that circumferentially ring-type uniform intervals are distributed between wheel and rotation driving gear ring to drive
Moving gear, lifting portable plate corresponds to each Planetary drive gear and is rotatably equiped with the planetary gear being vertically arranged respectively
Axle, each Planetary drive gear covers respectively and is stuck in corresponding planetary gear shaft upper end, and rotary drive gear is driven with each planet respectively
Moving gear is meshed, and each Planetary drive gear is meshed with the internal tooth of rotation driving gear ring respectively；
The upper end side of rotation driving gear ring is equiped with the rotary moveable plate in horizontal cross arrangement, and rotary moveable plate is by lock
Tight screw spiral shell loads the upper surface for being fixed in rotation driving gear ring, and the upper surface of rotary moveable plate is equiped with Linear Driving module, line
Property drive the drive end of module to be equiped with active mount, the leading section of active mount is equiped with electronic jaw, and activity is installed
The upper end of seat is equiped with camera installing rack in the upper end side of electronic jaw, and camera installing rack is equiped with CCD industrial camera, linearly
Module, electronic jaw and CCD industrial camera is driven to electrically connect with MCU controller respectively.
Wherein, the outer surface of the mobile base is equiped with charging inlet, and charging inlet is electrically connected with the MCU controller
Connect.
Wherein, the MCU controller is fitted with wireless communication module, and wireless communication module is electrically connected with MCU controller.
Wherein, the wireless communication module is bluetooth module.
Wherein, the wireless communication module is WIFI module.
Wherein, the wireless communication module is GPRS module.
Beneficial effects of the present invention are：A kind of intelligent repository transfer robot of the present invention, the bottom of its mobile base
Seat containing cavity setting-in MCU controller, supplying cell, mobile base upper surface installs electric elevating rack, and mobile base installs two
Mobile front-wheel, two mobile trailing wheels, each mobile trailing wheel is driven by rear wheel drive servomotor, reduction gear box respectively；
Lifting portable plate is installed in electric elevating rack upper end, and lifting portable plate lower surface installs rotation driving servomotor, lifting activity
Plate upper surface installing rotary drive gear, rotation driving gear ring, rotary drive gear set is stuck in the dynamic of rotation driving servomotor
Power output shaft upper end, lifting portable plate upper surface installs at least three row between rotary drive gear and rotation driving gear ring
Star drive gear, each Planetary drive gear is installed in lifting portable plate by planetary gear shaft respectively；Rotation driving gear ring upper table
Face spiral shell dress rotary moveable plate, rotary moveable plate upper surface installs Linear Driving module, and the drive end installing of Linear Driving module is lived
Dynamic mounting seat, electronic jaw, the camera installing rack installing CCD industry of active mount upper end are installed in active mount leading section
Camera.By said structure design, the present invention has the advantages that novel in structural design, high degree of automation, intelligence degree are high,
And can effectively replace artificial and realize articles from the storeroom automatic transporting operation.
Description of the drawings
Below with accompanying drawing, the present invention is further detailed, but the embodiment in accompanying drawing is not constituted to this
Bright any restriction.
Fig. 1 is the structural representation of the present invention.
Include in FIG：
1 mobile base, 11 base containing cavity
2 MCU controller, 3 supplying cell
41 electric elevating rack, 42 lifting portable plate
51 movement front-wheels 52 move trailing wheel
61 rotation driving servomotor, 62 rotary drive gear
63 rotation driving gear ring, 64 Planetary drive gear
65 planetary gear shaft, 66 rotary moveable plate
67 lock screw, 71 Linear Driving module
72 active mount, 8 electronic jaw
91 camera installing rack, 92 CCD industrial camera.
Specific embodiment
With reference to specific embodiment, the present invention will be described.
As shown in figure 1, a kind of intelligent repository transfer robot, includes mobile base 1, the inside molding of mobile base 1
There is base containing cavity 11, in base containing cavity 11, be embedded with MCU controller 2, supplying cell 3, the upper surface installing of mobile base 1
The leading section for having electric elevating rack 41, mobile base 1 is rotatably equiped with two mobile front-wheels 51, two mobile front-wheels
51 or so just to arrangement, and the rearward end of mobile base 1 is rotatably equiped with two mobile trailing wheels 52, two mobile trailing wheels
52 or so just to arrangement, and in the base containing cavity 11 of mobile base 1, each mobile trailing wheel 52 of correspondence is equiped with rear wheel drive respectively and watches
Motor (not shown), reduction gear box (not shown) is taken, the power output shaft of each rear wheel drive servomotor is respectively
With the power input shaft drive connection of corresponding reduction gear box, the power output shaft of each reduction gear box moved with corresponding respectively
52 drive connection of dynamic trailing wheel, supplying cell 3, electric elevating rack 41 and each rear wheel drive servomotor respectively with MCU controller 2
Electrical connection.
