CN106671071B - Brick carrying robot - Google Patents
Brick carrying robot Download PDFInfo
- Publication number
- CN106671071B CN106671071B CN201610748735.1A CN201610748735A CN106671071B CN 106671071 B CN106671071 B CN 106671071B CN 201610748735 A CN201610748735 A CN 201610748735A CN 106671071 B CN106671071 B CN 106671071B
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- CN
- China
- Prior art keywords
- arm
- rotating shaft
- small
- rotating
- large arm
- 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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Links
- 239000011449 brick Substances 0.000 title claims abstract description 63
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 19
- 210000000078 claw Anatomy 0.000 claims description 13
- 210000000245 forearm Anatomy 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A brick carrying robot relates to a robot and comprises a base (15), a motor B (14), a rotating shaft (13), a rotating seat (16), a small arm driving mechanism, a large arm driving mechanism, an auxiliary rotating mechanism and a clamp mechanism, wherein the motor B and a speed reducer are fixed in the base (15), one side of the motor B is provided with the speed reducer, the upper part of the base is provided with a rotating shaft jacket, the speed reducer is fixedly connected with the rotating shaft in the rotating shaft jacket, the rotating seat is arranged on the upper part of the rotating shaft jacket, the small arm driving mechanism and the large arm driving mechanism are respectively arranged on the rotating seat and are connected through a rotating shaft A (27), the lower part of one end of the small arm driving mechanism is provided with the auxiliary rotating mechanism, and the auxiliary rotating mechanism and the clamp mechanism are fixedly arranged; the invention has simple structure and convenient use, realizes the purpose of replacing manual brick carrying by a machine brick carrying, and greatly increases the safety performance.
Description
Technical Field
The invention relates to a robot, in particular to a brick carrying robot.
Background
As is known, the bricks are carried by manual carrying, and the bricks are carried by manual carrying on a carrier or a supporting plate, so that the carrying is time-consuming and labor-consuming, the bricks are easy to damage, the safety is low, a large amount of manpower is consumed, and the production efficiency is low; therefore, a robot capable of automatically carrying bricks is proposed, which is a basic requirement of those skilled in the art.
Disclosure of Invention
In order to overcome the defects in the background technology, the invention discloses a brick carrying robot, and the aim of full-automatic brick carrying is achieved.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the utility model provides a remove brick robot, includes base, motor B, rotation axis, roating seat, forearm actuating mechanism, big arm actuating mechanism, auxiliary rotating mechanism and clamp mechanism, is fixed with motor B and speed reducer in the base, is equipped with the speed reducer in one side of motor B, is equipped with the rotation axis overcoat on the upper portion of base, the rotation axis fixed connection in speed reducer and the rotation axis overcoat is equipped with the roating seat on the upper portion of rotation axis overcoat, is equipped with forearm actuating mechanism and big arm actuating mechanism respectively on the roating seat, forearm actuating mechanism and big arm actuating mechanism pass through axis of rotation A and are connected, are equipped with auxiliary rotating mechanism in forearm actuating mechanism's one end lower part, auxiliary rotating mechanism and clamp mechanism are fixed to be set up.
The brick carrying robot comprises a clamping plate A, a large arm motor, a large arm driving arm, a large arm driven arm, a large arm sliding block and a large arm support, wherein the clamping plate A is arranged on one side of a rotating seat, the large arm driving arm is driven by the large arm motor, one end of the large arm driving arm is fixedly connected with the clamping plate A, the other end of the large arm driving arm is connected with the large arm sliding block through the large arm support, the large arm sliding block is arranged on the outer side face of the large arm, one end of the large arm is movably connected with the rotating seat through a rotating shaft, one end of the large arm driven arm is movably connected with an extending face of the rotating seat through the support, and the other end of the large arm driven arm and one end of the large arm are movably connected with a connecting plate on the rotating shaft A.
The brick carrying robot is characterized in that the large arm driving arm is an electric push rod.
