CN110091303B - Intelligent warehouse transfer robot - Google Patents
Intelligent warehouse transfer robot Download PDFInfo
- Publication number
- CN110091303B CN110091303B CN201910390062.0A CN201910390062A CN110091303B CN 110091303 B CN110091303 B CN 110091303B CN 201910390062 A CN201910390062 A CN 201910390062A CN 110091303 B CN110091303 B CN 110091303B
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- China
- Prior art keywords
- cavity
- sliding connection
- bevel gear
- fixedly arranged
- rotating shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides an intelligent warehouse carrying robot which comprises a machine body and a fixed frame arranged above the machine body, wherein a rotating cavity is arranged in the fixed frame, a spline housing penetrating through the rotating cavity is rotatably arranged in the fixed frame, a first bevel gear is fixedly arranged on the outer surface of the spline housing in the rotating cavity, a spline hole is arranged in the spline housing, a spline shaft with the bottom fixedly connected with the machine body is in spline connection in the spline hole, and a first gear with an internal tooth socket is arranged in the top wall of the outer surface of the spline shaft in a rotating mode; the equipment can turn after clamping the goods, so that the goods are prevented from being broken due to infirm clamping, and meanwhile, the goods are moved to the upper part of the machine body during transportation, so that the goods are prevented from toppling due to unstable gravity center.
Description
Technical Field
The invention relates to the field of cargo handling, in particular to an intelligent warehouse handling robot.
Background
When people carry out cargo handling in the warehouse, often can lead to the goods to break because the goods centre gripping is infirm, and partial transfer robot takes place when the fast operation simultaneously because the goods that the focus shakiness leads to topples over the accident, therefore urgent demand an intelligent warehouse transfer robot solves above-mentioned problem.
Disclosure of Invention
The invention aims to provide an intelligent warehouse transfer robot which can overcome the defects in the prior art and improve the practicability of equipment.
The invention discloses an intelligent warehouse carrying robot, which comprises a machine body and a fixed frame arranged above the machine body, wherein a rotating cavity is arranged in the fixed frame, a spline housing penetrating through the rotating cavity is arranged in the fixed frame in a rotating manner, a first bevel gear is fixedly arranged on the outer surface of the spline housing in the rotating cavity, a spline hole is arranged in the spline housing, a spline shaft with the bottom fixedly connected with the machine body is connected to the inner spline of the spline hole through a spline, a first gear with an inner tooth socket is arranged on the outer surface of the spline shaft in the top wall in a rotating manner, and a second gear is arranged on the outer surface of the spline shaft in the inner;
a first threaded hole is formed in the fixed frame, a first threaded rod is connected to the first threaded hole in a threaded manner, a first switching cavity is formed in the top wall of the rotating cavity, a first sliding connection cavity communicated with the outside is formed in the right side wall of the first switching cavity, and a first sliding connection block is arranged in the first sliding connection cavity in a sliding connection manner;
the first sliding connection block is characterized in that a first motor is arranged in the left side wall of the first sliding connection block, a worm wheel cavity is arranged in the top wall of the first sliding connection cavity, a first worm which is in power connection with a second motor is fixedly arranged in the rear side wall of the worm wheel cavity in a rotating mode, a first rotating shaft is arranged in the right side wall of the worm wheel cavity in a rotating mode, a first worm wheel meshed with the first worm is fixedly arranged at the tail end of the first rotating shaft in the worm wheel cavity, and a supporting block and a cam located on the left side of the supporting block are fixedly arranged at the right tail end of the first rotating shaft.
Preferably, a sliding guide hole is formed in the first sliding connection block, a sliding guide rod is arranged in the sliding guide hole, the tail ends of the upper side and the lower side of the sliding guide rod are fixedly connected with the upper end wall and the lower end wall of the first sliding connection cavity, a top pressure spring surrounds the outer surface of the sliding guide rod, the bottom wall of the first threaded rod extends into the inner tooth groove, a third gear meshed with the inner tooth groove and the second gear is fixedly arranged at the tail end of the first threaded rod, a second bevel gear is fixedly arranged at the tail end of the left extension of the first motor output shaft, a transmission cavity is formed in the supporting block, a second rotating shaft is rotatably arranged between the transmission cavity and the first switching cavity, a third bevel gear is fixedly arranged at the tail end of the second rotating shaft in the first switching cavity, and a fourth bevel gear is fixedly.
