CN108100062B - A kind of intelligent plant mobile robot - Google Patents
A kind of intelligent plant mobile robot Download PDFInfo
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- CN108100062B CN108100062B CN201711492230.4A CN201711492230A CN108100062B CN 108100062 B CN108100062 B CN 108100062B CN 201711492230 A CN201711492230 A CN 201711492230A CN 108100062 B CN108100062 B CN 108100062B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent plant mobile robots, including being used to support the car body of general frame and the principal organ of composition general frame, the principal organ includes: power mechanism, rotating mechanism, swing mechanism, rushing board mechanism, it is connected on the inside of the power mechanism right end with rear main wheel rotatable engagement, the rear main wheel is rotatable through symmetrically arranged rear wheel plate, it is connected on the inside of wheel plate right end with back front driven wheel rotatable engagement after described, it is connected on the inside of the power mechanism left end with preceding driving wheel rotatable engagement, it is connected on the inside of the power mechanism left end with preceding driving wheel rotatable engagement, the preceding driving wheel is rotatable to run through symmetrically arranged preceding wheel plate, it is connected on the inside of the preceding wheel plate left end with front driven wheel rotatable engagement, apparatus of the present invention structure is simple, it is easy to use, using different flexible mechanisms, it improves work efficiency And the accuracy that cargo picks and places, there is good power performance.
Description
Technical field
The present invention relates to intelligent plant fields, and in particular to a kind of intelligent plant mobile robot.
Background technique
With the proposition of industry 4.0, the strategic objective of state in progress of China manufacture 2025, in today of new era,
Intelligentized factory is gradually replacing traditional manufacturing works, in intelligent chemical plant using it is most common be robot, mesh
The function that preceding robot has is excessively single, this mobile robot uses different flexible mechanisms in cargo pick-and-place, improves
The accuracy that working efficiency and cargo pick and place, has good power performance.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent plant mobile robots, and the above-mentioned of the prior art can be overcome to lack
It falls into.
According to the present invention, a kind of intelligent plant mobile robot of apparatus of the present invention, including being used to support general frame
The principal organ of car body and composition general frame, the principal organ include: power mechanism, rotating mechanism, swing mechanism, institute
State and be connected on the inside of power mechanism right end with rear main wheel rotatable engagement, the rear main wheel is rotatable run through symmetrically arranged after
Wheel plate, the rear wheel plate right end inside are connected with back front driven wheel rotatable engagement, the power mechanism left end inside and preceding driving wheel
Rotatable engagement linking, the preceding driving wheel is rotatable to run through symmetrically arranged preceding wheel plate, and the preceding wheel plate left end inside is with before
The linking of driven wheel rotatable engagement, the rear main wheel, back front driven wheel outer ring are connected with one group of crawler belt rotatable engagement, described preceding driven
Wheel, preceding driving wheel outer ring are connected with another group of crawler belt rotatable engagement, so that it is described to be transmitted to the power of the power mechanism
Rear main wheel and the preceding driving wheel, drive mobile robot to carry out forward-reverse, and car body lower end pillar is rotatable
It is provided with two groups and wears axis, the axis difference of wearing is rotatable through the rear wheel plate, preceding wheel plate, so that mobile robot be made to meet
The stability of entire frame can be still kept when adjusting height to barrier, the car body upper end is fixedly installed whirler
Structure, the rotating mechanism upper end is rotatable to be provided with swing mechanism, and the swing mechanism left and right sides is rotatable to be symmetrical arranged
There is the first push shaft mechanism, first push shaft mechanism upper end is telescopic to be provided with rushing board mechanism, the left and right directions of the car body
For direction of advance.
Further technical solution, the power mechanism include that power electric drives machine, power electric drives machine plate, headstock, move
Power case cavity, the active force gear teeth, from power wheel tooth, active force sprocket wheel, from power chain, turn change, the power electric drives machine
It being fixedly installed on power electric and drives machine plate left end face, the power electric drives machine plate right end face and is connected with headstock fixation,
Headstock cavity is provided in the headstock, the line shaft that the power electric drives machine is rotatable through the headstock cavity
Inner left wall, the fixation of the line shaft right-hand end and the active force gear teeth be connecteds, the active force gear teeth and from power wheel tooth tooth form
Linking, described to be connected from the fixation of power wheel tooth and rear main wheel left end shaft, the rear main wheel left end shaft is rotatable to be run through and sets
It is placed in the turn change of inner wall on the right side of the headstock cavity, the rear main wheel left end shaft is fixedly installed active force sprocket wheel,
The active force sprocket wheel is connected by chain with from power chain rotatable engagement, described from power chain and preceding driving wheel left end shaft
Fixed linking, the same rotatable turn for being disposed through inner wall on the right side of the headstock cavity of the preceding driving wheel left end shaft
Change, said mechanism are symmetrically disposed on mobile robot both ends, and difference is that the other end is fitted without the power electric and drives machine, master
The power gear teeth, from power wheel tooth, remaining is symmetrical, to can still make moving machine when mobile robot height adjustment
Device people works on and even running.
Further technical solution, the rotating mechanism includes buckle, buckle cavity, that electric rotating drives machine, the first active is same
It walks belt wheel, the first synchronous belt, the first passive and synchronous belt wheel, the second passive and synchronous belt wheel, the second active synchronization belt wheel, swing electricity drive
Machine, column spinner change, rotary body, column spinner cavity, column spinner, main shaft change, the buckle lower end and the car body upper end are solid
Fixed cooperation is connected, and buckle cavity is provided in the buckle, and buckle upper end left and right sides is fixedly installed electric rotating drive respectively
Machine swings electric drive machine, and the electric rotating drives the rotatable upper end inner wall and first through the buckle cavity of line shaft of machine
The linking of active synchronization belt wheel secure fit, the rotatable upper end through the buckle cavity of line shaft for swinging electric drive machine
Inner wall is connected with the second active synchronization belt wheel secure fit, and position is fixedly installed rotation among the inner wall of buckle cavity upper end
Column change, it is rotatable in the column spinner change to be provided with rotary body, the rotary body lower end and the first passive and synchronous belt wheel
Secure fit linking, the first passive and synchronous belt wheel pass through the first synchronous belt and the first active synchronization belt wheel rotatable engagement
Linking, a rotating body are provided with column spinner cavity, and the column spinner cavity inner wall upper and lower sides are fixedly installed two groups of main shafts
Change, rotatable in the main shaft change to be provided with column spinner, it is passive and synchronous that the column spinner lower end is fixedly installed second
Belt wheel, the second passive and synchronous belt wheel are connected by the second synchronous belt with the second active synchronization belt wheel rotatable engagement, institute
It states rotary body upper end to be connected with the swing mechanism secure fit, to improve the power performance of mobile robot.
Further technical solution, the swing mechanism include: transmission case, transmission case cavity, transmission case change, the second wheel
Tooth shaft, the second cone pulley tooth, the first cone pulley tooth, shaft coupling, first round tooth shaft, the transmission case are fixedly installed on the rotary body
It holds, transmission case cavity is provided in the transmission case, the column spinner upper end is rotatable to run through transmission case cavity lower end
Position is connected with the first cone pulley tooth secure fit among inner wall, and the transmission case cavity left and right sides inner wall is fixedly installed two groups of biographies
Dynamic case change, it is rotatable in the transmission case change to be provided with the second wheel tooth shaft, first round tooth shaft, the second wheel tooth shaft,
First round tooth shaft is connected by shaft coupling rotatable engagement, and second wheel tooth shaft outer ring is fixedly installed the second cone pulley tooth, described
Second cone pulley tooth is connected with the first cone pulley tooth tooth form cooperation, and the first push shaft machine is fixedly installed in second wheel tooth shaft left end
Structure, the first push shaft mechanism is equally fixedly installed in the first round tooth shaft right end, to convert institute for the rotation of the column spinner
The rotation for stating the first push shaft mechanism, improves the operation flexibility of mobile robot.
Further technical solution, first push shaft mechanism include: push shaft case, push shaft change, interior spiral reel, push shaft case
Cavity, helical hole, reduction gearbox, the active gear teeth, the driven gear teeth, reduction gearbox cavity, reduction gearbox electricity drive machine, helical block, optical axis, inner hole
Block, fixture block are provided with push shaft case cavity in the push shaft case, and the push shaft case cavity upper and lower side inner wall is fixedly installed two groups and pushes away
Axis change, it is rotatable in the push shaft change to be provided with interior spiral reel, helical hole, the spiral shell are provided in the interior spiral reel
String holes is connected with the cooperation of helical block helical, and helical block upper end is fixedly installed optical axis, and the optical axis movably runs through institute
State helical hole, push shaft case cavity upper end inner wall is connected with inner hole block secure fit, the optical axis and the fixture block are slidably matched company
It connects, the push shaft case is fixedly installed reduction gearbox far from swing mechanism position open at one end, is provided in the reduction gearbox
Reduction gearbox cavity, the reduction gearbox upper surface are fixedly installed reduction gearbox electricity and drive machine, and the line shaft that the reduction gearbox electricity drives machine can
Rotation is connected through reduction gearbox cavity upper end inner wall with active gear teeth secure fit, the driven gear teeth and the interior spiral shell
The linking of spool secure fit, the active gear teeth are connected with the driven gear teeth tooth form cooperation.
Further technical solution, the rushing board mechanism include: L-type plate, vertical block, push plate optical axis, push plate, push-jump optical axis,
Second push shaft mechanism, L-type plate upper surface left-hand portion are symmetrically fixedly installed two groups of vertical blocks, and the vertical block upper end is rotatable
Be provided with push plate optical axis, the push plate optical axis outer ring be connected with lower end fixation on the right side of push plate, push plate right side upper end
Position is fixedly installed push-jump optical axis, and the push-jump optical axis outer ring is rotatable to be provided with inner hole block, and the inner hole block right end is solid
Surely it is provided with the second push shaft mechanism, second push shaft mechanism is fixedly installed on upper-end part of driving on the right side of L-type plate.
The beneficial effects of the present invention are:
Car body in apparatus of the present invention is in the initial state, described to wear axis to be rotatably arranged on the car body lower end convex
Column, it is described wear axis it is rotatable through the symmetrically arranged preceding wheel plate in front and back, car body described in rear wheel plate supports entirely as frame
Mobile robot, the preceding left back end of wheel plate is rotatable to be provided with front driven wheel, and the preceding wheel plate right rear end is rotatable to be set
It is equipped with preceding driving wheel, the preceding driving wheel is connected through the preceding wheel plate with power mechanism cooperation, the front driven wheel, preceding active
Wheel is connected by crawler belt rotatable engagement, and the rear wheel plate right rear end is rotatable to be provided with back front driven wheel, and the rear wheel plate is left back
Hold it is rotatable be provided with rear main wheel, rear main wheel wheel plate after described cooperates with power mechanism to be connected, after described
Driven wheel, rear main wheel are connected by crawler belt rotatable engagement, and the car body upper end is fixedly installed rotating mechanism, the whirler
Structure upper end is fixedly installed swing mechanism, and the swing mechanism left and right sides is symmetrically fixedly installed the first push shaft mechanism, and described
One push shaft mechanism upper end is fixedly installed rushing board mechanism, to constitute entire mobile robot, different structure improves robot
Flexibility and ease of use.
In use, the power mechanism work, drives mobile robot mobile, and when needing to carry out goods movement, control
The rotating mechanism makes partially to be rotated on trolley and the first push shaft mechanism is swung up and down, when cargo distance farther out when, control
First push shaft mechanism is flexible to make the rushing board mechanism that can freely overturn pick-and-place cargo, so that it is efficient to have mobile robot
The mobile efficiency of the picking of rate.
When starting mobile robot, the power electric, which drives mechanomotive force axis, drives the main power wheel tooth spiral to turn, with active
The slave power wheel tooth of wheels tooth tooth form cooperation also rotates with, described to hold in the mouth from power wheel tooth and the rear main wheel front end are fixed
It connects, the rear main wheel also rotates with, and the active force sprocket wheel is connected with rear main wheel front end fixation, the active force
Sprocket wheel is connected by chain with from power chain rotatable engagement, described to hold in the mouth from power chain with the preceding driving wheel secure fit
Connect, the rotation of the rear main wheel be transferred to it is described from power chain, preceding driving wheel, so that it is excellent to have mobile robot
Elegant walking function.
When mobile robot top half needs to rotate, the electric rotating drives machine work and drives first active
Synchronous pulley is rotated, and first active synchronization belt wheel passes through the first synchronous belt and the first passive and synchronous belt wheel rotatable engagement
Linking, then the described first passive and synchronous belt wheel is also rotated, under the first passive and synchronous belt wheel upper end and the rotary body
Secure fit linking is held, then the rotary body is also rotated, and the rotary body upper end is matched with swing mechanism lower end fixation
Linking is closed, then the swing mechanism is also rotated, so that mobile robot be made to have the function of rotation, improves work model
It encloses.
When mobile robot needs to carry out angular adjustment according to cargo height, the electric drive machine work of the swing drives described
The rotation of second active synchronization belt wheel, second active synchronization belt wheel are rotated by the first synchronous belt and the second passive and synchronous belt wheel
Cooperation linking, then the described second passive and synchronous belt wheel is also rotated.The second passive and synchronous belt wheel upper end and the rotation
The linking of column secure fit, then the column spinner is also rotated, the column spinner upper end and the first cone pulley tooth secure fit
Linking, the first cone pulley tooth are connected with the second cone pulley tooth tooth form cooperation, then the first cone pulley tooth, the second cone pulley tooth
Rotated, the second cone pulley tooth with it is described second wheel tooth shaft secure fit be connected, it is described second take turns tooth shaft left end with it is described
The linking of first push shaft mechanism secure fit, the second wheel tooth shaft right end are connected with the shaft coupling secure fit, the shaft coupling
Device right end is connected with the first round tooth shaft secure fit, and the first round tooth shaft right end is matched with the fixation of first push shaft mechanism
Linking is closed, then the push shaft mechanism is also rotated, to realize the function that mobile robot is adjusted according to cargo height, is mentioned
High working range, and there is good mobility.
When mobile robot is needed when relatively picking and placing cargo at a distance, the first push shaft reduction gearbox electricity within the organization drives machine
Work drives the driving wheel tooth spiral to turn, and the active gear teeth are connected with the cooperation of driven gear teeth tooth form, then the driven gear teeth
It is rotated, the driven gear teeth are connected with the interior spiral reel secure fit, then the interior spiral reel is also rotated, described
Helical hole is provided in interior spiral reel, the helical hole is connected with the cooperation of helical block helical, and the optical axis and the fixture block are sliding
Dynamic be cooperatively connected limits the optical axis and rotates, then by the translating rotation of the interior spiral reel be the helical block on move down
Dynamic, helical block upper end is fixedly installed optical axis, then the optical axis also moves up and down, the optical axis upper end fixed setting
Have inner hole block, be provided with mobile cavity in the inner hole block, can be used for mobile cooperation linking, thus allow mobile robot compared with
It is remote to pick and place cargo, improve convenience.
When mobile robot is when picking and placing cargo, the second push shaft mechanism in the rushing board mechanism stretches, drive with
The push-jump optical axis of inner hole block rotatable engagement linking is moved forward and backward, and the push-jump optical axis is connected with the push plate secure fit, described
Push plate is connected with the cooperation of push plate optical axis rotation, and the push plate optical axis is connected with vertical block secure fit, then before the push-jump optical axis
After when moving, swing the push plate under the action of push plate optical axis, make to realize robot and pick and place cargo
Flexibility can be improved, the production time has been saved with flip angle.
Apparatus of the present invention structure is simple, easy to use, using different flexible mechanisms, improves work efficiency and cargo
The accuracy of pick-and-place has good power performance.The above, the specific embodiment only invented, but the protection invented
Range is not limited thereto, and any change or replacement expected without creative work should all cover the protection model in invention
Within enclosing.Therefore, the protection scope of invention should be determined by the scope of protection defined in the claims.
Detailed description of the invention
It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution in the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only to invent
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of overall structure diagram of intelligent plant mobile robot of the invention；
Fig. 2 is the enlarged structure schematic diagram of power mechanism 108 in Fig. 1；
Fig. 3 is the enlarged structure schematic diagram of rotating mechanism 115 in Fig. 1；
Fig. 4 is the enlarged structure schematic diagram of swing mechanism 116 in Fig. 1；
Fig. 5 is the enlarged structure schematic diagram of the first push shaft mechanism 117 in Fig. 1；
Fig. 6 is the enlarged structure schematic diagram of rushing board mechanism 118 in Fig. 1.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
As shown in figures 1 to 6, a kind of intelligent plant mobile robot of the invention, the car body including being used to support general frame
114 and form general frame principal organ, the principal organ includes: power mechanism 108, rotating mechanism 115, oscillating machine
Structure 116,108 right end of the power mechanism inside are connected with 106 rotatable engagement of rear main wheel, and the rear main wheel 106 is rotatable
The wheel plate 102 after symmetrically arranged, be connected on the inside of 102 right end of wheel plate after described with 105 rotatable engagement of back front driven wheel, it is described
It is connected on the inside of 108 left end of power mechanism with preceding 109 rotatable engagement of driving wheel, the preceding driving wheel 109 is rotatable through symmetrical
The preceding wheel plate 111 being arranged, preceding 111 left end of the wheel plate inside are connected with 110 rotatable engagement of front driven wheel, the rear main wheel
106,105 outer ring of back front driven wheel is connected with one group of 107 rotatable engagement of crawler belt, the front driven wheel 110,109 outer ring of preceding driving wheel
It is connected with another group of 107 rotatable engagement of crawler belt, so that the power of the power mechanism 108 be made to be transmitted to the rear main wheel
106 and the preceding driving wheel 109, drive mobile robot to carry out forward-reverse, the 114 lower end pillar of car body is rotatable
It is provided with two groups and wears axis 112, the axis 112 of wearing distinguishes rotatable wheel plate 102, preceding wheel plate 111 after described, to make to move
Mobile robot can still keep the stability of entire frame when encountering barrier and adjusting height, and 114 upper end of car body is solid
Surely it is provided with rotating mechanism 115,115 upper end of rotating mechanism is rotatable to be provided with swing mechanism 116, the swing mechanism
116 left and right sides are rotatable to be symmetrically arranged with the first push shaft mechanism 117, and first push shaft mechanism, 117 upper ends are telescopic to be set
It is equipped with rushing board mechanism 118, the left and right directions of the car body 114 is direction of advance.
Valuably, wherein the power mechanism 108 includes that power electric drives machine 201, power electric drives machine plate 202, headstock
203, headstock cavity 204, the active force gear teeth 205, from power wheel tooth 206, active force sprocket wheel 207, from power chain 208, rotation
Turn ring 210, the power electric drive machine 201 and are fixedly installed on power electric drive 202 left end face of machine plate, and the power electric drives machine
202 right end face of plate is connected with the fixation of headstock 203, and headstock cavity 204 is provided in the headstock 203, described dynamic
The line shaft that power electricity drives machine 201 is rotatable through 204 inner left wall of headstock cavity, the line shaft right-hand end and master
The fixed linking of the power gear teeth 205, the active force gear teeth 205 are connected with from 206 tooth form of power wheel tooth, described from power wheel tooth
206 are connected with the fixation of 106 left end shaft of rear main wheel, and 106 left end shaft of rear main wheel is rotatable to be disposed through described move
The turn change 210 of 204 right side inner wall of power case cavity, 106 left end shaft of rear main wheel are fixedly installed active force sprocket wheel
207, the active force sprocket wheel 207 is connected by chain 209 with from 208 rotatable engagement of power chain, described from power chain 208
It is connected with the fixation of preceding 109 left end shaft of driving wheel, preceding 109 left end shaft of driving wheel is equally rotatable to be disposed through described move
The turn change 210 of 204 right side inner wall of power case cavity, said mechanism are symmetrically disposed on mobile robot both ends, and difference is another
One end is fitted without the power electric and drives machine 201, the active force gear teeth 205, from power wheel tooth 206, remaining is symmetrical, thus when movement
When robot is adjusted, mobile robot can still be made to work on and even running.
Valuably, wherein the rotating mechanism 115 includes buckle 301, buckle cavity 302, electric rotating drive machine 303, first
Active synchronization belt wheel 304, the first synchronous belt 305, the first passive and synchronous belt wheel 306, the second passive and synchronous belt wheel 307, second are main
Dynamic synchronous pulley 308, swing electric drive machine 309, column spinner change 310, rotary body 311, column spinner cavity 312, column spinner 313,
Main shaft change 314,301 lower end of buckle are connected with the 114 upper end secure fit of car body, are provided in the buckle 301
Buckle cavity 302, the 301 upper end left and right sides of buckle are fixedly installed electric rotating respectively and drive machine 303, swing electric drive machine 309, institute
State the rotatable upper end inner wall and the first active synchronization band through the buckle cavity 302 of line shaft that electric rotating drives machine 303
Take turns the linking of 304 secure fits, the rotatable upper end through the buckle cavity 302 of line shaft for swinging electric drive machine 309
Inner wall is connected with 308 secure fit of the second active synchronization belt wheel, position fixed setting among the 302 upper end inner wall of buckle cavity
There is a column spinner change 310, it is rotatable in the column spinner change 310 to be provided with rotary body 311,311 lower end of rotary body
Be connected with the first passive and synchronous 306 secure fit of belt wheel, the first passive and synchronous belt wheel 306 by the first synchronous belt 305 with
First active synchronization belt wheel, 304 rotatable engagement is connected, and is provided with column spinner cavity 312, the rotation in the rotary body 311
312 inner wall upper and lower sides of rotary column cavity are fixedly installed two groups of main shaft changes 314, rotatable setting in the main shaft change 314
There is column spinner 313,313 lower end of column spinner is fixedly installed the second passive and synchronous belt wheel 307, the second passive and synchronous band
Wheel 307 is connected by the second synchronous belt 317 with 308 rotatable engagement of the second active synchronization belt wheel, 311 upper end of rotary body
It is connected with 116 secure fit of swing mechanism, to improve the power performance of mobile robot.
Valuably, wherein the swing mechanism 116 includes: transmission case 401, transmission case cavity 402, transmission case change
403, the second wheel tooth shaft 404, the second cone pulley tooth 405, the first cone pulley tooth 406, shaft coupling 407, first round tooth shaft 408, the biography
Dynamic case 401 is fixedly installed on 311 upper end of rotary body, is provided with transmission case cavity 402, the rotation in the transmission case 401
Match with the fixation of the first cone pulley tooth 406 at the rotatable position among 402 lower end inner wall of transmission case cavity in 313 upper end of rotary column
Linking is closed, the 402 left and right sides inner wall of transmission case cavity is fixedly installed two groups of transmission case changes 403, the transmission case change
It is rotatable in 403 to be provided with the second wheel tooth shaft 404, first round tooth shaft 408, the second wheel tooth shaft 404, first round tooth shaft
408 are connected by 407 rotatable engagement of shaft coupling, and second wheel, 404 outer ring of tooth shaft is fixedly installed the second cone pulley tooth 405, institute
It states the second cone pulley tooth 405 to be connected with 406 tooth form of the first cone pulley tooth cooperation, second wheel, 404 left end of tooth shaft fixed setting
First push shaft mechanism 117, the first push shaft mechanism 117 is equally fixedly installed in 408 right end of first round tooth shaft, thus by the rotation
The rotation of rotary column 313 is converted into the rotation of first push shaft mechanism 117, improves the operation flexibility of mobile robot.
Valuably, wherein the push shaft mechanism 117 includes: push shaft case 501, push shaft change 502, interior spiral reel 503, pushes away
Axle box cavity 504, helical hole 505, reduction gearbox 506, the active gear teeth 507, the driven gear teeth 508, reduction gearbox cavity 509, reduction gearbox
Electric drive machine 510, helical block 511, optical axis 512, inner hole block 513, fixture block 514 are provided with push shaft case cavity in the push shaft case 501
504, the 504 upper and lower side inner wall of push shaft case cavity is fixedly installed two groups of push shaft changes 502, can in the push shaft change 502
Rotation is provided with interior spiral reel 503, and helical hole 505, the helical hole 505 and helical are provided in the interior spiral reel 503
The cooperation linking of 511 helical of block, 511 upper end of helical block are fixedly installed optical axis 512, and the optical axis 512 movably runs through
The helical hole 505,504 upper end inner wall of push shaft case cavity are connected with 513 secure fit of inner hole block, the optical axis 512 with it is described
Fixture block 514 is slidably connected, and the push shaft case 501 is fixedly installed far from the swing mechanism 116 position open at one end to be subtracted
Fast case 506 is provided with reduction gearbox cavity 509 in the reduction gearbox 506, and 506 upper surface of reduction gearbox is fixedly installed deceleration
Case electricity drives machine 510, and the line shaft that the reduction gearbox electricity drives machine 510 is rotatable through the 509 upper end inner wall of reduction gearbox cavity
It is connected with 507 secure fit of the active gear teeth, the driven gear teeth 508 are connected with interior 503 secure fit of spiral reel, the master
Driving wheel tooth 507 is connected with driven 508 tooth form of the gear teeth cooperation.
Valuably, wherein the rushing board mechanism 118 include: L-type plate 601, vertical block 602, push plate optical axis 603, push plate 604,
Push-jump optical axis 605, the second push shaft mechanism, the 601 upper surface left-hand portion of L-type plate are symmetrically fixedly installed two groups of vertical blocks 602,
602 upper end of vertical block is rotatable to be provided with push plate optical axis 603,603 outer ring of push plate optical axis and 604 right side lower end of push plate
The fixed linking in position, the 604 right side upper-end part of driving of push plate are fixedly installed push-jump optical axis 605, push-jump 605 outer ring of optical axis
Rotatable to be provided with inner hole block 513,513 right end of inner hole block is fixedly installed the second push shaft mechanism, second push shaft
Mechanism is fixedly installed on 601 right side upper-end part of driving of L-type plate.
In the initial state, the axis 112 of wearing is rotatably arranged on the car body to car body 114 in apparatus of the present invention
114 lower end pillars, it is described wear axis 112 it is rotatable through the symmetrically arranged preceding wheel plate 111 in front and back, car body described in rear wheel plate 102
114 are used as frame to support entire mobile robot, and the left back end of the preceding wheel plate 111 is rotatable to be provided with front driven wheel 110,
111 right rear end of preceding wheel plate is rotatable to be provided with preceding driving wheel 109, and the preceding driving wheel 109 runs through the preceding wheel plate 111
It is connected with the cooperation of power mechanism 108, the front driven wheel 110, preceding driving wheel 109 are connected by 107 rotatable engagement of crawler belt, described
102 right rear end of wheel plate is rotatable afterwards is provided with back front driven wheel 105, it is described after the left back end of wheel plate 102 is rotatable be provided with after
Driving wheel 106, the rear main wheel 106 are connected through the rear wheel plate 102 with the cooperation of power mechanism 108, the back front driven wheel
105, rear main wheel 106 is connected by 107 rotatable engagement of crawler belt, and 114 upper end of car body is fixedly installed rotating mechanism 115,
115 upper end of rotating mechanism is fixedly installed swing mechanism 116, and 116 left and right sides of swing mechanism is symmetrically fixedly installed
First push shaft mechanism 117, first push shaft mechanism, 117 upper end are fixedly installed rushing board mechanism 118.
In use, the power mechanism 108 works, drive mobile robot mobile, when needing to carry out goods movement, control
Make the rotating mechanism 115 makes partially to be rotated on trolley and the first push shaft mechanism 117 is swung up and down, when cargo distance compared with
When remote, control first push shaft mechanism 117 is flexible to make the rushing board mechanism 118 that can freely overturn pick-and-place cargo.
When starting mobile robot, the power electric, which drives 201 line shaft of machine, drives the active force gear teeth 205 to rotate,
It is also rotated with the slave power wheel tooth 206 of 205 tooth form of active force gear teeth cooperation, it is described from power wheel tooth 206 and described rear main
The fixed linking in 106 front end of driving wheel, the rear main wheel 106 also rotate with, the active force sprocket wheel 207 and the rear main wheel
The fixed linking in 106 front ends, the active force sprocket wheel 207 is connected by chain 209 with from 208 rotatable engagement of power chain, described
It is connected from power chain 208 with preceding 109 secure fit of driving wheel, the rotation of the rear main wheel 106 has been transferred to institute
It states from power chain 208, preceding driving wheel 109.
When mobile robot top half needs to rotate, the electric rotating drives the work of machine 303 and drives described first
Active synchronization belt wheel 304 is rotated, and first active synchronization belt wheel 304 is passive same by the first synchronous belt 305 and first
The linking of 306 rotatable engagement of belt wheel is walked, then the described first passive and synchronous belt wheel 306 is also rotated, the first passive and synchronous band
It takes turns 306 upper ends to be connected with the 311 lower end secure fit of rotary body, then the rotary body 311 is also rotated, the rotary body
311 upper ends are connected with the 116 lower end secure fit of swing mechanism, then the swing mechanism 116 is also rotated.
When mobile robot needs to carry out angular adjustment according to cargo height, electric 309 work of drive machine of the swing is driven
Second active synchronization belt wheel 308 rotates, and second active synchronization belt wheel 308 passes through the first synchronous belt 305 and the second quilt
Dynamic 307 rotatable engagement of synchronous pulley linking, then the described second passive and synchronous belt wheel 307 is also rotated.Described second is passive same
Step 307 upper end of belt wheel is connected with 313 secure fit of column spinner, then the column spinner 313 is also rotated, the column spinner
313 upper ends are connected with 406 secure fit of the first cone pulley tooth, the first cone pulley tooth 406 and 405 tooth of the second cone pulley tooth
Shape cooperation linking, then the first cone pulley tooth 406, the second cone pulley tooth 405 are also rotated, the second cone pulley tooth 405 and institute
The linking of 404 secure fit of the second wheel tooth shaft is stated, second wheel 404 left end of tooth shaft is matched with the fixation of first push shaft mechanism 117
Linking is closed, the second wheel 404 right end of tooth shaft is connected with 407 secure fit of shaft coupling, 407 right end of shaft coupling and institute
The linking of 408 secure fit of first round tooth shaft is stated, 408 right end of first round tooth shaft is matched with the fixation of first push shaft mechanism 117
Linking is closed, then first push shaft mechanism 117 is also rotated.
When mobile robot needs the reduction gearbox electricity when relatively picking and placing cargo at a distance, in first push shaft mechanism 117
Drive machine 510 works, and the active gear teeth 507 is driven to rotate, and the active gear teeth 507 are connected with the cooperation of driven 508 tooth form of the gear teeth,
Then the driven gear teeth 508 are also rotated, and the driven gear teeth 508 are connected with interior 503 secure fit of spiral reel, then institute
It states interior spiral reel 503 also to be rotated, helical hole 505, the helical hole 505 and helical is provided in the interior spiral reel 503
The cooperation linking of 511 helical of block, and the optical axis 512 limits the optical axis 512 with the fixture block 514 sliding connection and revolves
Turn, is then moving up and down for the helical block 511 by the translating rotation of the interior spiral reel 503,511 upper end of helical block is solid
Surely it is provided with optical axis 512, then the optical axis 512 also moves up and down, and 512 upper end of optical axis is fixedly installed inner hole block
513, mobile cavity is provided in the inner hole block 513, can be used for mobile cooperation linking.
When mobile robot is when picking and placing cargo, the second push shaft mechanism in the rushing board mechanism 118 stretches, and drives
The push-jump optical axis 605 being connected with 513 rotatable engagement of inner hole block is moved forward and backward, and the push-jump optical axis 605 and the push plate 604 are fixed
Cooperation linking, the push plate 604 are connected with 603 rotatable engagement of push plate optical axis, and the push plate optical axis 603 is matched with the fixation of vertical block 602
Close linking, then when the push-jump optical axis 605 be moved forward and backward when, make under the action of push plate optical axis 603 push plate 604 into
Row is swung.
It is described to wear that axis is rotatable to be set the beneficial effects of the present invention are: the car body in apparatus of the present invention is in the initial state
It is placed in car body lower end pillar, described to wear axis rotatable through car body described in the symmetrically arranged preceding wheel plate in front and back, rear wheel plate
Entire mobile robot is supported as frame, the preceding left back end of wheel plate is rotatable to be provided with front driven wheel, the front-wheel
Plate right rear end is rotatable to be provided with preceding driving wheel, and the preceding driving wheel is connected through the preceding wheel plate with power mechanism cooperation,
The front driven wheel, preceding driving wheel are connected by crawler belt rotatable engagement, it is described after wheel plate right rear end is rotatable be provided with after from
Driving wheel, the rear left back end of wheel plate is rotatable to be provided with rear main wheel, and the rear main wheel is through the rear wheel plate and power
Mechanism cooperation linking, the back front driven wheel, rear main wheel are connected by crawler belt rotatable engagement, and the car body upper end is fixedly installed
Rotating mechanism, the rotating mechanism upper end are fixedly installed swing mechanism, and the swing mechanism left and right sides is symmetrically fixedly installed
First push shaft mechanism, first push shaft mechanism upper end is fixedly installed rushing board mechanism, to constitute entire mobile robot, no
Flexibility and the ease of use of robot are improved with structure.
In use, the power mechanism work, drives mobile robot mobile, and when needing to carry out goods movement, control
The rotating mechanism makes partially to be rotated on trolley and the first push shaft mechanism is swung up and down, when cargo distance farther out when, control
First push shaft mechanism is flexible to make the rushing board mechanism that can freely overturn pick-and-place cargo, so that it is efficient to have mobile robot
The mobile efficiency of the picking of rate.
When starting mobile robot, the power electric, which drives mechanomotive force axis, drives the main power wheel tooth spiral to turn, with active
The slave power wheel tooth of wheels tooth tooth form cooperation also rotates with, described to hold in the mouth from power wheel tooth and the rear main wheel front end are fixed
It connects, the rear main wheel also rotates with, and the active force sprocket wheel is connected with rear main wheel front end fixation, the active force
Sprocket wheel is connected by chain with from power chain rotatable engagement, described to hold in the mouth from power chain with the preceding driving wheel secure fit
Connect, the rotation of the rear main wheel be transferred to it is described from power chain, preceding driving wheel, so that it is excellent to have mobile robot
Elegant walking function.
When mobile robot top half needs to rotate, the electric rotating drives machine work and drives first active
Synchronous pulley is rotated, and first active synchronization belt wheel passes through the first synchronous belt and the first passive and synchronous belt wheel rotatable engagement
Linking, then the described first passive and synchronous belt wheel is also rotated, under the first passive and synchronous belt wheel upper end and the rotary body
Secure fit linking is held, then the rotary body is also rotated, and the rotary body upper end is matched with swing mechanism lower end fixation
Linking is closed, then the swing mechanism is also rotated, so that mobile robot be made to have the function of rotation, improves work model
It encloses.
When mobile robot needs to carry out angular adjustment according to cargo height, the electric drive machine work of the swing drives described
The rotation of second active synchronization belt wheel, second active synchronization belt wheel are rotated by the first synchronous belt and the second passive and synchronous belt wheel
Cooperation linking, then the described second passive and synchronous belt wheel is also rotated.The second passive and synchronous belt wheel upper end and the rotation
The linking of column secure fit, then the column spinner is also rotated, the column spinner upper end and the first cone pulley tooth secure fit
Linking, the first cone pulley tooth are connected with the second cone pulley tooth tooth form cooperation, then the first cone pulley tooth, the second cone pulley tooth
Rotated, the second cone pulley tooth with it is described second wheel tooth shaft secure fit be connected, it is described second take turns tooth shaft left end with it is described
The linking of first push shaft mechanism secure fit, the second wheel tooth shaft right end are connected with the shaft coupling secure fit, the shaft coupling
Device right end is connected with the first round tooth shaft secure fit, and the first round tooth shaft right end is matched with the fixation of first push shaft mechanism
Linking is closed, then first push shaft mechanism is also rotated, to realize the function that mobile robot is adjusted according to cargo height
Can, working range is improved, and there is good mobility.
When mobile robot is needed when relatively picking and placing cargo at a distance, the first push shaft reduction gearbox electricity within the organization drives machine
Work drives the driving wheel tooth spiral to turn, and the active gear teeth are connected with the cooperation of driven gear teeth tooth form, then the driven gear teeth
It is rotated, the driven gear teeth are connected with the interior spiral reel secure fit, then the interior spiral reel is also rotated, described
Helical hole is provided in interior spiral reel, the helical hole is connected with the cooperation of helical block helical, and the optical axis and the fixture block are sliding
Dynamic be cooperatively connected limits the optical axis and rotates, then by the translating rotation of the interior spiral reel be the helical block on move down
Dynamic, helical block upper end is fixedly installed optical axis, then the optical axis also moves up and down, the optical axis upper end fixed setting
Have inner hole block, be provided with mobile cavity in the inner hole block, can be used for mobile cooperation linking, thus allow mobile robot compared with
It is remote to pick and place cargo, improve convenience.
When mobile robot is when picking and placing cargo, the second push shaft mechanism in the rushing board mechanism stretches, drive with
The push-jump optical axis of inner hole block rotatable engagement linking is moved forward and backward, and the push-jump optical axis is connected with the push plate secure fit, described
Push plate is connected with the cooperation of push plate optical axis rotation, and the push plate optical axis is connected with vertical block secure fit, then before the push-jump optical axis
After when moving, swing the push plate under the action of push plate optical axis, make to realize robot and pick and place cargo
Flexibility can be improved, the production time has been saved with flip angle.
Apparatus of the present invention structure is simple, easy to use, using different flexible mechanisms, improves work efficiency and cargo
The accuracy of pick-and-place has good power performance.
The above, the specific embodiment only invented, but invent protection scope be not limited thereto, it is any without
The change or replacement that creative work is expected are crossed, should all be covered within the protection scope of invention.Therefore, the protection scope of invention
It should be determined by the scope of protection defined in the claims.
Claims (2)
1. a kind of intelligent plant mobile robot, including be used to support general frame car body and composition general frame it is main
Mechanism, the principal organ include: power mechanism, rotating mechanism, swing mechanism, on the inside of the power mechanism right end with it is rear actively
Take turns rotatable engagement linking, the rotatable wheel plate after symmetrically arranged of the rear main wheel, it is described after on the inside of wheel plate right end with
The linking of back front driven wheel rotatable engagement, the power mechanism left end inside are connected with preceding driving wheel rotatable engagement, the preceding driving wheel
It is rotatable to run through symmetrically arranged preceding wheel plate, it is connected on the inside of the preceding wheel plate left end with front driven wheel rotatable engagement, after described
Driving wheel, back front driven wheel outer ring are connected with one group of crawler belt rotatable engagement, the front driven wheel, preceding driving wheel outer ring and another group of shoe
Band rotatable engagement is connected, so that the power of the power mechanism be made to be transmitted to the rear main wheel and the preceding driving wheel, drives
Mobile robot is set to carry out forward-reverse, car body lower end pillar is rotatable to be provided with two groups and wear axis, described to wear axis point
It is not rotatable to run through the rear wheel plate, preceding wheel plate, so that mobile robot be made still may be used when encountering barrier and adjusting height
To keep the stability of entire frame, the car body upper end is fixedly installed rotating mechanism, and the rotating mechanism upper end is rotatable
Be provided with swing mechanism, the swing mechanism left and right sides is rotatable to be symmetrically arranged with the first push shaft mechanism, and described first pushes away
Axis mechanism upper end is telescopic to be provided with rushing board mechanism, and the left and right directions of the car body is direction of advance；Wherein, the engine
Structure include power electric drives machine, power electric drives machine plate, headstock, headstock cavity, the active force gear teeth, from power wheel tooth, active
Riding chain wheel, from power chain, turn change, the power electric, which drives machine and is fixedly installed on power electric, drives machine plate left end face, institute
It states power electric drive machine plate right end face to be connected with headstock fixation, headstock cavity is provided in the headstock, it is described dynamic
The line shaft that power electricity drives machine is rotatable through the headstock cavity inner left wall, the line shaft right-hand end and main power wheel
The fixed linking of tooth, the active force gear teeth are connected with from power wheel tooth tooth form, described from power wheel tooth and rear main wheel left end shaft
Fixed linking, the rotatable turn for being disposed through inner wall on the right side of the headstock cavity of the rear main wheel left end shaft turn
Ring, the rear main wheel left end shaft are fixedly installed active force sprocket wheel, the active force sprocket wheel by chain with from power chain
Rotatable engagement linking, described to be connected from power chain with the fixation of preceding driving wheel left end shaft, the preceding driving wheel left end shaft equally may be used
The turn change for being disposed through inner wall on the right side of the headstock cavity of rotation, said mechanism are symmetrically disposed on mobile robot
Both ends, difference are that the other end is fitted without the power electric and drives machine, the active force gear teeth, from power wheel tooth, remaining is symmetrical；Its
In, the rotating mechanism includes buckle, buckle cavity, electric rotating drive machine, the first active synchronization belt wheel, the first synchronous belt, first
Passive and synchronous belt wheel, the second passive and synchronous belt wheel, the second active synchronization belt wheel, swing electric drive machine, column spinner change, rotary body,
Column spinner cavity, column spinner, main shaft change, the buckle lower end is connected with car body upper end secure fit, in the buckle
It is provided with buckle cavity, buckle upper end left and right sides is fixedly installed electric rotating respectively and drives machine, swings electric drive machine, the rotation
The line shaft of electric drive machine is rotatable to be held in the mouth through the upper end inner wall of the buckle cavity and the first active synchronization belt wheel secure fit
It connects, the rotatable upper end inner wall and the second active synchronization belt wheel through the buckle cavity of line shaft for swinging electric drive machine
Secure fit linking, buckle cavity upper end inner wall centre position are fixedly installed column spinner change, the column spinner change
It is interior it is rotatable be provided with rotary body, the rotary body lower end is connected with the first passive and synchronous belt wheel secure fit, described first
Passive and synchronous belt wheel is connected by the first synchronous belt with the first active synchronization belt wheel rotatable engagement, a rotating body setting
There is column spinner cavity, the column spinner cavity inner wall upper and lower sides are fixedly installed two groups of main shaft changes, can in the main shaft change
Rotation is provided with column spinner, and the column spinner lower end is fixedly installed the second passive and synchronous belt wheel, and described second is passive and synchronous
Belt wheel is connected by the second synchronous belt with the second active synchronization belt wheel rotatable engagement, the rotary body upper end and the swing
The linking of mechanism secure fit；Wherein, the swing mechanism includes: transmission case, transmission case cavity, transmission case change, second gear teeth
Axis, the second cone pulley tooth, the first cone pulley tooth, shaft coupling, first round tooth shaft, the transmission case are fixedly installed on the rotary body
It holds, transmission case cavity is provided in the transmission case, the column spinner upper end is rotatable to run through transmission case cavity lower end
Position is connected with the first cone pulley tooth secure fit among inner wall, and the transmission case cavity left and right sides inner wall is fixedly installed two groups of biographies
Dynamic case change, it is rotatable in the transmission case change to be provided with the second wheel tooth shaft, first round tooth shaft, the second wheel tooth shaft,
First round tooth shaft is connected by shaft coupling rotatable engagement, and second wheel tooth shaft outer ring is fixedly installed the second cone pulley tooth, described
Second cone pulley tooth is connected with the first cone pulley tooth tooth form cooperation, and second wheel tooth shaft left end is fixedly installed the first push shaft machine
Structure, the first round tooth shaft right end are equally fixedly installed the first push shaft mechanism；Wherein, the push shaft mechanism include: push shaft case,
Push shaft change, push shaft case cavity, helical hole, reduction gearbox, the active gear teeth, the driven gear teeth, reduction gearbox cavity, is slowed down at interior spiral reel
Case electricity drives machine, helical block, optical axis, inner hole block, fixture block, is provided with push shaft case cavity, the push shaft case cavity in the push shaft case
Upper and lower side inner wall is fixedly installed two groups of push shaft changes, rotatable in the push shaft change to be provided with interior spiral reel, it is described in
Helical hole is provided in spiral reel, the helical hole is connected with the cooperation of helical block helical, and helical block upper end is fixedly installed
Optical axis, the optical axis movably runs through the helical hole, push shaft case cavity upper end inner wall is connected with inner hole block secure fit, institute
It states optical axis and the fixture block is slidably connected, the push shaft case is fixedly installed far from swing mechanism position open at one end
Reduction gearbox, reduction gearbox cavity is provided in the reduction gearbox, and the reduction gearbox upper surface is fixedly installed reduction gearbox electricity and drives machine, institute
The line shaft for stating reduction gearbox electricity drive machine is rotatable through reduction gearbox cavity upper end inner wall and active gear teeth secure fit rank
It connects, the driven gear teeth are connected with the interior spiral reel secure fit, and the active gear teeth and the driven gear teeth tooth form cooperate
Linking.
2. a kind of intelligent plant mobile robot as described in claim 1, it is characterised in that: the rushing board mechanism includes: L-type
Plate, vertical block, push plate optical axis, push plate, push-jump optical axis, L-type plate upper surface left-hand portion are symmetrically fixedly installed two groups of vertical blocks,
The vertical block upper end is rotatable to be provided with push plate optical axis, and lower end is fixed on the right side of push plate optical axis outer ring and push plate holds in the mouth
It connects, upper-end part of driving is fixedly installed push-jump optical axis on the right side of the push plate, and the push-jump optical axis outer ring is rotatable to be provided with inner hole
Block, the inner hole block right end are fixedly installed the second push shaft mechanism, and second push shaft mechanism is fixedly installed on L-type plate right side
End position.
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| CN201711492230.4A CN108100062B (en) | 2017-12-30 | 2017-12-30 | A kind of intelligent plant mobile robot |
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| CN201711492230.4A CN108100062B (en) | 2017-12-30 | 2017-12-30 | A kind of intelligent plant mobile robot |
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| CN108100062B true CN108100062B (en) | 2019-01-15 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080093131A1 (en) * | 2006-10-06 | 2008-04-24 | Irobot Corporation | Robotic Vehicle |
| US20100155156A1 (en) * | 2008-11-04 | 2010-06-24 | Robotic Technology Inc. | Energetically autonomous tactical robot and associated methodology of operation |
| US20120199407A1 (en) * | 2008-12-09 | 2012-08-09 | Irobot Corporation | Mobile Robot Systems and Methods |
| CN105059411A (en) * | 2015-07-24 | 2015-11-18 | 徐继文 | Loaded logistics transportation robot |
| CN105480905A (en) * | 2016-01-06 | 2016-04-13 | 潘玲玉 | Push device driven by sheave |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0632263A (en) * | 1992-07-15 | 1994-02-08 | Tomita Denki Seisakusho:Kk | Legged moving vehicle |
| JP3557460B2 (en) * | 2001-07-09 | 2004-08-25 | 東京工業大学長 | Traveling device |
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2017
- 2017-12-30 CN CN201711492230.4A patent/CN108100062B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080093131A1 (en) * | 2006-10-06 | 2008-04-24 | Irobot Corporation | Robotic Vehicle |
| US20100155156A1 (en) * | 2008-11-04 | 2010-06-24 | Robotic Technology Inc. | Energetically autonomous tactical robot and associated methodology of operation |
| US20120199407A1 (en) * | 2008-12-09 | 2012-08-09 | Irobot Corporation | Mobile Robot Systems and Methods |
| CN105059411A (en) * | 2015-07-24 | 2015-11-18 | 徐继文 | Loaded logistics transportation robot |
| CN105480905A (en) * | 2016-01-06 | 2016-04-13 | 潘玲玉 | Push device driven by sheave |
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| Publication number | Publication date |
|---|---|
| CN108100062A (en) | 2018-06-01 |
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Effective date of registration: 20181129 Address after: 225123 No. 139 Qiquan Road, Ganquan Street, Hangjiang District, Yangzhou City, Jiangsu Province Applicant after: Yangzhou Xingli Machinery Manufacturing Co., Ltd. Address before: No. 1 Xinhe Industrial Park, Hanchuan Economic and Technological Development Zone, Xiaogan City, Hubei Province, 432000 Applicant before: Mao Linjie |
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Address after: 225123 No. 139 Qiquan Road, Ganquan Street, Hangjiang District, Yangzhou City, Jiangsu Province Patentee after: Jiangsu Xingli Forging Machine Tool Co.,Ltd. Address before: 225123 No. 139 Qiquan Road, Ganquan Street, Hangjiang District, Yangzhou City, Jiangsu Province Patentee before: YANGZHOU STAR MACHINERY MANUFACTURING CO.,LTD. |
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