The brick carrying robot comprises a small arm motor, a small arm driving arm, a small arm support, a small arm driven arm, a small arm and a clamping plate B, wherein the small arm driving arm is driven by the small arm motor, one end of the small arm driving arm is movably connected with the upper end of the clamping plate B, the lower end of the clamping plate B is fixedly arranged on two side surfaces of a large arm sliding block, the other end of the small arm driving arm is slidably arranged on the outer side surface of the small arm through the small arm support, one end of the small arm driven arm is movably connected with a connecting plate on a rotating shaft A, one end of the small arm is movably connected with the rotating shaft A, the other end of the small arm is movably connected with the rotating shaft B, the other end of the small arm driven arm is movably connected with a connecting plate on the rotating shaft B, and the connecting plate is connected with an auxiliary rotating mechanism.
The brick carrying robot is characterized in that the small arm driving arm is an electric push rod.
The brick carrying robot is characterized in that the connecting plate is triangular, supporting points are arranged at three vertexes of the connecting plate, and the three supporting points are respectively and movably connected with the large arm driven arm, the small arm driven arm and the rotating shaft A.
The brick carrying robot comprises a motor A, a rotating gear and a connecting shaft, wherein the rotating gear is arranged on one side of a connecting disc, the rotating gear is fixedly connected with a speed reducer at the lower part, the speed reducer is fixedly connected with the motor A, the connecting shaft is fixedly arranged on one side of the rotating gear, and the connecting shaft is fixedly connected with a clamping mechanism.
The brick carrying robot is characterized in that the clamping mechanism comprises a mechanical claw, a grabbing clamp A, a grabbing clamp B, a cylinder seat and a cylinder, wherein the mechanical claw is arranged at one end of the connecting shaft, the grabbing clamp A and the grabbing clamp B which are movably arranged are arranged at one end of the mechanical claw at intervals, the upper parts of the grabbing clamp A and the grabbing clamp B are connected through an S-shaped connecting plate, the cylinder seat for fixing the cylinder is arranged at the lower part of the mechanical claw, and a piston rod of the cylinder is fixedly connected with the lower part of the grabbing clamp B.
The brick carrying robot is characterized in that two fulcrums are arranged on the connecting disc and are respectively and movably connected with the rotating shaft B and the small arm driven arm.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. according to the brick carrying robot, the motor B is arranged to drive the rotating shaft in the rotating shaft jacket to rotate, so that the rotating seat drives the large arm driving mechanism and the small arm driving mechanism to swing in a large range in the horizontal direction, and after the clamping mechanism is close to a brick, the small range of the angle of the auxiliary rotating mechanism in the horizontal direction is adjusted, so that the clamping mechanism is effectively ensured to clamp the brick rapidly and smoothly;
2. according to the invention, the large arm driving arm and the small arm driving arm are arranged as the electric push rods, the electric push rods convert the rotary motion of the motor into the linear motion of the electric push rods, and then the electric push rods push the large arm and the small arm respectively, so that the large arm and the small arm are stretched out or retracted, the labor efficiency is improved, the traditional manual brick carrying work is replaced, and the labor force is effectively saved; the invention has simple structure and convenient use, realizes the purpose of replacing manual brick carrying by a machine brick carrying, and greatly increases the safety performance.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the connection structure of the auxiliary rotating mechanism and the clamping mechanism according to the present invention;
in the figure: 1. a forearm motor; 2. a forearm drive arm; 3. a connecting plate; 4. a forearm support; 5. a forearm driven arm; 6. a mechanical claw; 7. a grasping forceps A; 8. a brick; 9. a grasping forceps B; 10. a cylinder block; 11. a cylinder; 12. a motor A; 13. a rotating shaft jacket; 14. a motor B; 15. a base; 16. a rotating seat; 17. a clamping plate A; 18. a large arm motor; 19. a large arm driving arm; 20. a support; 21. a large arm driven arm; 22. a large arm; 23. a large arm slider; 24. a large arm support; 25. a forearm; 26. a clamping plate B; 27. a rotating shaft A; 28. a rotating shaft B; 29. rotating the gear; 30. a connecting disc; 31. and a connecting shaft.
Detailed Description
The invention will be explained in more detail by the following examples, the purpose of which is to protect all technical improvements within the scope of the invention.