Preferably, a second sliding connection cavity is formed in the front end wall and the rear end wall of the transmission cavity in an equivalent manner, a clamping block is arranged in the second sliding connection cavity, a second threaded hole is formed in the clamping block, a second threaded rod extending forwards and backwards is connected with the second threaded hole in an internal threaded manner, the tail end of the second threaded rod extends into the transmission cavity, a fifth bevel gear meshed with the fourth bevel gear is fixedly arranged at the tail end of the second threaded rod in the transmission cavity, and the first motor is started to rotate to drive the second threaded rod to rotate, so that the clamping blocks are driven to move oppositely to clamp goods.
Preferably, a second switching cavity is formed in the machine body, a third sliding connection cavity is formed in the top wall of the second switching cavity, a third sliding connection block is arranged in the third sliding connection cavity in a sliding connection mode, and a reset device is elastically arranged between the third sliding connection block and the top wall of the third sliding connection cavity.
Preferably, a permanent magnet is arranged in the left side wall of the third sliding connection block, an electromagnet matched with the permanent magnet is fixedly arranged in the left side wall of the third sliding connection cavity, a third motor is fixedly arranged in the bottom wall of the third sliding connection block, and a sixth bevel gear is fixedly arranged at the downward extending tail end of an output shaft of the third motor.
Preferably, a third rotating shaft is rotatably arranged in the top wall of the second switching cavity, a seventh bevel gear is fixedly arranged at the tail end of the third rotating shaft in the cut flower cavity, and a fourth gear meshed with the first gear is fixedly arranged at the tail end of the top of the third rotating shaft.
Preferably, a moving cavity is arranged in the left side wall of the second switching cavity, a second worm is rotatably arranged between the moving cavity and the second switching cavity, and an eighth bevel gear is fixedly arranged at the tail end of the second worm in the second switching cavity.
Preferably, a fourth rotating shaft extending forwards and backwards is arranged in the moving cavity in a rotating mode, the tail ends of the front side and the rear side of the fourth rotating shaft are fixedly provided with first rolling wheels, a second worm wheel meshed with the second worm is fixedly arranged on the outer surface of the fourth rotating shaft in the moving cavity, the front end wall and the rear end wall of the machine body are rotatably provided with second rolling wheels which are opposite in front and rear directions, and the third motor is started to rotate to drive the sixth bevel gear, the eighth bevel gear, the second worm wheel and the first rolling wheels to rotate so as to drive the machine body to move.
The invention has the beneficial effects that: the equipment can turn after clamping the goods, so that the goods are prevented from being broken due to infirm clamping, and meanwhile, the goods are moved to the upper part of the machine body during transportation, so that the goods are prevented from toppling due to unstable gravity center.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of an intelligent warehouse handling robot according to the present invention.
Fig. 2 is an enlarged schematic view of a in fig. 1.
Fig. 3 is an enlarged schematic view of B in fig. 1.
Fig. 4 is a schematic view of the structure of C-C in fig. 1.
Fig. 5 is a schematic diagram of the structure D-D in fig. 2.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
As shown in fig. 1 to 5, the intelligent warehouse handling robot of the present invention includes a body 10 and a fixing frame 25 disposed above the body 10, wherein a rotating cavity 35 is disposed in the fixing frame 25, a spline housing 34 penetrating through the rotating cavity 35 is rotatably disposed in the fixing frame 25, a first bevel gear 36 is fixedly disposed on an outer surface of the spline housing 34 in the rotating cavity 35, a spline hole 33 is disposed in the spline housing 34, a spline shaft 32 having a bottom fixedly connected to the body 10 is splined in the spline hole 33, a first gear 31 having an internal tooth socket 30 disposed in a top wall is rotatably disposed on an outer surface of the spline shaft 32 in the internal tooth socket 30, a second gear 28 is rotatably disposed on an outer surface of the spline shaft 32 in the internal tooth socket 30, a first threaded hole 26 is disposed in the fixing frame 25, a first threaded rod 27 is threadedly connected to the first threaded hole 26, a bottom wall of the first threaded rod 27 extends into the internal tooth socket 30, and a tail end of the first threaded rod 27 A third gear 29 which is engaged with the first gear, a first switching cavity 45 is arranged in the top wall of the rotating cavity 35, a first sliding connection cavity 37 which is communicated with the outside is arranged in the right side wall of the first switching cavity 45, a first sliding connection block 42 is arranged in the first sliding connection cavity 37 in a sliding connection manner, a sliding guide hole 41 is arranged in the first sliding connection block 42, a sliding guide rod 40 with the upper and lower ends fixedly connected with the upper and lower end walls of the first sliding connection cavity 37 is arranged in the sliding guide hole 41, a top pressure spring 39 is wound around the outer surface of the sliding guide rod 440, a first motor 38 is arranged in the left side wall of the first sliding connection block 42, a second bevel gear 43 is fixedly arranged at the leftwards extending end of the output shaft of the first motor 38, a worm wheel cavity 59 is arranged in the top wall of the first sliding connection cavity 37, a first worm 60 which is in power connection with a second motor 62 fixedly arranged in the rear side wall of the worm wheel cavity 59 is rotatably arranged in the worm wheel cavity 59, a first rotating shaft 23 is arranged in the right side wall of the worm wheel cavity, the tail end of the first rotating shaft 23 in the worm wheel cavity 59 is fixedly provided with a first worm wheel 61 meshed with the first worm 60, the tail end of the right side of the first rotating shaft 23 is fixedly provided with a supporting block 21 and a cam 24 positioned on the left side of the supporting block 21, and the first threaded rod 27 rotates to drive the sliding connection frame 25 to move up and down.