Further, the upper end of electric elevating rack 41 is equiped with the lifting portable plate 42 in horizontal cross arrangement, lifting
The lower surface of portable plate 42 is equiped with rotation driving servomotor 61, and rotation driving servomotor 61 is electrically connected with MCU controller 2
Connect, the power output shaft of rotation driving servomotor 61 passes through lifting portable plate 42 and extends to the upper end of lifting portable plate 42
Side, the upper surface of lifting portable plate 42 is rotatably equiped with rotary drive gear 62, is in toroidal and is set in rotation
Turn the rotation driving gear ring 63 of 62 periphery of drive gear, 62 sets of rotary drive gear is stuck in the power of rotation driving servomotor 61
Output shaft upper end, the upper surface of lifting portable plate 42 relative can turn between rotary drive gear 62 and rotation driving gear ring 63
At least three Planetary drive gear 64 that circumferentially ring-type uniform intervals be distributed are equiped with dynamicly, and lifting portable plate 42 corresponds to each row
Star drive gear 64 is rotatably equiped with respectively in the planetary gear shaft 65 being vertically arranged, 64 points of each Planetary drive gear
65 upper end of corresponding planetary gear shaft Tao be stuck in, rotary drive gear 62 is meshed with each Planetary drive gear 64 respectively,
Each Planetary drive gear 64 is meshed with the internal tooth of rotation driving gear ring 63 respectively.
Further, the upper end side of rotation driving gear ring 63 is equiped with the rotary moveable plate 66 in horizontal cross arrangement,
Rotary moveable plate 66 loads the upper surface for being fixed in rotation driving gear ring 63, the upper table of rotary moveable plate 66 by 67 spiral shell of lock screw
Face is equiped with Linear Driving module 71, and the drive end of Linear Driving module 71 is equiped with active mount 72, active mount 72
Leading section be equiped with electronic jaw 8, the upper end of active mount 72 is equiped with camera installation in the upper end side of electronic jaw 8
Frame 91, camera installing rack 91 is equiped with CCD industrial camera 92, Linear Driving module 71, electronic jaw 8 and CCD industrial camera
92 are electrically connected with MCU controller 2 respectively.
In work process of the present invention, supplying cell 3 is MCU controller 2, rear wheel drive servomotor, electric elevating rack
41st, rotation driving servomotor 61, Linear Driving module 71, electronic jaw 8 and CCD industrial camera 92 are powered；Wherein, this
Bright supplying cell 3 can be rechargeable battery, and the outer surface of corresponding mobile base 1 is equiped with charging inlet, charging inlet with
MCU controller 2 is electrically connected；During work, when the not enough power supply of supplying cell 3, staff can pass through charging inlet for power supply
Battery 3 is charged.
It should further be noted that MCU controller 2 is fitted with wireless communication module, wireless communication module and 2 electricity of MCU controller
Connection；Wherein, the MCU controller 2 of the present invention can be communicated wirelessly with background server by wireless communication module and is connected, and
Wireless communication module can be communicated wirelessly by bluetooth approach, WIFI mode or GPRS mode, i.e. the channel radio of the present invention
News module is bluetooth module, WIFI module, GPRS module.
In work process of the present invention, each rear wheel drive servomotor drives corresponding shifting by corresponding gear reduction box
Dynamic trailing wheel 52 is rotated, and then is realized mobile base 1 and advanced or retreat, and wherein, two mobile trailing wheels 52 are used as mobile base 1
Active wheel construction；Need to be explained further, each mobile trailing wheel 52 is driven by relatively independent rear wheel drive servomotor respectively
Dynamic, when the rotating speed of two rear wheel drive servomotors is different, the rotating speed of two mobile trailing wheels 52 is also different, in this situation
Under, mobile base 1 can achieve go to action.