The brick carrying robot comprises a base 15, a motor B14, a rotating shaft 13, a rotating seat 16, a small arm driving mechanism, a large arm driving mechanism, an auxiliary rotating mechanism and a clamping mechanism, wherein the motor B14 and a speed reducer are fixed in the base 15, one side of the motor B14 is provided with the speed reducer, the upper part of the base 15 is provided with a rotating shaft jacket 13, the speed reducer is fixedly connected with the rotating shaft in the rotating shaft jacket 13, the rotating seat 16 is arranged on the upper part of the rotating shaft jacket 13, the small arm driving mechanism and the large arm driving mechanism are respectively arranged on the rotating seat 16 and are connected through a rotating shaft A27, the lower part of one end of the small arm driving mechanism is provided with the auxiliary rotating mechanism, and the auxiliary rotating mechanism and the clamping mechanism are fixedly arranged.
The brick carrying robot is characterized in that the large arm driving mechanism comprises a clamping plate A17, a large arm motor 18, a large arm driving arm 19, a large arm driven arm 21, a large arm 22, a large arm sliding block 23 and a large arm support 24, wherein the clamping plate A17 is arranged on one side of the rotating seat 16, the large arm driving arm 19 is driven by the large arm motor 18, one end of the large arm driving arm 19 is fixedly connected with the clamping plate A17, the other end of the large arm driving arm 19 is connected with the large arm sliding block 23 through the large arm support 24, the large arm sliding block 23 is slidably arranged on the outer side surface of the large arm 22, one end of the large arm 22 is movably connected with the rotating seat 16 through a rotating shaft, one end of the large arm driven arm 21 is movably connected with the extending surface of the rotating seat 16 through a support 20, and the other end of the large arm driven arm 21 and one end of the large arm 22 are movably connected with the connecting plate 3 on the rotating shaft A27.
In the brick carrying robot, the large arm driving arm 19 is an electric push rod.
The brick carrying robot is characterized in that the small arm driving mechanism comprises a small arm motor 1, a small arm driving arm 2, a small arm support 4, a small arm driven arm 5, a small arm 25 and a clamping plate B26, wherein the small arm driving arm 2 is driven by the small arm motor 1, one end of the small arm driving arm 2 is movably connected with the upper end of the clamping plate B26, the lower end of the clamping plate B26 is fixedly arranged on two side surfaces of a large arm sliding block 23, the other end of the small arm driving arm 2 is slidably arranged on the outer side surface of the small arm 25 through the small arm support 4, one end of the small arm driven arm 5 is movably connected with a connecting plate 3 on a rotating shaft A27, one end of the small arm 25 is movably connected with the rotating shaft A27, the other end of the small arm 25 is movably connected with a rotating shaft B28, the other end of the small arm driven arm 5 is movably connected with a connecting plate 30 on the rotating shaft B28, and the connecting plate 30 is connected with an auxiliary rotating mechanism.
The brick carrying robot is characterized in that the small arm driving arm 2 is an electric push rod.
The brick carrying robot is characterized in that the connecting plate 3 is arranged in a triangle shape, the three vertexes of the connecting plate 3 are respectively provided with a fulcrum, and the three fulcrums are respectively and movably connected with the big arm driven arm 21, the small arm driven arm 5 and the rotating shaft A27.
The brick carrying robot comprises a motor A12, a rotating gear 29 and a connecting shaft 31, wherein the rotating gear 29 is arranged on one side of a connecting disc 30, the rotating gear 29 is fixedly connected with a speed reducer at the lower part, the speed reducer is fixedly connected with the motor A12, the connecting shaft 31 is fixedly arranged on one side of the rotating gear 29, and the connecting shaft 31 is fixedly connected with a clamping mechanism.
The brick carrying robot is characterized in that the clamping mechanism comprises a mechanical claw 6, a grabbing clamp A7, a grabbing clamp B9, a cylinder seat 10 and a cylinder 11, wherein the mechanical claw 6 is arranged at one end of a connecting shaft 31, the grabbing clamp A7 and the grabbing clamp B9 which are movably arranged are arranged at one end of the mechanical claw 6 at intervals, the upper parts of the grabbing clamp A7 and the grabbing clamp B9 are connected through an S-shaped connecting plate, the cylinder seat 10 for fixing the cylinder 11 is arranged at the lower part of the mechanical claw 6, and a piston rod of the cylinder 11 is fixedly connected with the lower part of the grabbing clamp B9.