Advantageously, a transmission cavity 55 is arranged in the supporting block 21, a second rotating shaft 20 is rotatably arranged between the transmission cavity 55 and the first switching cavity 45, a third bevel gear 44 is fixedly arranged at the tail end of the second rotating shaft 20 in the first switching cavity 45, and a fourth bevel gear 22 is fixedly arranged at the tail end of the second rotating shaft 20 in the transmission cavity 55.
Beneficially, a second sliding connection cavity 57 is equivalently arranged in the front end wall and the rear end wall of the transmission cavity 55, a clamping block 58 is arranged in the second sliding connection cavity 57, a second threaded hole 53 is arranged in the clamping block 58, a second threaded rod 54 extending in the front and rear directions is connected in a threaded manner in the second threaded hole 53, the tail end of the second threaded rod 54 extends into the transmission cavity 55, a fifth bevel gear 56 meshed with the fourth bevel gear 22 is fixedly arranged at the tail end of the second threaded rod 54 in the transmission cavity 55, and the first motor 38 is started to rotate to drive the second threaded rod 54 to rotate, so that the clamping blocks 58 are driven to move oppositely to clamp the goods.
Beneficially, a second switching cavity 17 is arranged in the machine body 10, a third sliding connection cavity 49 is arranged in a top wall of the second switching cavity 17, a third sliding connection block 51 is slidably arranged in the third sliding connection cavity 49, and a reset device 52 is elastically arranged between the third sliding connection block 51 and the top wall of the third sliding connection cavity 49.
Advantageously, a permanent magnet 50 is arranged in the left side wall of the third sliding connection block 51, an electromagnet 48 matched with the permanent magnet 50 is fixedly arranged in the left side wall of the third sliding connection cavity 49, a third motor 47 is fixedly arranged in the bottom wall of the third sliding connection block 51, and a sixth bevel gear 46 is fixedly arranged at the downward extending tail end of the output shaft of the third motor 47.
Advantageously, a third rotating shaft 64 is rotatably arranged in the top wall of the second switching chamber 17, a seventh bevel gear 18 is fixedly arranged at the tail end of the third rotating shaft 64 in the second cut flower chamber 17, and a fourth gear 63 engaged with the first gear 31 is fixedly arranged at the top tail end of the third rotating shaft 64.
Advantageously, a moving cavity 11 is arranged in the left side wall of the switching cavity 17, a second worm 12 is arranged between the moving cavity 11 and the second switching cavity 17 in a rotating manner, and an eighth bevel gear 16 is fixedly arranged at the tail end of the second worm 12 in the second switching cavity 17.
Advantageously, a fourth rotating shaft 15 extending back and forth is rotatably disposed in the moving cavity 11, first rollers 14 are fixedly disposed at the front and rear ends of the fourth rotating shaft 15, a second worm wheel 13 engaged with the second worm 12 is fixedly disposed on the outer surface of the fourth rotating shaft 15 in the moving cavity 11, second rollers 19 having a front and rear equal number are rotatably disposed on the front and rear end walls of the body 10, and the third motor 47 is started to rotatably drive the sixth bevel gear 46, the eighth bevel gear 16, the second worm 12, the second worm wheel 13 and the first rollers 14 to rotate, so as to drive the body 10 to move.
