CN109434540B - Manipulator in automatic line of double-arm manipulator - Google Patents
Manipulator in automatic line of double-arm manipulator Download PDFInfo
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- CN109434540B CN109434540B CN201811504831.7A CN201811504831A CN109434540B CN 109434540 B CN109434540 B CN 109434540B CN 201811504831 A CN201811504831 A CN 201811504831A CN 109434540 B CN109434540 B CN 109434540B
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- 239000003638 chemical reducing agent Substances 0.000 claims description 29
- 210000000078 claw Anatomy 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 14
- 239000000463 material Substances 0.000 description 8
- 238000007599 discharging Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000009977 dual effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator in a double-arm manipulator automatic line, which comprises a manipulator arranged on the double-arm manipulator automatic line, wherein the manipulator consists of a horizontal movement part and a vertical movement part, the horizontal movement part comprises a Y-axis base, two ends of the Y-axis base are respectively provided with a junction box and a cross beam cover, one end of the Y-axis base is provided with a junction box connecting plate connected with the junction box through a bolt, the outer wall of the junction box is provided with a wiring hole, two sides of the wiring hole are provided with a main body connecting plate and a drag chain supporting plate through bolts, and the vertical movement part comprises a Z-axis base. The advantages are that: according to the invention, the X-axis movement of the manipulator on an automatic line is realized, the Y-axis and Z-axis displacement of the manipulator is realized through the rotation of the rotating motor and the driving motor, the operation space of the manipulator is larger, and two large requirements of positioning movement and workpiece clamping and placing in a larger range can be met.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator in a double-arm manipulator automatic line.
Background
A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program.
The existing manipulator can only realize simple object carrying function. The mobile manipulator has a plurality of functions, is single, has limited operation space, is difficult to play a role when the mobile platform is fixed, and cannot carry and move articles in a large range.
For this reason, we propose a robot in a double arm robot automation line to solve the above problems.
Disclosure of Invention
The invention aims to solve the problems in the background art, and provides a manipulator in a double-arm manipulator automatic line.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the manipulator on the X axis of the automatic line of the double-arm manipulator comprises a manipulator arranged on the automatic line of the double-arm manipulator, the manipulator consists of a horizontal movement part and a vertical movement part, the horizontal movement part comprises a Y axis base, two ends of the Y axis base are respectively provided with a junction box and a cross beam cover, one end of the Y axis base is provided with a junction box connecting plate connected with the junction box through a bolt, the outer wall of the junction box is provided with a wiring hole, two sides of the wiring hole are provided with a main body connecting plate and a drag chain supporting plate through bolts, the vertical movement part comprises a Z axis base, a first drag chain connecting piece is integrally formed on the outer wall of the Z axis base, a mechanical claw is arranged at the lower end of the Z axis base, an installation base is slidably arranged on the outer wall of the Z axis base, two sliding rails are fixedly arranged on the outer wall of the installation base, the upper surface of the Y axis base is fixedly provided with limiting blocks positioned at two ends of the sliding rails, two sliding rails are jointly connected with a connecting plate, the two sliding rails are fixedly connected with a first sliding seat and a Z axis base, and a driving mechanism is fixedly arranged on one side of the Z axis base and is fixedly connected with a side wall of the Z axis base through a connecting plate;
the inside mounting of terminal box has solenoid valve and terminal row, the wiring hole has been seted up to the one end that the terminal box is close to the Y axle base, the screw thread mounting hole with Y axle base threaded connection has been seted up in the outside in wiring hole, first actuating mechanism is including seting up the gear mounting mouth on the slide, the last lateral wall of slide passes through the bolt fastening has the speed reducer mounting panel, the speed reducer is installed to the last lateral wall of speed reducer mounting panel, the last lateral wall of speed reducer is fixed with the rotating electrical machines that is connected with the speed reducer, the drive end of speed reducer is vertical runs through the speed reducer mounting panel downwards and extends to its downside and fixedly connected with first gear, the last lateral wall of Y axle base is fixed with the rack that is located between two slide rails, first gear passes one side that the gear mounting mouth extends to the rack and meshes with it.