In the brick carrying robot, two fulcrums are arranged on the connecting disc 30 and are respectively and movably connected with the rotating shaft B28 and the small arm driven arm 5.
When the brick carrying robot is used, the large arm driving arm 19, namely the large arm motor 18 of the electric push rod, is started to extend the large arm driving arm 19, and the large arm sliding block 23 at one end of the large arm driving arm 19 slides on the outer side surface of the large arm 22 to enable the clamping plate B26 to act; the small arm motor 1 is started to enable the small arm driving arm 2 to extend, the small arm driving arm 2 slides on the outer side face of the small arm 25, the small arm driven arm 5 and the large arm driven arm 21 are driven to act, the small arm 25 extends towards the direction of the mechanical gripper 6, the mechanical gripper 6 extends into the brick machine, the small arm 25 is connected through a rotating shaft B28 on one side of the connecting disc 30, the rotating shaft in the rotating shaft jacket 13 is driven to rotate through the motor B14, the rotating seat 16 drives the large arm driving mechanism and the small arm driving mechanism to swing in a large range in the horizontal direction, the swinging range is 0-360 degrees, a rotating gear 29 arranged on the connecting disc 30 is driven by a motor A12 and a speed reducer, the rotating gear 29 drives a connecting shaft 31 to adjust the rotating angle in a small range in the horizontal direction, the rotating angle is 0-90 degrees, a clamp B9 and a clamp A7 at the end part of the mechanical gripper 6 are aligned with the brick machine, a cylinder 11 at the lower part of the mechanical gripper 6 acts, a piston rod of the cylinder 11 extends to jack the clamp B9, the clamp B9 and the clamp B7 on two side faces of the brick clamp 8, the brick clamp 19 and the brick clamp A7 are regulated, the brick clamp arm 19 and the brick clamp 8 are driven by the rotating arm B7 and the rotating in a large range, the brick clamp 19 and the brick clamp 8 are required to be pulled back to the brick clamp 8, the brick clamp 8 and the brick clamp 8 are pulled down, the brick clamp 7 and the brick clamp 8 are pulled down from the brick clamp 7, the brick clamp 7 and the brick clamp 8, the brick clamp is pulled and the brick clamp 8 and the brick clamp 9 is pulled down and the brick clamp 8.
The invention is not described in detail in the prior art.
The embodiments selected herein for the purposes of disclosing the present invention are presently considered to be suitable, however, it is to be understood that the present invention is intended to include all such variations and modifications as fall within the spirit and scope of the present invention.
Claims (4)
1. The utility model provides a remove brick robot, includes base (15), motor B (14), rotation axis (13), roating seat (16), forearm actuating mechanism, big arm actuating mechanism, supplementary rotary mechanism and clamping mechanism, characterized by: a motor B (14) and a speed reducer are fixed in a base (15), one side of the motor B (14) is provided with the speed reducer, the upper part of the base (15) is provided with a rotating shaft jacket (13), the speed reducer is fixedly connected with a rotating shaft in the rotating shaft jacket (13), the upper part of the rotating shaft jacket (13) is provided with a rotating seat (16), the rotating seat (16) is respectively provided with a small arm driving mechanism and a large arm driving mechanism, the small arm driving mechanism and the large arm driving mechanism are connected through a rotating shaft A (27), the lower part of one end of the small arm driving mechanism is provided with an auxiliary rotating mechanism, and the auxiliary rotating mechanism is fixedly arranged with a clamp mechanism; the large arm driving mechanism comprises a clamping plate A (17), a large arm motor (18), a large arm driving arm (19), a large arm driven arm (21), a large arm (22), a large arm sliding block (23) and a large arm support (24), wherein the clamping plate A (17) is arranged on one side of the rotating seat (16), the large arm driving arm (19) is driven by the large arm motor (18), one end of the large arm driving arm (19) is fixedly connected with the clamping plate A (17), the other end of the large arm driving arm (19) is connected with the large arm sliding block (23) through the large arm support (24), the large arm sliding block (23) is arranged on the outer side face of the large arm (22) in a sliding mode, one end of the large arm (22) is movably connected with the rotating seat (16) through a rotating shaft, one end of the large arm driven arm (21) is movably connected with an extending face of the rotating seat (16) through the support (20), and the other end of the large arm driven arm (21) and one end of the large arm (22) are movably connected with a connecting plate (3) on the rotating shaft A (27); the large arm driving arm (19) is an electric push rod; the small arm driving mechanism comprises a small arm motor (1), a small arm driving arm (2), a small arm support (4), a small arm driven arm (5), a small arm (25) and a clamping plate B (26), wherein the small arm driving arm (2) is driven by the small arm motor (1), one end of the small arm driving arm (2) is movably connected with the upper end of the clamping plate B (26), the lower end of the clamping plate B (26) is fixedly arranged on two side surfaces of a large arm sliding block (23), the other end of the small arm driving arm (2) is slidably arranged on the outer side surface of the small arm (25) through the small arm support (4), one end of the small arm driven arm (5) is movably connected with a connecting plate (3) on a rotating shaft A (27), one end of the small arm (25) is movably connected with the rotating shaft A (27), the other end of the small arm (25) is movably connected with the rotating shaft B (28), the other end of the small arm driven arm (5) is movably connected with a connecting plate (30) on the rotating shaft B (28), and the other end of the small arm driven arm (5) is movably connected with the rotating shaft B (30) and is connected with the auxiliary rotating mechanism; the small arm driving arm (2) is an electric push rod; the connecting plate (3) is arranged into a triangle, the three vertexes of the connecting plate (3) are respectively provided with a fulcrum, and the three fulcrums are respectively and movably connected with the big arm driven arm (21), the small arm driven arm (5) and the rotating shaft A (27).
2. The brick carrying robot of claim 1 wherein: the auxiliary rotating mechanism comprises a motor A (12), a rotating gear (29) and a connecting shaft (31), wherein the rotating gear (29) is arranged on one side of a connecting disc (30), the rotating gear (29) is fixedly connected with a speed reducer at the lower part, the speed reducer is fixedly connected with the motor A (12), the connecting shaft (31) is fixedly arranged on one side of the rotating gear (29), and the connecting shaft (31) is fixedly connected with the clamping mechanism.
3. The brick carrying robot of claim 1 wherein: the clamp mechanism comprises a mechanical claw (6), a clamp A (7), a clamp B (9), a cylinder seat (10) and a cylinder (11), wherein the mechanical claw (6) is arranged at one end of a connecting shaft (31), the clamp A (7) and the clamp B (9) which are movably arranged are arranged at one end of the mechanical claw (6) at intervals, the upper parts of the clamp A (7) and the clamp B (9) are connected through an S-shaped connecting plate, the cylinder seat (10) for fixing the cylinder (11) is arranged at the lower part of the mechanical claw (6), and a piston rod of the cylinder (11) is fixedly connected with the lower part of the clamp B (9).
4. The brick carrying robot of claim 1 wherein: two fulcrums are arranged on the connecting disc (30) and are respectively and movably connected with the rotating shaft B (28) and the small arm driven arm (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610748735.1A CN106671071B (en) | 2016-08-30 | 2016-08-30 | Brick carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610748735.1A CN106671071B (en) | 2016-08-30 | 2016-08-30 | Brick carrying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106671071A CN106671071A (en) | 2017-05-17 |
| CN106671071B true CN106671071B (en) | 2023-11-24 |
Family
ID=58839405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610748735.1A Active CN106671071B (en) | 2016-08-30 | 2016-08-30 | Brick carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671071B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748126A (en) * | 2018-06-04 | 2018-11-06 | 广州引航者信息科技有限公司 | A kind of Ban Zhuan robots |
| CN109807927A (en) * | 2019-03-14 | 2019-05-28 | 长春工业大学 | A kind of V belt translation formula robot arm |
| CN110886497B (en) * | 2019-10-29 | 2021-08-24 | 无为县华标新型墙体材料有限公司 | Multi-angle delivering device for sand-lime bricks |
| CN110902371A (en) * | 2019-12-10 | 2020-03-24 | 宜兴市格雷普林业机械有限公司 | High-freedom-degree clamping arm for collecting materials |
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| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106671071A (en) | 2017-05-17 |
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