In the following, the applicant will refer to the specific components of an intelligent warehouse handling robot of the present application described above and shown in fig. 1 to 5 to describe the work flow in detail:
1. starting the second motor 62 to rotate and drive the first worm 60, the first worm wheel 61, the first rotating shaft 23 and the cam 24 to rotate, so as to drive the first sliding block 42 to move downwards, so as to drive the second bevel gear 43 to be meshed with the first bevel gear 36, and meanwhile, the electromagnet 48 attracts the third sliding block 51 to move right, so as to drive the sixth bevel gear 46 to be meshed with the eighth bevel gear 16;
2. starting the third motor 47 to drive the sixth bevel gear 46, the eighth bevel gear 16, the second worm 12, the second worm gear 13 and the first roller 14 to rotate, so as to drive the machine body 10 to move to the side where the goods need to be transported, and then starting the first motor 43 to rotate to drive the second bevel gear 43 to rotate along the first bevel gear 36, so as to drive the sliding connection frame 25 to rotate for half a circle along the spline shaft 32, so as to drive the supporting block 21 to rotate above the goods;
3. at this time, the second motor 62 is started to drive the supporting block 21 to reversely rotate and reset, at this time, the first sliding connection block 42 and the third sliding connection block 51 reset, the third motor 47 is started to rotate to drive the sixth bevel gear 46, the seventh bevel gear 18, the fourth gear 63, the first gear 31 and the third gear 29 to rotate, so as to drive the first threaded rod 27 to rotate, so as to drive the sliding connection frame 25 to move downwards, so as to drive the clamped blocks 58 to be positioned at the front side and the rear side of the goods;
4. the first motor 38 is started to rotate to drive the second threaded rod 54 to rotate, so as to drive the clamping blocks 58 to move oppositely to clamp the goods, then the third motor 47 is started to rotate reversely to drive the goods to ascend, the second motor 62 is started again to rotate to drive the supporting block 21 to rotate, at the moment, the first sliding block 42 moves downwards, the third sliding block 51 moves leftwards, the first motor 38 is started to rotate reversely to drive the sliding frame 25 to rotate reversely for half a circle along the spline shaft 32 to the upper part of the machine body 10, then the third motor 47 is started to drive the machine body 10 and the goods to move, and the goods transportation is completed.
The above description is only an embodiment of the invention, but the scope of the invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the invention. Therefore, the protection scope of the invention should be subject to the protection scope defined by the claims.
Claims (1)
1. The utility model provides an intelligence warehouse transfer robot, includes the fuselage and set up in the mount of fuselage top, its characterized in that: a rotating cavity is arranged in the fixing frame, a spline housing penetrating through the rotating cavity is rotatably arranged in the fixing frame, a first bevel gear is fixedly arranged on the outer surface of the spline housing in the rotating cavity, a spline hole is arranged in the spline housing, a spline shaft with the bottom fixedly connected with the machine body is connected in a spline manner in the spline hole, a first gear with an inner tooth socket in the top wall is rotatably arranged on the outer surface of the spline shaft, and a second gear is rotatably arranged on the outer surface of the spline shaft in the inner tooth socket;
a first threaded hole is formed in the fixed frame, a first threaded rod is connected to the first threaded hole in a threaded manner, a first switching cavity is formed in the top wall of the rotating cavity, a first sliding connection cavity communicated with the outside is formed in the right side wall of the first switching cavity, and a first sliding connection block is arranged in the first sliding connection cavity in a sliding connection manner;
a first motor is arranged in the left side wall of the first sliding connection block, a worm wheel cavity is arranged in the top wall of the first sliding connection cavity, a first worm which is in power connection with a second motor is fixedly arranged in the rear side wall of the worm wheel cavity in a rotating mode, a first rotating shaft is rotatably arranged in the right side wall of the worm wheel cavity, a first worm wheel which is meshed with the first worm is fixedly arranged at the tail end of the first rotating shaft in the worm wheel cavity, and a supporting block and a cam which is positioned on the left side of the supporting block are fixedly arranged at the tail end of the right side of the first rotating shaft; a sliding guide hole is formed in the first sliding connection block, a sliding guide rod is arranged in the sliding guide hole, the tail ends of the upper side and the lower side of the sliding guide rod are fixedly connected with the upper end wall and the lower end wall of the first sliding connection cavity, a jacking spring surrounds the outer surface of the sliding guide rod, the bottom wall of the first threaded rod extends into the inner tooth groove, a third gear meshed with the inner tooth groove and the second gear is fixedly arranged at the tail end of the first threaded rod, a second bevel gear is fixedly arranged at the tail end of the left extension of the output shaft of