In the manipulator in the double-arm manipulator automatic line, the lower side wall of the sliding seat is integrally formed with two sliding blocks matched with the sliding rail in position, and the lower side wall of the sliding block is provided with a T-shaped groove sleeved on the sliding rail.
In the manipulator in the above-mentioned two-arm manipulator transfer machine, second actuating mechanism includes the driving motor of level fixation on the installation base outer wall, driving motor's drive end runs through the outer wall of installation base and extends to its inside and fixedly connected with second gear, the second gear is located one side of Z axle base, the sawtooth with second gear engaged with has been seted up to one side that the Z axle base is close to the second gear.
In the manipulator in the above-mentioned two-arm manipulator transfer machine, be fixed with a plurality of connecting blocks on the inner wall of installation base, every the spacing groove has been seted up to the connecting block one side that is close to the Z axle base, one side that the Z axle base is close to the spacing groove is equipped with spacing groove assorted arch.
Compared with the prior art, the manipulator in the double-arm manipulator automatic line has the advantages that:
1. the speed reducer is driven to rotate through the rotating motor, the first gear is driven to rotate, the first gear is matched with the rack, the rack is fixedly arranged, rolling on the rack is achieved through rotation of the rotating motor, movement of the sliding seat is achieved, and further the installation base connected with the Z-axis connecting plate is driven to move in the horizontal direction, and movement of the mechanical claw is achieved;
2. the mounting base is fixedly connected with the Y-axis base, the second gear is driven to rotate by the driving motor, and the Z-axis base moves up and down in the mounting base through the cooperation of the second gear and the saw teeth on the outer wall of the Z-axis base, so that displacement of the Z-axis is realized;
3. the drag chain is placed and installed by setting the drag chain support plate, the first drag chain connecting piece and the second drag chain connecting piece, so that the constraint of the electric wire or the electric cable is completed, and the electric wire or the electric cable is convenient to move or rotate;
4. the sliding rail is arranged to be matched with the sliding block to ensure the stability of the sliding seat in the horizontal direction, the connecting block is arranged to be matched with the protrusion to realize the stability of the Z-axis base in the up-down movement, the stability of the manipulator in the clamping movement is ensured, and the working safety is improved;
5. a limit switch is arranged on a limit switch connecting plate, when the sliding seat moves to one side to contact with the limiting block, a connecting rod of the limit switch drives the switch to contact with the limiting block, so that the switch is closed or opened and closed, the control of the working state of the motor is further completed, and an accurate positioning function is realized;
in summary, the X-axis movement of the manipulator on the automatic line is realized, the Y-axis and Z-axis displacement of the manipulator is realized through the rotation of the rotating motor and the driving motor, the operation space of the manipulator is larger, and two large requirements of positioning movement and workpiece clamping and placing in a larger range can be met.
Drawings
FIG. 1 is a schematic view of the installation position of a robot in a dual arm robot line according to the present invention;
fig. 2 is a schematic structural diagram of a manipulator in a double-arm manipulator automatic line according to the present invention;
FIG. 3 is a schematic view of a Y-axis base in a robot in a dual-arm robot line according to the present invention;
fig. 4 is a schematic structural diagram of a junction box in a manipulator in a double-arm manipulator automatic line according to the present invention;
FIG. 5 is a schematic view of a part of the structure of a Y-axis base in a robot in a dual-arm robot line according to the present invention;
fig. 6 is a schematic diagram of a connection between a rotating motor and a speed reducer in a manipulator in a double-arm manipulator automatic line according to the present invention;
fig. 7 is a schematic structural diagram of a slide in a manipulator in a dual-arm manipulator automatic line according to the present invention;
FIG. 8 is a top view of a carriage in a robot in a dual arm robot in accordance with the present invention;
fig. 9 is a schematic structural diagram of a Z-axis base in a manipulator in a dual-arm manipulator automation line according to the present invention;
fig. 10 is a schematic view of a mounting base in a robot in a dual-arm robot automation line according to the present invention.