In addition, during the present invention is captured and realizes goods carrying, the driving lifting portable plate 42 of electric elevating rack 41,
Rotation driving servomotor 61, rotary drive gear 62, rotation driving gear ring 63, Planetary drive gear 64, rotary moveable plate 66,
The goods position of crawl needed for moving on Linear Driving module 71, active mount 72, CCD industrial camera 92 and electronic jaw 8
Put；After position is moved on on active mount 72, the goods for capturing needed for CCD industrial camera 92 pairs is taken pictures and the figure by goods
As data is activation is analyzed processing and judging the position of goods to the view data of MCU controller 2, MCU 2 goods of controller
Put, and MCU controller 2 sends the position signalling of goods to rotation driving servomotor 61, Linear Driving module 71, rotation is driven
The power output shaft of dynamic servomotor 61 is rotated drive gear 62 and rotates, and rotary drive gear 62 drives each planetary drive tooth
Wheel 64 is rotated, and each Planetary drive gear 64 drives rotation driving gear ring 63 to rotate again, and rotation driving gear ring 63 is rotated activity
Plate 66 is rotated, and then realizes the crawl angle adjustment of electronic jaw 8；After angle adjustment with electronic jaw 8 is finished, Linear Driving mould
Group 71 promotes electronic jaw 8 forward and captures goods eventually through electronic jaw 8.
It should further be noted that in work process of the present invention, MCU controller 2 can be united to the quantity of goods for capturing
Count, and MCU controller 2 is sent the quantity of goods information for being captured to background server by wireless communication module, backstage takes
Business device can show the goods crawl quantity situation of the present invention in real time, to facilitate staff to be monitored carrying situation.
Summary situation understands, by said structure design, the present invention has novel in structural design, automaticity
The high advantage of high, intelligence degree, and can effectively replace artificial and realize articles from the storeroom automatic transporting operation.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, all will change in specific embodiments and applications, and this specification content is should not be construed as to the present invention
Restriction.
Claims (6)
1. a kind of intelligent repository transfer robot, it is characterised in that：Mobile base (1) is included, the inside of mobile base (1) becomes
Type has base containing cavity (11), is embedded with MCU controller (2), supplying cell (3), mobile base (1) in base containing cavity (11)
Upper surface be equiped with electric elevating rack (41), before the leading section of mobile base (1) is rotatably equiped with two movements
Wheel (51), two mobile front-wheel (51) left and right are just to arrangement, and the rearward end of mobile base (1) is rotatably equiped with two
Mobile trailing wheel (52), two mobile trailing wheel (52) left and right are just to arrangement, corresponding each in the base containing cavity (11) of mobile base (1)
Mobile trailing wheel (52) is equiped with rear wheel drive servomotor, reduction gear box respectively, and the power of each rear wheel drive servomotor is defeated
Shaft power input shaft drive connection respectively with corresponding reduction gear box, the power output shaft of each reduction gear box respectively with
Corresponding mobile trailing wheel (52) drive connection, supplying cell (3), electric elevating rack (41) and each rear wheel drive servomotor divide
Do not electrically connect with MCU controller (2)；
The upper end of electric elevating rack (41) is equiped with the lifting portable plate (42) in horizontal cross arrangement, lifting portable plate (42)
Lower surface be equiped with rotation driving servomotor (61), rotation driving servomotor (61) is electrically connected with MCU controller (2),
The power output shaft of rotation driving servomotor (61) through lifting portable plate (42) and extends to the upper of lifting portable plate (42)
Side, the upper surface of lifting portable plate (42) is rotatably equiped with rotary drive gear (62), is in toroidal and set
Rotation driving gear ring (63) loaded on rotary drive gear (62) periphery, rotary drive gear (62) set is stuck in rotation driving servo
The power output shaft upper end of motor (61), the upper surface of lifting portable plate (42) is in rotary drive gear (62) and rotation driving
At least three Planetary drive gear that circumferentially ring-type uniform intervals be distributed rotatably are equiped between gear ring (63)
(64), lifting portable plate (42) corresponding each Planetary drive gear (64) is rotatably equiped with respectively in the row being vertically arranged
Star gear shaft (65), each Planetary drive gear (64) cover respectively and are stuck in corresponding planetary gear shaft (65) upper end, rotation driving
Gear (62) is meshed with each Planetary drive gear (64) respectively, each Planetary drive gear (64) respectively with rotation driving gear ring
(63) internal tooth is meshed；
The upper end side of rotation driving gear ring (63) is equiped with the rotary moveable plate (66) in horizontal cross arrangement, rotary moveable plate
(66) upper surface for being fixed in rotation driving gear ring (63), the upper surface of rotary moveable plate (66) are loaded by lock screw (67) spiral shell
Linear Driving module (71) is equiped with, the drive end of Linear Driving module (71) is equiped with active mount (72), and activity is installed
The leading section of seat (72) is equiped with electronic jaw (8), and the upper end of active mount (72) is filled in the upper end side of electronic jaw (8)
Camera installing rack (91) is provided with, camera installing rack (91) is equiped with CCD industrial camera (92), Linear Driving module (71), electronic
Jaw (8) and CCD industrial camera (92) are electrically connected with MCU controller (2) respectively.
2. a kind of intelligent repository transfer robot according to claim 1, it is characterised in that：Mobile base (1)
Outer surface is equiped with charging inlet, and charging inlet is electrically connected with MCU controller (2).
3. a kind of intelligent repository transfer robot according to claim 2, it is characterised in that：MCU controller (2) join
Equipped with wireless communication module, wireless communication module is electrically connected with MCU controller (2).
4. a kind of intelligent repository transfer robot according to claim 3, it is characterised in that：The wireless communication module is
Bluetooth module.
5. a kind of intelligent repository transfer robot according to claim 3, it is characterised in that：The wireless communication module is
WIFI module.
6. a kind of intelligent repository transfer robot according to claim 3, it is characterised in that：The wireless communication module is
GPRS module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610898640.8A CN106426077A (en) | 2016-10-14 | 2016-10-14 | Intelligent warehouse transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610898640.8A CN106426077A (en) | 2016-10-14 | 2016-10-14 | Intelligent warehouse transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106426077A true CN106426077A (en) | 2017-02-22 |
Family
ID=58173795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610898640.8A Pending CN106426077A (en) | 2016-10-14 | 2016-10-14 | Intelligent warehouse transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426077A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903691A (en) * | 2017-03-13 | 2017-06-30 | 安徽师范大学 | Transport Robot Control System for Punch |
| CN108189003A (en) * | 2018-02-02 | 2018-06-22 | 北京华航唯实机器人科技股份有限公司 | A kind of Multifunctional mobile robot and a kind of method for optimizing maze path |
| CN108748212A (en) * | 2018-07-23 | 2018-11-06 | 熊骋驰 | A kind of intelligent patrol robot with information periodic transmission function |
| CN108890660A (en) * | 2018-07-17 | 2018-11-27 | 东莞市奇趣机器人科技有限公司 | A kind of service type intelligent robot with delivery function |
| CN111421435A (en) * | 2020-04-02 | 2020-07-17 | 泰州学院 | Multi freedom polishing robot |
| US11655099B2 (en) | 2017-11-14 | 2023-05-23 | Hai Robotics Co., Ltd. | Handling robot |
| US11718472B2 (en) | 2017-11-14 | 2023-08-08 | Hai Robotics Co., Ltd. | Automated guided vehicle designed for warehouse |
| US11794995B2 (en) | 2017-11-14 | 2023-10-24 | Hai Robotics Co., Ltd. | Handling robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2057515A1 (en) * | 1969-11-24 | 1971-06-03 | Steelweld Ltd | Mechanical handling device |
| CN201800035U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Multiple-degree-of-freedom robot |
| CN102642199A (en) * | 2012-05-07 | 2012-08-22 | 上海电机学院 | Robot for carrying warehouses |
| CN102941566A (en) * | 2012-11-29 | 2013-02-27 | 浙江纺织服装职业技术学院 | Object moving robot with soft fingers |
| CN202964640U (en) * | 2012-11-14 | 2013-06-05 | 深圳职业技术学院 | Electrically driven robot |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN105839569A (en) * | 2016-04-01 | 2016-08-10 | 山东国兴智能科技有限公司 | Methods for cleaning, mounting and recovering well lids in communities or on municipal roads by intelligent robot |
| CN206123632U (en) * | 2016-10-14 | 2017-04-26 | 苏州得尔达国际物流有限公司 | Intelligent warehouse transfer robot |
-
2016
- 2016-10-14 CN CN201610898640.8A patent/CN106426077A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2057515A1 (en) * | 1969-11-24 | 1971-06-03 | Steelweld Ltd | Mechanical handling device |
| CN201800035U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Multiple-degree-of-freedom robot |
| CN102642199A (en) * | 2012-05-07 | 2012-08-22 | 上海电机学院 | Robot for carrying warehouses |
| CN202964640U (en) * | 2012-11-14 | 2013-06-05 | 深圳职业技术学院 | Electrically driven robot |
| CN102941566A (en) * | 2012-11-29 | 2013-02-27 | 浙江纺织服装职业技术学院 | Object moving robot with soft fingers |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN105839569A (en) * | 2016-04-01 | 2016-08-10 | 山东国兴智能科技有限公司 | Methods for cleaning, mounting and recovering well lids in communities or on municipal roads by intelligent robot |
| CN206123632U (en) * | 2016-10-14 | 2017-04-26 | 苏州得尔达国际物流有限公司 | Intelligent warehouse transfer robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903691A (en) * | 2017-03-13 | 2017-06-30 | 安徽师范大学 | Transport Robot Control System for Punch |
| US11655099B2 (en) | 2017-11-14 | 2023-05-23 | Hai Robotics Co., Ltd. | Handling robot |
| US11718472B2 (en) | 2017-11-14 | 2023-08-08 | Hai Robotics Co., Ltd. | Automated guided vehicle designed for warehouse |
| US11794995B2 (en) | 2017-11-14 | 2023-10-24 | Hai Robotics Co., Ltd. | Handling robot |
| US11794996B2 (en) | 2017-11-14 | 2023-10-24 | Hai Robotics Co., Ltd. | Handling robot |
| CN108189003A (en) * | 2018-02-02 | 2018-06-22 | 北京华航唯实机器人科技股份有限公司 | A kind of Multifunctional mobile robot and a kind of method for optimizing maze path |
| CN108890660A (en) * | 2018-07-17 | 2018-11-27 | 东莞市奇趣机器人科技有限公司 | A kind of service type intelligent robot with delivery function |
| CN108748212A (en) * | 2018-07-23 | 2018-11-06 | 熊骋驰 | A kind of intelligent patrol robot with information periodic transmission function |
| CN108748212B (en) * | 2018-07-23 | 2019-04-09 | 熊骋驰 | A kind of intelligent patrol robot with information periodic transmission function |
| CN111421435A (en) * | 2020-04-02 | 2020-07-17 | 泰州学院 | Multi freedom polishing robot |
| CN111421435B (en) * | 2020-04-02 | 2021-01-08 | 泰州学院 | Multi freedom polishing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106426077A (en) | Intelligent warehouse transfer robot | |
| CN202953062U (en) | Automatic carrier | |
| CN206123632U (en) | Intelligent warehouse transfer robot | |
| CN202953787U (en) | Self-unloading carrier | |
| CN108275127B (en) | A kind of shared automobile chassis battery changing mechanism | |
| CN104084743A (en) | Rotary system of large-rotation robot automatic welding device | |
| CN202213976U (en) | Multifunctional accessory installing production line for automobile windshield | |
| CN206140486U (en) | Intelligence transfer robot with lifting rotary mechanism | |
| CN202965252U (en) | Mechanically controlled full-automatic compaction forming equipment | |
| CN209158393U (en) | A kind of cargo transfer robot | |
| CN203461454U (en) | Boss part feed device | |
| CN203733904U (en) | Storage battery polar group casing upender | |
| CN203682446U (en) | Automatic feeding and discharging device with circulating table | |
| CN202163415U (en) | Device for replacing storage battery of electric vehicle | |
| CN202591015U (en) | Die changing device | |
| CN211309923U (en) | Factory automation line capable of saving manpower | |
| CN210703835U (en) | Feeding and discharging device of numerical control machine tool | |
| CN210475940U (en) | Lithium battery welding device | |
| CN203948495U (en) | Sieving-disc type ball enters slot device automatically | |
| CN106739102A (en) | A kind of pinion and rack aids in roll-in biomass flat-die forming machine | |
| CN206633024U (en) | A kind of seven station stamping manipulator automatic loading/unloading equipment | |
| CN203602013U (en) | Horizontal rotation stock bin | |
| CN214636834U (en) | Automatic feeding and grinding equipment for insulating paint | |
| CN216069687U (en) | Automatic electric automobile battery mounting system goes up and down | |
| CN215515675U (en) | Automatic storing and feeding rack |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170222 |
|
| RJ01 | Rejection of invention patent application after publication |