the first motor, a transmission cavity is formed in the supporting block, a second rotating shaft is rotatably arranged between the transmission cavity and the first switching cavity, a third bevel gear is fixedly arranged at the tail end of the second rotating shaft in the first switching cavity, and a fourth bevel gear; a second sliding connection cavity is formed in the front end wall and the rear end wall of the transmission cavity in an equivalent manner, a clamping block is arranged in the second sliding connection cavity, a second threaded hole is formed in the clamping block, a second threaded rod extending forwards and backwards is connected with the second threaded hole in an internal thread mode, the tail end of the second threaded rod extends into the transmission cavity, a fifth bevel gear meshed with the fourth bevel gear is fixedly arranged at the tail end of the second threaded rod in the transmission cavity, and the first motor is started to rotate to drive the second threaded rod to rotate so as to drive the clamping blocks to clamp goods in an opposite direction; a second switching cavity is arranged in the machine body, a third sliding connection cavity is arranged in the top wall of the second switching cavity, a third sliding connection block is arranged in the third sliding connection cavity in a sliding connection mode, and a reset device is elastically arranged between the third sliding connection block and the top wall of the third sliding connection cavity; a permanent magnet is arranged in the left side wall of the third sliding connection block, an electromagnet matched with the permanent magnet is fixedly arranged in the left side wall of the third sliding connection cavity, a third motor is fixedly arranged in the bottom wall of the third sliding connection block, and a sixth bevel gear is fixedly arranged at the tail end of the downward extension of an output shaft of the third motor; a third rotating shaft is rotatably arranged in the top wall of the second switching cavity, a seventh bevel gear is fixedly arranged at the tail end of the third rotating shaft in the second cut flower cavity, and a fourth gear meshed with the first gear is fixedly arranged at the tail end of the top of the third rotating shaft; a moving cavity is arranged in the left side wall of the second switching cavity, a second worm is rotatably arranged between the moving cavity and the second switching cavity, and an eighth bevel gear is fixedly arranged at the tail end of the second worm in the second switching cavity; the moving cavity is internally provided with a fourth rotating shaft which extends forwards and backwards in a rotating manner, the tail ends of the front side and the rear side of the fourth rotating shaft are fixedly provided with first idler wheels, the outer surface of the fourth rotating shaft in the moving cavity is fixedly provided with a second worm wheel meshed with the second worm, the front end wall and the rear end wall of the machine body are rotatably provided with second idler wheels which are opposite forwards and backwards, the third motor is started to rotate to drive the sixth bevel gear, the eighth bevel gear, the second worm wheel and the first idler wheels to rotate, and therefore the machine body is driven to move.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910390062.0A CN110091303B (en) | 2019-05-10 | 2019-05-10 | Intelligent warehouse transfer robot |
| PH12019050167A PH12019050167A1 (en) | 2019-05-10 | 2019-08-17 | An intelligent warehouse handling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910390062.0A CN110091303B (en) | 2019-05-10 | 2019-05-10 | Intelligent warehouse transfer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110091303A CN110091303A (en) | 2019-08-06 |
| CN110091303B true CN110091303B (en) | 2020-03-06 |
Family
ID=67447687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910390062.0A Active CN110091303B (en) | 2019-05-10 | 2019-05-10 | Intelligent warehouse transfer robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110091303B (en) |
| PH (1) | PH12019050167A1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1563966A1 (en) * | 2004-02-13 | 2005-08-17 | Fanuc Ltd | Joint structure with splined motor shaft for industrial robot |
| CN201214554Y (en) * | 2008-05-26 | 2009-04-01 | 昆明理工大学 | Logistics system complete equipment |
| CN107352205A (en) * | 2017-07-18 | 2017-11-17 | 北京极智嘉科技有限公司 | Transfer robot |
-
2019
- 2019-05-10 CN CN201910390062.0A patent/CN110091303B/en active Active
- 2019-08-17 PH PH12019050167A patent/PH12019050167A1/en unknown
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1563966A1 (en) * | 2004-02-13 | 2005-08-17 | Fanuc Ltd | Joint structure with splined motor shaft for industrial robot |
| CN201214554Y (en) * | 2008-05-26 | 2009-04-01 | 昆明理工大学 | Logistics system complete equipment |
| CN107352205A (en) * | 2017-07-18 | 2017-11-17 | 北京极智嘉科技有限公司 | Transfer robot |
Also Published As
| Publication number | Publication date |
|---|---|
| PH12019050167A1 (en) | 2020-12-02 |
| CN110091303A (en) | 2019-08-06 |
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Effective date of registration: 20200119 Address after: No. 5555, Weishan Road, Changchun hi tech Development Zone, Jilin Province Applicant after: Changchun Dazhong logistics assembly Co., Ltd Address before: 312500 East Xinchang Avenue 879 Yulin Street, Xinchang County, Shaoxing City, Zhejiang Province Applicant before: Xinchang Bingyin Intelligent Technology Co., Ltd. |
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