In the figure: the mechanical arm comprises a mechanical arm 1, a first drag chain connecting piece 2, a shaft base 3Z, a shaft base 4Y, a shaft connecting plate 5Z, a rotating motor 6, a second gear 7, a connecting block 8, a junction box 9, a junction hole 10, a thread mounting hole 11, a rack 12, a sliding rail 13, a limiting block 14, a main body connecting plate 15, a junction box connecting plate 16, a drag chain supporting plate 17, a wiring hole 18, a beam cover 19, a speed reducer 20, a speed reducer mounting plate 21, a first gear 22, a sliding seat 23, a sliding block 24, a limit switch connecting plate 25, a gear mounting hole 26, saw teeth 27, a mounting base 28, a second drag chain connecting piece 29 and a driving motor 30.
Detailed Description
The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.
Examples
Referring to fig. 1 to 10, a robot in a double arm robot includes a robot 1 disposed on an X-axis of the double arm robot, the robot 1 is composed of a horizontal moving part and a vertical moving part, the horizontal moving part includes a Y-axis base 4, a junction box 9 and a cross beam cover 19 are respectively mounted at both ends of the Y-axis base 4, a junction box connection plate 16 connected with the junction box 9 is mounted at one end of the Y-axis base 4 through bolts, an electromagnetic valve and a terminal block are mounted inside the junction box 9, the electromagnetic valve is used for controlling a power component switch on the robot, the terminal block is used for carrying a plurality of or a plurality of groups of mutually insulated terminal assemblies and for fixing an insulating component of a supporting member, a wiring hole 10 is opened at one end of the junction box 9 close to the Y-axis base 4, a wire or an air pipe connected with a power component on the robot 1 is inserted in the wiring hole 1O, a thread mounting hole 11 connected with the Y-axis base 4 is opened at the outer side of the wiring hole 10, and mounting fixation of the junction box 9 is completed by screwing in between the junction box connection plate 16 and the thread mounting hole 11.
The wiring hole 18 has been seted up on the outer wall of terminal box 9, the both sides through the bolt-mounting of wiring hole 18 have main part connecting plate 15 and tow chain backup pad 17, the tow chain backup pad 17, first tow chain connecting piece 8 and second tow chain connecting piece 29 carry out the installation of placing of tow chain, and then accomplish the constraint of electric wire or cable, make it convenient for move or rotate, vertical motion part includes Z axle base 3, integrated into one piece has first tow chain connecting piece 2 on the outer wall of Z axle base 3, the gripper is installed to the lower extreme of Z axle base 3, slide on the outer wall of Z axle base 3 has installation base 28, fixedly connected with second tow chain connecting piece 29 on the outer wall of installation base 28, the upper surface of Y axle base 4 is fixed with two slide rails 13, the lower lateral wall integrated into one piece of slide rail 23 has two and slide rail 13 position assorted slider 24, the T type groove of cover on slide rail 13 is seted up to the lower lateral wall of slider 24, cooperate between T type groove and slider 24 and carry out spacing to slide rail 23, guarantee that the stability when 23 removes.
The upper surface of Y axle base 4 is fixed with the stopper 14 that is located slide rail 13 both ends, common sliding connection has slide 23 on two slide rails 13, one side that slide 23 kept away from terminal box 9 is through the bolt fastening there is limit switch connecting plate 25, install limit switch on limit switch connecting plate 25, when slide 23 moves to one side and contacts with stopper 14, limit switch's connecting rod drive switch and stopper 14 contact, realize the closed disconnection or the disconnection closure of switch, and then accomplish motor operating condition's control, realize accurate locate function, slide 23's upper sidewall fixedly connected with Z axle connecting plate 5, install base 28 passes through the bolt fastening on Z axle connecting plate 5, be equipped with first actuating mechanism and second actuating mechanism on Y axle base 4 and the Z axle base 3 respectively.
