CN108216414A - A kind of luggage traffic robot - Google Patents
A kind of luggage traffic robot Download PDFInfo
- Publication number
- CN108216414A CN108216414A CN201711380582.0A CN201711380582A CN108216414A CN 108216414 A CN108216414 A CN 108216414A CN 201711380582 A CN201711380582 A CN 201711380582A CN 108216414 A CN108216414 A CN 108216414A
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- Prior art keywords
- gear
- stent
- connector
- support
- toe
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of luggage traffic robots；First support, second support, upper limb, the first bar, first gear, thigh connector, steering engine etc..Wherein, second support, third stent, a pair of 4th stent, a pair of 5th stent are symmetrically arranged at the both sides of first support from inside to outside, meanwhile, second support, third stent are connected by the first soket head cap screw and the 6th stent.First bar is arranged between the 4th stent of third stent and third stent homonymy, and form revolute pair with third stent, the 4th stent, semi-passive walking machine is by using gear set, realizing walking machine across the portion moment is maintained at two legs of left and right on angular bisector in sagittal plane, is conducive to be promoted the stability of walking.
Description
Technical field
The invention belongs to a kind of luggage traffic robotic technology fields.
Background technology
Since bipod walking robot has the walking characteristics of class people, environment for human survival can be rapidly adapted to, so as to more
Service the mankind well.Therefore, in recent years, the research work in relation to bipod walking robot is worldwide opened extensively
Exhibition.
Completely passive biped robot is one kind of bipod walking robot, its own gravity can be utilized to realize on slope
On stabilized walking, have the advantages that gait is natural, simple in structure, low energy consumption compared with traditional active walking robot.It is complete
Although complete passive biped robot has significant energy-saving effect (only walking by gravity), it can only walk on inclined-plane, real
It is not good enough with property, therefore researcher takes up the research and development of semi-passive biped robot.Cornell Univ USA (Cornell
University), the Massachusetts Institute of Technology (Massachusetts Institute of Technology), Dutch Dell Ford
Polytechnics (Delft University of Technology) etc. develops the semi-passive biped robot of series, all reaches
More satisfactory energy consumption index, it is very energy saving, but trunk divided device structure is more complicated used by developed model machine, this increase
The energy consumption of complete machine increases the difficulty for making physical prototyping.
Meanwhile existing semi-passive biped robot can realize mostly using the whole foot of camber although camber entirety is sufficient
Walking on level road, but the ability of its adaptation complex road surface is poor, is unfavorable for the further promotion of walking performance.And people
Class walking is energy-efficient, is always the study source of semi-passive biped robot, but mankind's sole and existing semi-passive biped machine
The integral rigidity structure sole of device people is different, with articulationes metatarsophalangeae, and the joint and coronal-plane at an angle (20 °-
40 °), research shows that, toe can realize elastic startup in mankind's walking process, during movement is contacted to earth, can cooperate with
Foot plantar adapts to the variation of road surface landform, has important biological motion functional character, therefore, is opened based on human body articulationes metatarsophalangeae feature
Hair, articulationes metatarsophalangeae of the design with class people is beneficial to promote its walking performance and landform on semi-passive biped robot's sole
Adaptability.
The present Research of above-mentioned semi-passive walking and the superior bio structure feature of human body articulationes metatarsophalangeae are taken a broad view of, is badly in need of a kind of
The completely passive double feet walking machine that trunk divided device structure is more succinct, walking performance is good, landform is adaptable.
Invention content
The purpose of the present invention is to solve the trunk divided device structures of existing semi-passive double feet walking machine generally existing
Complicated, the problem of landform adaptability is poor, and a kind of luggage traffic robot is provided, which has structure
More succinctly, the characteristics of walking performance is good, landform is adaptable.
The present invention includes across portion structure, leg structure and sufficient structure.
Across the portion structure include first support, second support, upper limb, the first bar, first gear, thigh connector,
Steering engine etc..Wherein, second support, third stent, a pair of 4th stent, a pair of 5th stent are symmetrically arranged at the from inside to outside
The both sides of one stent, meanwhile, second support, third stent are by the first soket head cap screw with being connected with the 6th stent.First bar
It is arranged between the 4th stent of third stent and third stent homonymy, and revolute pair is formed with third stent, the 4th stent,
First gear, eighth gear are connected in the both ends of the first bar.Second bar be arranged in second support and with second support homonymy
Between four stents, and revolute pair is formed with second support, the 4th stent, second gear, third gear are connected in the two of the second bar
End.Two third bars are arranged between the 4th stent of homonymy, the 5th stent, and are formed with the 4th stent, the 5th stent
Revolute pair, the 4th gear, the 9th gear are arranged between the 4th stent of both sides, the 5th stent, and are divided respectively with symmetrical
Two third bars of cloth are connected, and similary symmetrical upper limb is respectively fixedly connected in one end of the third bar of both sides.4th bar one end
It is connected with the 5th gear, the other end forms revolute pair with second support.5th bar is arranged between second support, third stent simultaneously
Revolute pair is formed with second support, third stent, the 6th gear, the 7th gear are distributed between second support, third stent simultaneously
It is connected with the 5th bar.Here, first gear is engaged with the 7th gear, the 5th gear respectively with the second gear of both sides, the 6th tooth
Wheel engagement, third gear are engaged with the 4th gear, and eighth gear is engaged with the 9th gear.Third gear, the 4th gear, octadentate
The gear parameters such as wheel, the 9th module, the number of teeth are consistent, and the gear parameters such as first gear, the 7th module, number of teeth are consistent,
The gear parameters such as the 5th gear, second gear, the 6th module, the number of teeth are consistent.Symmetrical thigh connector respectively with
First bar, the second bar are connected.Finally, the power of walking machine is engaged to transmit by steering engine by the tenth gear and the 7th gear,
Here, steering engine is fixed on by two pairs of symmetrical nuts, hexagon socket head cap screw on the 6th stent.
The leg structure includes first connecting rod, the first straight pin, second connecting rod, the second straight pin and third connecting rod.Its
In, one end and the thigh connector of two first connecting rods are connected, and the other end is connected by the first straight pin with second connecting rod, third
Connecting rod is then connected by the second straight pin with second connecting rod.First connecting rod, second connecting rod, third connecting rod are distributed with equidistant pin
Hole facilitates the first straight pin, the second straight pin that walking machine leg length is adjusted in the form of grafting.
The sufficient structure is divided into two parts in left and right, is drawn comprising leg foot connector, the first tension spring, the second tension spring, third
Spring, the 4th tension spring, the right crus of diaphragm palm, the first toes connector, torsional spring, thumb reconstructed by second toe connector, bionical right crus of diaphragm toe, left foot are slapped, are bionical
Left foot toe etc..Wherein, leg foot connector is used for the connection of foot and third connecting rod.Quaternate first lifting bolt is equably
It is arranged on leg foot connector.Second lifting bolt corresponds to the first lifting bolt and is equally uniformly arranged in the right crus of diaphragm palm, left foot
The middle part of the palm.Be respectively disposed between first lifting bolt and the second lifting bolt the first tension spring, the second tension spring, third tension spring,
4th tension spring, wherein the first tension spring and third tension spring are arranged symmetrically in the coronal-plane of foot, in order to be conducive to walking machine coronal
Side-sway movement in face, the rigidity of the first tension spring is larger, is 1.1~1.2 times of third tension spring rigidity.Second tension spring, the 4th draw
Spring is arranged in the sagittal plane of foot.The form that two flexural pivot upper ends are threadedly coupled is connected on leg foot connector, and lower end passes through
Second soket head cap screw, which is separately fixed at the right crus of diaphragm palm and left foot palm, flexural pivot, can simulate the function of human ankle.Two first
Toes connector is slapped by screw with right crus of diaphragm respectively, left foot is slapped and is connected, and two thumb reconstructed by second toe connectors are separately fixed at the bionical right side
The middle and upper part of toe, bionical left foot toe.First toes connector is connected with bull stick, and thumb reconstructed by second toe connector is hinged with bull stick.Turn
Bar realizes bionical right crus of diaphragm toe by torsional spring also cross torsional spring to the effect of the first toes connector and thumb reconstructed by second toe connector
With the movement and reset of bionical left foot toe.First toes connector, thumb reconstructed by second toe connector, constitutes bionical plantar toe pass at torsional spring
The coupling part of section.
Working process and principle of the invention：
In specific implementation process, the traveling of walking machine is realized by controlling the rotating of steering engine, both the left and right of walking machine
Leg strides forward in turn.Since the gear parameters such as first gear, the 7th module, the number of teeth are consistent, the 5th gear, the second tooth
The gear parameters such as wheel, the 6th module, the number of teeth are consistent, therefore the left and right sides leg swing speed of walking machine is consistent but swaying direction phase
Instead, of walking machine can be made to be maintained at two legs of left and right on the angular bisector of sagittal plane in this way, it is advantageous in this way
In the walking stability for improving walking machine.And third gear and the 4th gear, eighth gear and the use of the 9th gear, it changes
It is consistent with contralateral leg swaying direction to realize upper limb for the direction of rotation.This kind of people's feature, can effectively reduce walking machine around branch
The phenomenon that support leg rotates.The presence of bionical right crus of diaphragm toe and bionical left foot toe can realize that the elasticity of walking machine in the process of walking opens
It is dynamic, while also contribute to improve adaptability of the walking machine to Different Ground, wherein, the swingle of bionical right crus of diaphragm toe is counterclockwise
Direction and the angle of walking machine coronal-plane are 20 ° -40 °, and the swingle of bionical left foot toe is coronal with walking machine in the clockwise direction
The angle in face is 20 ° -40 °.
Beneficial effects of the present invention：
1st, semi-passive walking machine is by using gear set, realizes walking machine across the portion moment and is maintained at two legs of left and right in sagittal plane
Angular bisector on, be conducive to promoted walking stability.
2nd, semi-passive walking machine it is no increase any additional driving in the case of, add in upper limb, upper limb swaying direction with
Contralateral leg swaying direction is identical, it is possible to reduce walking machine around supporting leg rotate the phenomenon that.
3rd, while the presence of bionical toes (bionical articulationes metatarsophalangeae) realizes that the elasticity of walking machine in the process of walking starts,
The ground adaptability of walking machine can be made to increase.
Description of the drawings
Fig. 1 is the stereogram of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the front view of the present invention；
Fig. 4 is the vertical view of the present invention
Fig. 5 is the stereogram of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments, is not the reality the present invention
It applies range and is confined to this.
As shown in Figures 1 to 5, the luggage traffic robot described in the present embodiment, including across portion structure 1, leg structure 2 and foot
Structure 3；
Across the portion structure 1 includes first support 11, second support 12, upper limb 16, the first bar 17, first gear 18, thigh
Connector 121 and steering engine 123；Second support 12, third stent 13, a pair of 4th stent 14, a pair of 5th stent 15 are by introversion
Be arranged in external symmetry the both sides of first support 11, meanwhile, second support 12, third stent 13 by the first soket head cap screw with
127 and the 6th stent 124 be connected；First bar 17 be arranged in third stent 13, with the 4th stent 14 of 13 homonymy of third stent it
Between, and revolute pair is formed with third stent 13, the 4th stent 14, first gear 18, eighth gear 119 are connected in the first bar 17
Both ends；Second bar 110 is arranged in second support 12 and between the 4th stent 14 of 12 homonymy of second support, and and second support
12nd, the 4th stent 14 forms revolute pair, and second gear 19, third gear 111 are connected in the both ends of the second bar 110；Two thirds
Bar 112 is arranged between the 4th stent 14 of homonymy, the 5th stent 15, and is formed with the 4th stent 14, the 5th stent 15
Revolute pair, the 4th gear 113, the 9th gear 120 are arranged between the 4th stent 14 of both sides, the 5th stent 15, and point
It is not connected with two symmetrical third bars 112, the third bar 112 in both sides is respectively fixedly connected in similary symmetrical upper limb 16
One end；4th bar, 114 one end is connected with the 5th gear 115, and the other end forms revolute pair with second support 12；5th bar 117
It is arranged between second support 12, third stent 13 and forms revolute pair, the 6th gear with second support 12, third stent 13
116th, the 7th gear 118 is distributed between second support 12, third stent 13 and is connected with the 5th bar 117；Here, the first tooth
Wheel 18 is engaged with the 7th gear 118, and the 5th gear 115 engages respectively with the second gear of both sides 19, the 6th gear 116, third
Gear 111 is engaged with the 4th gear 113, and eighth gear 119 is engaged with the 9th gear 120；Third gear 111, the 4th gear
113rd, the modulus of eighth gear 119 and the 9th gear 120, the number of teeth are consistent, modulus, the tooth of 18 and the 7th gear 118 of first gear
Number is consistent, and the 5th gear 115, the modulus of second gear 19 and the 6th gear 116, the number of teeth are consistent；Symmetrical thigh connection
Part 121 is connected respectively with the first bar 17, the second bar 110；Finally, the power of walking machine passes through the tenth gear 122 by steering engine 123
It engages to transmit with the 7th gear 118, here, steering engine 123 passes through two pairs of symmetrical nuts 125, hexagon socket head cap screw 126
It is fixed on the 6th stent 124；
The leg structure 2 includes first connecting rod 21, the first straight pin 22, second connecting rod 23, the second straight pin 24 and third and connects
Bar 25；One end of two first connecting rods 21 is connected with thigh connector 121, and the other end passes through the first straight pin 22 and second connecting rod
23 are connected, and third connecting rod 25 is then connected by the second straight pin 24 with second connecting rod 23；First connecting rod 21, second connecting rod 23,
Three-link 25 is distributed with equidistant pin hole, facilitates the first straight pin 22, the second straight pin 24 in the form of grafting to walking machine
Leg length is adjusted；
The sufficient structure 3 is divided to control two parts, includes leg foot connector 31, the first tension spring 33, the second tension spring 34, third
Tension spring 35, the 4th tension spring 39, right crus of diaphragm slap the 310, first toes connector 311, torsional spring 313, thumb reconstructed by second toe connector 314, bionical
Right crus of diaphragm toe 315, the left foot palm 316, bionical left foot toe 318；Leg foot connector 31 is used for the connection of foot and third connecting rod 25；Four
A one group of the first lifting bolt 32 is uniformly distributed on leg foot connector 31；Second lifting bolt 37 corresponds to the first hanging ring
Screw 32 is equally uniformly arranged in the middle part of the right crus of diaphragm palm 310, the left foot palm 316；First lifting bolt 32 and the second hanging ring spiral shell
The first tension spring 33, the second tension spring 34, third tension spring 35, the 4th tension spring 39 are respectively disposed between nail 37, wherein the first tension spring 33
The coronal-plane of foot is arranged symmetrically in third tension spring 35, the second tension spring 34, the 4th tension spring 39 are arranged in the sagittal plane of foot；Two
The form that a 36 upper end of flexural pivot is threadedly coupled is connected on leg foot connector 31, and lower end is distinguished by the second soket head cap screw 38
It is fixed on the right crus of diaphragm palm 310 and the left foot palm 316, flexural pivot 36 can simulate the function of human ankle；Two the first toes connectors
311 are connected by screw 312 with the right crus of diaphragm palm 310, the left foot palm 316 respectively, and two thumb reconstructed by second toe connectors 314 are separately fixed at imitative
The middle and upper part of raw right crus of diaphragm toe 315, bionical left foot toe 318；First toes connector 311 is connected with bull stick 317, thumb reconstructed by second toe connection
Part 314 is hinged with bull stick 317；Bull stick 317 is also cross torsional spring 313, by torsional spring 313 to the first toes connector 311 and
The movement and reset that act on to realize bionical right crus of diaphragm toe 315 and bionical left foot toe 318 of two toes connectors 314；First toes
Connector 311, torsional spring 313, thumb reconstructed by second toe connector 314, the coupling part for constituting bionical articulationes metatarsophalangeae.
The rigidity of first tension spring 33 is 1.1~1.2 times of 35 rigidity of third tension spring.
The swingle of the bionical right crus of diaphragm toe 315 is in the counterclockwise direction 20 ° -40 ° with the angle of walking machine coronal-plane；Institute
The swingle for stating bionical left foot toe 318 is in the clockwise direction 20 ° -40 ° with the angle of walking machine coronal-plane.The above is only
The preferred embodiment of the present invention, therefore what all construction, feature and principles according to described in present patent application range were done etc.
Effect variation or modification, in the protection domain of present patent application.
Claims (3)
1. a kind of luggage traffic robot, it is characterised in that：Including across portion structure (1), leg structure (2) and sufficient structure (3)；
Across the portion structure (1) includes first support (11), second support (12), upper limb (16), the first bar (17), the first tooth
Take turns (18), thigh connector (121) and steering engine (123)；Second support (12), third stent (13), a pair of 4th stent (14),
A pair of 5th stent (15) is symmetrically arranged at the both sides of first support (11) from inside to outside, meanwhile, second support (12), third
Stent (13) is connected by the first soket head cap screw and (127) with the 6th stent (124)；First bar (17) is arranged in third stent
(13) it between the 4th stent (14) of third stent (13) homonymy, and forms and turns with third stent (13), the 4th stent (14)
Dynamic pair, first gear (18), eighth gear (119) are connected in the both ends of the first bar (17)；Second bar (110) is arranged in second
Frame (12) and between the 4th stent (14) of second support (12) homonymy, and with second support (12), the 4th stent (14) structure
Into revolute pair, second gear (19), third gear (111) are connected in the both ends of the second bar (110)；Two third bars (112) point
It is not arranged between the 4th stent (14) of homonymy, the 5th stent (15), and is formed with the 4th stent (14), the 5th stent (15)
Revolute pair, the 4th gear (113), the 9th gear (120) be arranged in the 4th stent (14) of both sides, the 5th stent (15) it
Between, and be connected respectively with two symmetrical third bars (112), similary symmetrical upper limb (16) is respectively fixedly connected in both sides
Third bar (112) one end；4th bar (114) one end is connected with the 5th gear (115), the other end and second support (12) structure
Into revolute pair；5th bar (117) be arranged between second support (12), third stent (13) and with second support (12), third
Stent (13) forms revolute pair, and the 6th gear (116), the 7th gear (118) are distributed in second support (12), third stent (13)
Between and with the 5th bar (117) be connected；Here, first gear (18) is engaged with the 7th gear (118), the 5th gear (115) point
It not being engaged with the second gear of both sides (19), the 6th gear (116), third gear (111) is engaged with the 4th gear (113), the
Octadentate wheel (119) is engaged with the 9th gear (120)；Third gear (111), the 4th gear (113), eighth gear (119) and
The modulus of nine gears (120), the number of teeth are consistent, and the modulus of first gear (18) and the 7th gear (118), the number of teeth are consistent, the 5th tooth
Modulus, the number of teeth for taking turns (115), second gear (19) and the 6th gear (116) are consistent；Symmetrical thigh connector (121)
It is connected respectively with the first bar (17), the second bar (110)；Finally, the power of walking machine passes through the tenth gear by steering engine (123)
(122) it engages to transmit with the 7th gear (118), here, steering engine (123) passes through symmetrical two pairs of nuts (125), interior
Hex bolts (126) is fixed on the 6th stent (124)；
The leg structure (2) includes first connecting rod (21), the first straight pin (22), second connecting rod (23), the second straight pin
(24) and third connecting rod (25)；One end of two first connecting rods (21) is connected with thigh connector (121), and the other end passes through first
Straight pin (22) is connected with second connecting rod (23), and third connecting rod (25) is then solid by the second straight pin (24) and second connecting rod (23)
Even；First connecting rod (21), second connecting rod (23), third connecting rod (25) are distributed with equidistant pin hole, facilitate the first straight pin
(22), the second straight pin (24) is adjusted walking machine leg length in the form of grafting；
The sufficient structure (3) is divided into two parts in left and right, includes leg foot connector (31), the first tension spring (33), the second tension spring
(34), third tension spring (35), the 4th tension spring (39), the right crus of diaphragm palm (310), the first toes connector (311), torsional spring (313), second
Toes connector (314), bionical right crus of diaphragm toe (315), the left foot palm (316), bionical left foot toe (318)；Leg foot connector (31) is used
In the connection of foot and third connecting rod (25)；Quaternate first lifting bolt (32) is uniformly distributed in leg foot connector
(31) on；Corresponding first lifting bolt (32) of second lifting bolt (37) is equally uniformly arranged in the right crus of diaphragm palm (310), left foot
Slap the middle part of (316)；The first tension spring (33), are respectively disposed between first lifting bolt (32) and the second lifting bolt (37)
Two tension springs (34), third tension spring (35), the 4th tension spring (39), wherein the first tension spring (33) is arranged symmetrically in third tension spring (35)
The coronal-plane of foot, the second tension spring (34), the 4th tension spring (39) are arranged in the sagittal plane of foot；Two flexural pivot (36) upper ends are with spiral shell
The form of line connection is connected on leg foot connector (31), and lower end is separately fixed at right crus of diaphragm by the second soket head cap screw (38) and slaps
(310) and on the left foot palm (316), flexural pivot (36) can simulate the function of human ankle；Two the first toes connectors (311) are logical
It crosses screw (312) to be connected with the right crus of diaphragm palm (310), the left foot palm (316) respectively, two thumb reconstructed by second toe connectors (314) are fixed respectively
In bionical right crus of diaphragm toe (315), the middle and upper part of bionical left foot toe (318)；First toes connector (311) is connected with bull stick (317),
Thumb reconstructed by second toe connector (314) is hinged with bull stick (317)；Bull stick (317) is right by torsional spring (313) also cross torsional spring (313)
Bionical right crus of diaphragm toe (315) and bionical left foot are realized in the effect of first toes connector (311) and thumb reconstructed by second toe connector (314)
The movement and reset of toe (318)；First toes connector (311), thumb reconstructed by second toe connector (314), constitutes torsional spring (313)
The coupling part of bionical articulationes metatarsophalangeae.
2. a kind of luggage traffic robot according to claim 1, it is characterised in that：The rigidity of first tension spring (33)
It is 1.1~1.2 times of third tension spring (35) rigidity.
3. a kind of luggage traffic robot according to claim 1, it is characterised in that：The bionical right crus of diaphragm toe (315)
Swingle is in the counterclockwise direction 20 ° -40 ° with the angle of walking machine coronal-plane；The swingle of the bionical left foot toe (318) exists
It it is clockwise 20 ° -40 ° with the angle of walking machine coronal-plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711380582.0A CN108216414A (en) | 2017-12-20 | 2017-12-20 | A kind of luggage traffic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711380582.0A CN108216414A (en) | 2017-12-20 | 2017-12-20 | A kind of luggage traffic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108216414A true CN108216414A (en) | 2018-06-29 |
Family
ID=62652500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711380582.0A Pending CN108216414A (en) | 2017-12-20 | 2017-12-20 | A kind of luggage traffic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108216414A (en) |
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2017
- 2017-12-20 CN CN201711380582.0A patent/CN108216414A/en active Pending
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Application publication date: 20180629 |