The first driving mechanism comprises a gear mounting opening 26 formed in the sliding seat 23, a speed reducer mounting plate 21 is fixed on the upper side wall of the sliding seat 23 through bolts, a speed reducer 20 is mounted on the upper side wall of the speed reducer mounting plate 21, a rotating motor 6 connected with the speed reducer 20 is fixed on the upper side wall of the speed reducer 20, the driving end of the speed reducer 20 vertically penetrates through the speed reducer mounting plate 21 downwards to extend to the lower side of the speed reducer mounting plate 21 and is fixedly connected with a first gear 22, a rack 12 positioned between two sliding rails 13 is fixed on the upper side wall of the Y-axis base 4, the first gear 22 penetrates through the gear mounting opening 26 to extend to one side of the rack 12 and is meshed with the rack, the rotating motor 6 drives the speed reducer 20 to rotate, the first gear 22 is driven to rotate, the first gear 22 is matched with the rack 12 through the first gear 22, the rack 12 is fixedly arranged, rolling on the rack is achieved through rotation of the rotating motor 6, movement of the sliding seat 23 is achieved, and further the mounting base 28 connected with the Z-axis connecting plate 5 is driven to move in the horizontal direction.
The second actuating mechanism includes the driving motor 30 of horizontal fixation on the outer wall of the installation base 28, driving end of driving motor 30 runs through the outer wall of installation base 28 and extends to its inside and fixedly connected with second gear 7, second gear 7 is located one side of Z axle base 3, sawtooth 27 with second gear 7 engaged with is offered to one side that Z axle base 3 is close to second gear 7, driving motor 30 drives second gear 7 and rotates, through the cooperation of sawtooth 27 on the outer wall of second gear 7 and Z axle base 3, realize Z axle base 3 reciprocates in installation base 28, realize Z axle's displacement, be fixed with a plurality of connecting blocks 8 on the inner wall of installation base 28, the spacing groove has been offered to one side that every connecting block 8 is close to Z axle base 3, one side that Z axle base 3 is close to the spacing groove is equipped with spacing groove assorted arch, it is spacing to Z axle base 3 steady through the cooperation of arch and spacing groove, guarantee Z axle base 3 reciprocates.
The manipulator 1 moves to the position right above the material taking position, reaches X coordinates and Y coordinates of the material taking point, the manipulator 1 descends to reach Z coordinates of the material taking point, the manipulator clamps, the manipulator 1 ascends to the origin of the Z axis, and the manipulator 1 takes the material.
The method comprises the steps of material taking by a manipulator 1, operation of the manipulator 1 above a machine tool, operation of the manipulator 1 to reach X coordinates and Y coordinates of a point where a machine tool starts, opening of a safety door of the machine tool, operation of the manipulator 1 to reach Z coordinates of the point, operation of the manipulator 1 to Y coordinates and Z coordinates of a discharging point, operation of the manipulator 1 to X coordinates of the discharging point, clamping of a mechanical claw, loosening of clamping jaws of the machine tool, operation of the manipulator 1 to return to X coordinates of the point where the manipulator 1 is moved back, and discharging of the manipulator 1.
The method comprises the steps of unloading the manipulator 1, moving the manipulator 1 to a loading point Y coordinate and a Z coordinate, moving the manipulator 1 to a loading pause point X coordinate, loosening a mechanical claw, moving the manipulator 1 to the loading point X coordinate, clamping a clamping jaw of a machine tool, returning the manipulator 1 to a position X coordinate, and loading the manipulator 1.
The method comprises the steps of loading the manipulator 1, lifting the manipulator 1 to a Z-axis origin, lifting the manipulator 1 to the upper part of the turning table, reaching the X coordinate and the Y coordinate of the discharging point of the turning table, lifting the manipulator 1 to the Z coordinate of the discharging point of the turning table, clamping the turning table by a clamping cylinder, loosening a mechanical claw, lifting the manipulator 1 to the Z-axis origin, and discharging the manipulator 1.
And after the manipulator 1 finishes discharging, the manipulator 1 runs right above the material taking position, reaches the X coordinate and the Y coordinate of the material taking point, and repeatedly executes the processes of material taking of the manipulator 1 and the like.
Further, the above-described fixed connection is to be understood in a broad sense, unless explicitly stated and defined otherwise, as being, for example, welded, glued, or integrally formed, as is well known to those skilled in the art.
Although terms of the robot arm 1, the first drag link 2, the Z-axis base 3, the Y-axis base 4, the Z-axis connection plate 5, the rotation motor 6, the second gear 7, the connection block 8, the junction box 9, the wiring hole 10, the screw mounting hole 11, the rack 12, the slide rail 13, the stopper 14, the main body connection plate 15, the junction box connection plate 16, the drag link support plate 17, the wiring hole 18, the cross beam cover 19, the speed reducer 20, the speed reducer mounting plate 21, the first gear 22, the slider 23, the slider 24, the limit switch connection plate 25, the gear mounting hole 26, the serrations 27, the mounting base 28, the second drag link 29, the driving motor 30, and the like are used more herein, the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the invention; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present invention.
Claims (4)
1. The manipulator in the double-arm manipulator transfer machine comprises a manipulator (1) arranged on an X-axis of the double-arm manipulator transfer machine, and is characterized in that the manipulator (1) consists of a horizontal movement part and a vertical movement part, the horizontal movement part comprises a Y-axis base (4), a junction box (9) and a beam cover (19) are respectively arranged at two ends of the Y-axis base (4), a junction box connecting plate (16) connected with the junction box (9) is arranged at one end of the Y-axis base (4) through bolts, a wire hole (18) is formed in the outer wall of the junction box (9), a main body connecting plate (15) and a drag chain supporting plate (17) are arranged at two sides of the wire hole (18) through bolts, the vertical movement part comprises a Z-axis base (3), a first drag chain connecting piece (2) is integrally formed on the outer wall of the Z-axis base (3), a mechanical claw is arranged at the lower end of the Z-axis base (3), a base (28) is arranged on the outer wall of the Z-axis base (3) in a sliding mode, a limiting block (14) is fixedly arranged on the two ends of the Y-axis base (4) and fixedly connected with a sliding rail (13) at two ends of the Y-axis base (13), the two sliding rails (13) are connected with a sliding seat (23) in a sliding manner, one side, far away from the junction box (9), of the sliding seat (23) is fixedly provided with a limit switch connecting plate (25) through a bolt, the upper side wall of the sliding seat (23) is fixedly connected with a Z-axis connecting plate (5), the mounting base (28) is fixedly arranged on the Z-axis connecting plate (5) through a bolt, and the Y-axis base (4) and the Z-axis base (3) are respectively provided with a first driving mechanism and a second driving mechanism;
the inside mounting of terminal box (9) has solenoid valve and terminal row, wiring hole (10) have been seted up to the one end that terminal box (9) is close to Y axle base (4), screw thread mounting hole (11) with Y axle base (4) threaded connection have been seted up in the outside of wiring hole (10), first actuating mechanism is including seting up gear mounting mouth (26) on slide (23), the last lateral wall of slide (23) has speed reducer mounting plate (21) through the bolt fastening, speed reducer (20) are installed to the last lateral wall of speed reducer mounting plate (21), the last lateral wall of speed reducer (20) is fixed with rotation motor (6) that are connected with speed reducer (20), the drive end of speed reducer (20) runs through speed reducer mounting plate (21) vertically downwards and extends to its downside and fixedly connected with first gear (22), the last lateral wall of Y axle base (4) is fixed with rack (12) that are located between two slide rails (13), first gear (22) pass gear mounting mouth (26) and extend to one side of rack (12) and mesh with it.
2. The manipulator in the double-arm manipulator automatic line according to claim 1, wherein two sliding blocks (24) matched with the sliding rail (13) in position are integrally formed on the lower side wall of the sliding seat (23), and a T-shaped groove sleeved on the sliding rail (13) is formed on the lower side wall of the sliding block (24).
3. The manipulator in the double-arm manipulator automatic line according to claim 1, wherein the second driving mechanism comprises a driving motor (30) horizontally fixed on the outer wall of the mounting base (28), the driving end of the driving motor (30) penetrates through the outer wall of the mounting base (28) to extend into the interior of the driving motor and is fixedly connected with a second gear (7), the second gear (7) is located on one side of the Z-axis base (3), and sawteeth (27) meshed with the second gear (7) are formed on one side, close to the second gear (7), of the Z-axis base (3).
4. A manipulator in a double arm manipulator automation line according to claim 3, characterized in that a plurality of connection blocks (8) are fixed on the inner wall of the mounting base (28), a limit groove is provided on one side of each connection block (8) close to the Z-axis base (3), and a protrusion matched with the limit groove is provided on one side of the Z-axis base (3) close to the limit groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504831.7A CN109434540B (en) | 2018-12-10 | 2018-12-10 | Manipulator in automatic line of double-arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504831.7A CN109434540B (en) | 2018-12-10 | 2018-12-10 | Manipulator in automatic line of double-arm manipulator |
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| Publication Number | Publication Date |
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| CN109434540A CN109434540A (en) | 2019-03-08 |
| CN109434540B true CN109434540B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811504831.7A Active CN109434540B (en) | 2018-12-10 | 2018-12-10 | Manipulator in automatic line of double-arm manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109877346A (en) * | 2019-04-15 | 2019-06-14 | 苏州珈玛自动化科技有限公司 | Manipulator handling equipment |
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| CN108406328A (en) * | 2018-05-22 | 2018-08-17 | 张金仙 | Lithium battery welding machine |
| DE102017108669A1 (en) * | 2017-04-24 | 2018-10-25 | Strothmann Machines & Handling GmbH | Device for the transport of workpieces |
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2018
- 2018-12-10 CN CN201811504831.7A patent/CN109434540B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2253422A1 (en) * | 2009-05-19 | 2010-11-24 | Burkhardt GmbH Maschinenfabrik | Board processing machine for stone, wood and metal boards, and/or their replacement materials |
| CN104384931A (en) * | 2014-09-24 | 2015-03-04 | 重庆朗正科技有限公司 | Machining workstation of flange-type sleeve |
| CN104368933A (en) * | 2014-10-28 | 2015-02-25 | 重庆凌云汽车零部件有限公司 | Car instrument panel IP tube welding and machining all-in-one machine |
| CN204843680U (en) * | 2015-08-10 | 2015-12-09 | 珠海市南特金属科技股份有限公司 | Conveying mechanism and bent axle hole site processing equipment |
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| CN109434540A (en) | 2019-03-08 |
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Effective date of registration: 20240307 Address after: 252000 South Road, 600 meters west of the intersection of Jianshe Road and North Ring Road, Chongwen Street, Guanxian County, Liaocheng City, Shandong Province Applicant after: Shandong Dayong Electromechanical Technology Co.,Ltd. Country or region after: China Address before: 712100 Factory Building in H2 Zone of Torch Entrepreneurship Park, Chengnan Road, Yangling Demonstration Zone, Shaanxi Province Applicant before: SHAANXI JIUJIE ROBOT Co.,Ltd. Country or region before: China |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |