CN111113365A - Express delivery commodity circulation smallclothes transfer robot - Google Patents
Express delivery commodity circulation smallclothes transfer robot Download PDFInfo
- Publication number
- CN111113365A CN111113365A CN202010023374.0A CN202010023374A CN111113365A CN 111113365 A CN111113365 A CN 111113365A CN 202010023374 A CN202010023374 A CN 202010023374A CN 111113365 A CN111113365 A CN 111113365A
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- Prior art keywords
- robot
- manipulator
- belt
- frame
- motor
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Classifications
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J9/16—Programme controls
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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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an express logistics small piece carrying robot which comprises a chassis (1), a rack (2), a carrier roller gravity type goods shelf (3), a mechanical arm (4) and a transmission device (5), wherein a walking mechanism is arranged at the bottom of the chassis (1), the rack (2) is fixed on the chassis (1), the carrier roller gravity type goods shelf (3) is obliquely fixed on the rack (2), the transmission device (5) is arranged at the top of the rack (2), and the mechanical arm (4) is connected with the bottom of the transmission device (5). Compared with the prior art, the robot has the advantages that the robot realizes the functions of omnidirectional movement, autonomous navigation and autonomous carrying by using Mecanum wheels, a mechanical arm, a transmission device, a gravity type goods shelf and a sensor module, is simple in structure, complete in function and low in cost, and is suitable for the express logistics industry.
Description
Technical Field
The invention relates to a transfer robot, in particular to an express logistics small piece transfer robot.
Background
With the rapid growth of the logistics industry, the express logistics industry has come to the rapid development period. However, in the express sorting and warehousing process, a large number of places for manual sorting and carrying still exist, the express sorting and warehousing efficiency is low, the cost of part of the existing express transportation and sorting robots is also high, and the problem of robot replacement in sorting and carrying scenes cannot be well solved.
The only some robots used for express delivery transportation and sorting in the prior art have narrow application range and cannot realize unmanned sorting and carrying to a complete degree.
Application number 201520603568.2, the utility model discloses the name "a fast loading and unloading letter sorting car", provide a sorting car that is applicable to fast loading and unloading, letter sorting and transportation such as little article, fast food, express delivery, solved that the sorting car loads the ability reinforce, can not form complete goods in crowded mill's workshop and city and deliver, load goods rear stability relatively poor, the goods is the stationary state on the transport vechicle, can't realize the letter sorting of goods, categorised not enough. Application number 201611012541.1 provides an express delivery transportation robot who comprises trailing chassis, lift platform, gravity type goods shelves, can cooperate the conveyer belt to use, realizes the multilayer transportation through the promotion that promotes the platform height. However, the express delivery transportation robot still needs the cooperation of manpower. And the independent carrying and sorting functions of express delivery can not be realized, and the transportation and sorting efficiency is low.
Disclosure of Invention
The invention aims to solve the problems of low express sorting efficiency, high robot cost and the like in the prior art, and provides an express logistics small piece carrying robot.
The purpose of the invention can be realized by the following technical scheme:
the robot comprises a chassis, a rack, a carrier roller gravity type goods shelf, a manipulator and a transmission device, wherein a walking mechanism is arranged at the bottom of the chassis, the rack is fixed on the chassis, the carrier roller gravity type goods shelf is obliquely fixed on the rack, the transmission device is arranged at the top of the rack, and the manipulator is connected with the bottom of the transmission device.
The walking mechanism comprises a plurality of groups of chassis motors and Mecanum wheels.
The bottom of the frame is provided with an encoder, the encoder is provided with a driven wheel, and the driven wheel moves synchronously along with the travelling mechanism.
The frame on be equipped with sensor module for location and keep away the barrier.
The carrier roller gravity type goods shelf comprises a carrier roller mounting frame and a carrier roller group, wherein the carrier roller mounting frame is arranged on a frame, the carrier roller group is arranged on the carrier roller mounting frame, and an included angle between the carrier roller group and a counter plane is within an angle degree to an angle degree.
The manipulator comprises a manipulator suspension and a clamping jaw assembly which are connected with each other.
The manipulator suspension comprises a left manipulator suspension and a right manipulator suspension, a rotating motor is mounted at the bottom of the right manipulator suspension, a rotating motor connecting plate is fixedly connected with an output shaft of the rotating motor, a rotating motor driven plate is mounted at the bottom of the left manipulator suspension, the rotating motor driven plate is hinged with the left manipulator suspension, and the clamping jaw assembly is arranged between the rotating motor connecting plate and the rotating motor driven plate and can rotate along with the output shaft of the rotating motor.
The transmission device comprises a motor, a belt transmission mechanism and a manipulator suspension fixing frame, an output shaft of the motor is connected with the belt transmission mechanism, the belt transmission mechanism converts the rotation of the output shaft of the motor into the horizontal movement of a belt, the top of the manipulator suspension fixing frame is connected with the belt in the belt transmission mechanism, and the bottom of the manipulator suspension fixing frame is connected with the manipulator suspension.
The belt transmission mechanism comprises a rotating shaft and at least two belts, the rotating shaft is fixedly connected with an output shaft of the motor, two ends of each belt are respectively wound on corresponding belt wheels, one belt wheel is fixedly connected with the rotating shaft, the other belt wheel is hinged with the rack, a belt pressing sheet is arranged at the top of the manipulator suspension fixing frame, and the belts are tightly pressed on the manipulator suspension fixing frame by the belt pressing sheet.
The rack is provided with a plurality of linear guide rails with sliders, the linear guide rails are parallel to the belt, and the manipulator suspension fixing frame is arranged on the sliders and can reciprocate on the linear guide rails.
Compared with the prior art, the invention has the following advantages:
(1) the robot has the functions of omnidirectional movement, autonomous navigation and autonomous carrying by utilizing Mecanum wheels, a mechanical arm, a transmission device, a gravity type goods shelf and a sensor module.
(2) The Mecanum wheels can realize the omnidirectional movement of the robot, so that the robot has good flexibility, and can realize the autonomous navigation function by matching with the sensor module.
(3) Adopt transmission and manipulator can realize snatching and carrying express delivery commodity circulation smallclothes, the cooperation gravity type goods shelves utilize the gravity of the article of grabbing to realize carrying the local function of appointed letter sorting with express delivery commodity circulation smallclothes.
(4) The clamping jaw assembly is arranged between the rotating motor connecting plate and the rotating motor driven plate and can rotate along with an output shaft of the rotating motor, so that the swinging around the axis in the horizontal direction is realized, and the direction is flexible.
(5) The manipulator suspension mount can reciprocate on the linear guide on the frame, and the manipulator is installed in manipulator suspension mount bottom, and stability is good, and the mountable is a plurality ofly.
(6) The robot has the advantages of simple structure, complete functions and low cost, and is suitable for the express logistics industry.
Drawings
Fig. 1 is a schematic perspective view of an express delivery logistics small item carrying robot in the embodiment;
FIG. 2 is a perspective view of the base plate of the present embodiment;
FIG. 3 is a schematic perspective view of another angle of the chassis of the present embodiment;
fig. 4 is a schematic perspective view of the idler gravity type rack of the present embodiment;
fig. 5 is a schematic perspective structure of the manipulator of the present embodiment;
FIG. 6 is a schematic perspective view of the transmission of the present embodiment;
reference numerals:
1-chassis, 2-frame, 3-idler gravity rack, 4-robot, 5-transmission, 6-front chassis link, 7-rear chassis link, 8-first chassis motor, 9-second chassis motor, 10-third chassis motor, 11-fourth chassis motor, 12-first mecanum wheel, 13-second mecanum wheel, 14-third mecanum wheel, 15-fourth mecanum wheel, 16-sensor module, 17-first encoder, 18-encoder driven wheel module frame, 19-second encoder, 20-first encoder driven wheel, 21-second encoder driven wheel, 22-encoder driven wheel module mounting plate, 23-first sensor module, 24-second sensor module, 25-idler mounting rack, 26-idler set, 27-first jaw, 28-second jaw, 29-first jaw motor, 30-second jaw motor, 31-first jaw motor mounting rack, 32-second jaw motor mounting rack, 33-rotating motor connecting plate, 34-rotating motor, 35-manipulator left suspension, 36-bearing, 37-manipulator right suspension, 38-rotating motor driven plate, 40-first pulley, 41-rotating shaft, 42-first belt, 43-second pulley, 44-second pulley supporting seat, 45-first linear guide rail, 46-first belt pressing sheet, 47-manipulator suspension mounting rack, 48-second linear guide rail, 49-third linear guide rail, 50-fourth linear guide rail, 28-second jaw, 29-first jaw motor, 30-second jaw motor, 31-first jaw motor mounting rack, 32-second jaw motor mounting rack, 33-rotating motor connecting plate, 34-rotating motor, 35-manipulator left suspension, 36-bearing, 51-third belt wheel, 52-second belt, 53-third belt wheel support seat, 54-fourth belt wheel support seat, 55-fourth belt wheel and 56-second belt pressing sheet.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "inside and outside" in the present invention means that the direction pointing to the inside of the device is inside and vice versa with respect to the device itself, and is not a specific limitation of the mechanism of the apparatus of the present invention.
The meaning of "left and right" in the present invention means that when the reader is facing the drawings, the left side of the reader is left, and the right side of the reader is right, and is not a specific limitation on the mechanism of the apparatus of the present invention.
The terms "connected," "mounted," and "hinged" used in the present invention may mean either a direct connection, mounting, and hinge between components, or an indirect connection, mounting, and hinge between components via other components.
Examples
As shown in fig. 1-6, an express delivery logistics small workpiece carrying robot comprises a chassis 1, a frame 2, a carrier roller gravity type goods shelf 3, a manipulator 4 and a transmission device 5.
The chassis 1 consists of a front chassis connecting plate 6, a rear chassis connecting plate 7, a first chassis motor 8, a second chassis motor 9, a third chassis motor 10, a fourth chassis motor 11, a first Mecanum wheel 12, a second Mecanum wheel 13, a third Mecanum wheel 14, a fourth Mecanum wheel 15, a sensor module 16, a first encoder 17, an encoder driven wheel module frame 18, a second encoder 19, a first encoding driven wheel 20, a second encoding driven wheel 21, an encoder driven wheel module mounting plate 22, a first sensor module 23 and a second sensor module 24; a front chassis connecting plate 6 and a rear chassis connecting plate 7 are arranged on the frame 2, a first chassis motor 8 and a second chassis motor 9 are arranged on the front chassis connecting plate 7, and a third chassis motor 10 and a fourth chassis motor 11 are arranged on the rear chassis connecting plate 7; first mecanum wheels 12 are mounted on first chassis motor 8, second mecanum wheels 13 are mounted on second chassis motor 9, third mecanum wheels 14 are mounted on third chassis motor 10, fourth mecanum wheels 15 are mounted on fourth chassis motor 11; the encoder driven wheel module mounting plate 22 is mounted on the frame 2, the first encoder 17 and the second encoder 19 are mounted on the encoder driven wheel module frame 18, the first encoder driven wheel 20 is mounted on the first encoder 17, and the second encoder driven wheel 21 is mounted on the second encoder 19; the first sensor module 23 and the second sensor module 24 are mounted on the frame 2.
The carrier roller gravity type goods shelf consists of a carrier roller mounting frame 25 and a carrier roller group 26, wherein the carrier roller group is installed on the carrier roller mounting frame, and the carrier roller mounting frame is installed on a rack.
The manipulator consists of a first clamping jaw 27, a second clamping jaw 28, a first clamping jaw motor 29, a second clamping jaw motor 30, a first clamping jaw motor mounting frame 31, a second clamping jaw motor mounting frame 32, a rotating motor connecting plate 33, a rotating motor 34, a manipulator left suspension 35, a bearing 36, a manipulator right suspension 37 and a rotating motor driven plate 38; the first jaw 27 is mounted on a first jaw motor 29, the second jaw 28 is mounted on a second jaw motor 30, the first jaw motor 29 is mounted on a first jaw motor mount 31, and the second jaw motor 30 is mounted on a second jaw motor mount 32; one ends of the first jaw mounting bracket 31 and the second jaw mounting bracket 32 are mounted on the rotating motor connecting plate 33, and the other ends are mounted on the rotating motor driven plate 38; the bearing 36 is installed on the left suspension 35 of the manipulator, the driven wheel plate 38 of the rotating motor is installed on the bearing 36 and hinged with the left suspension 35 of the manipulator, the connecting plate 33 of the rotating motor is fixedly connected with the output shaft of the rotating motor 34, and the rotating motor 34 is installed on the right suspension 37 of the manipulator.
The transmission device comprises a motor 39, a first belt wheel 40, a rotating shaft 41, a first belt 42, a second belt wheel 43, a second belt wheel supporting seat 44, a first linear guide rail 45, a first belt pressing sheet 46, a manipulator suspension fixing frame 47, a second linear guide rail 48, a third linear guide rail 49, a fourth linear guide rail 50, a third belt wheel 51, a second belt 52, a third belt wheel supporting seat 53, a fourth belt wheel supporting seat 54, a fourth belt wheel 55 and a second belt pressing sheet 56; the motor 39 is installed on the frame 2, the first belt wheel 40 is fixedly installed on the output shaft of the motor 39, and the rotating shaft 41 is fixedly installed on the first belt wheel 40; the second belt wheel 43 is arranged on a second belt wheel supporting seat 44 and is hinged with the second belt wheel supporting seat 44, the second belt wheel supporting seat 44 is arranged on the frame 2, and the first belt 42 is arranged on the first belt wheel 40 and the second belt wheel 43 to form a belt transmission mechanism; the first belt pressing piece 46 is arranged on a manipulator suspension fixing frame 47, tightly presses the first belt 42 on the manipulator suspension fixing frame 47, and the manipulator suspension fixing frame 47 is arranged on the sliders of the first linear guide rail 45, the second linear guide rail 48, the third linear guide rail 49 and the fourth linear guide rail 50 and can do linear reciprocating motion on the slide rails; the third belt wheel 51 is arranged on the rotating shaft 41, fixedly connected with the rotating shaft 41 and hinged with a third belt wheel supporting seat 53, and the third belt wheel supporting seat 53 is arranged on the frame 2; a fourth belt wheel supporting seat 54 is arranged on the frame 2, and a fourth belt wheel 55 is arranged on the fourth belt wheel supporting seat 54 and hinged with the fourth belt wheel supporting seat 54; the second belt 52 is arranged on the third belt wheel 51 and the fourth belt wheel 55 to form a belt transmission mechanism; the second tape presser 56 is mounted on the robot suspension holder 47 and presses the second tape 52 against the robot suspension holder.
The number of the mechanical arms is three, the mechanical arm suspensions are respectively arranged on the mechanical arm suspension fixing frame 47, the number of the carrier roller gravity type goods shelves is three, the carrier roller gravity type goods shelves are respectively arranged at the lower end of the mechanical arm, the number of the mechanical arms is equal to that of the carrier roller gravity type goods shelves, and the number of the mechanical arms is not limited to three, and the number of the mechanical arms can. The carrier roller gravity type goods shelf has a certain inclination angle (15-45 degrees) relative to the horizontal plane.
The sensor module can be a sensor for ultrasonic sensor, infrared sensor, camera, laser radar and other related auxiliary positioning, obstacle avoidance, image construction and the like. The specific implementation can be selected according to the situation.
Each linear slide rail is a linear guide rail comprising a slide block.
The driving modes of the motors and the sensors are all electric.
The working principle of the embodiment is described as follows in combination with the attached drawings:
the scenario of this embodiment is as follows, where the robot is used with a shelf or conveyor belt. The robot can realize the function of building the picture through the sensor module part, and encoder from driving wheel module can provide the odometer message for the robot, and initial state robot moves to the assigned position from the starting position, makes the robot aim at the shipment mouth of goods shelves or conveyer belt through sensor assistance-localization real-time after reaching the assigned position. When the robot is aligned with the goods outlet, the rotating motor 34 in the manipulator rotates to point the grabbing direction of the manipulator to the direction of the goods outlet of the goods shelf or the conveyor belt. After the rotating motor 34 completes the movement, the first jaw motor 29 and the second jaw motor 30 rotate to drive the first jaw 27 and the second jaw 28 to rotate, so that the manipulator is opened. After the standby manipulator is opened, the power of the conveying device 39 rotates to drive the sliding block and the manipulator suspension fixing frame 47 to move under the action of belt transmission, so that the manipulator is driven to move towards the direction close to the goods. When the standby manipulator moves to the position where the manipulator can grab goods, the first clamping jaw motor 29 and the second clamping jaw motor 30 control the clamping jaws to be closed so as to achieve the purpose of grabbing the goods. After the goods are grabbed, the transmission device drives the manipulator to return to the initial state, the rotating motor 34 of the manipulator rotates to return the manipulator to the initial rotating angle, and the first clamping jaw motor 29 and the second clamping jaw motor 30 are kept motionless to keep the object grabbing state. After the robot starts to autonomously navigate to a place where goods need to be unloaded and is assisted by the sensor for positioning, the first clamping jaw motor 29 and the second clamping jaw motor 30 rotate to loosen the goods, so that the goods slide down along the gravity type goods shelf under the action of gravity, and the purpose of unloading the goods is achieved.
It should be noted that the above summary and the detailed description are intended to illustrate the practical application of the technical solutions provided by the present patent, and should not be construed as limiting the scope of the present patent, and those skilled in the art can make various modifications, equivalent replacements or improvements within the spirit and principle of the present patent, such as the idler gravity type rack of the robot, the number of the idler set can be increased or decreased according to the needs of the practical application, the number of the manipulator and the idler gravity type rack can also be reduced according to the practical application, and several modifications and improvements can be made without departing from the concept of the present invention.
Claims (10)
1. The utility model provides an express delivery commodity circulation smallclothes transfer robot, characterized in that, includes chassis (1), frame (2), bearing roller gravity type goods shelves (3), manipulator (4) and transmission (5), chassis (1) bottom have running gear, frame (2) fix on chassis (1), bearing roller gravity type goods shelves (3) slope fix on frame (2), transmission (5) set up at frame (2) top, manipulator (4) be connected with transmission (5) bottom.
2. The courier logistics pick-up robot of claim 1, wherein the travel mechanism comprises a plurality of sets of chassis motors and mecanum wheels.
3. The small express logistics carrying robot as claimed in claim 1, wherein an encoder is mounted at the bottom of the frame (2), and the encoder is provided with a driven wheel which moves synchronously with the travelling mechanism.
4. The robot for carrying express delivery logistics smallclothes as claimed in claim 1, characterized in that the frame (2) is equipped with sensor modules for positioning and obstacle avoidance.
5. The robot for carrying express logistics small pieces according to claim 1, characterized in that the carrier roller gravity type goods shelf (3) comprises a carrier roller mounting frame (25) and a carrier roller group (26), wherein the carrier roller mounting frame (26) is installed on the frame (2), the carrier roller group (26) is installed on the carrier roller mounting frame (25), and the included angle between the carrier roller group (26) and the opposite plane is 15-45 degrees.
6. A courier logistics pick-up robot as claimed in claim 1 wherein the robot arm (4) comprises interconnected arm suspension and jaw assemblies.
7. The small express logistics handling robot as claimed in claim 6, wherein the manipulator suspension comprises a left manipulator suspension (35) and a right manipulator suspension (37), a rotating motor (34) is mounted at the bottom of the right manipulator suspension (37), an output shaft of the rotating motor (34) is fixedly connected with a rotating motor connecting plate (33), a rotating motor driven plate (38) is mounted at the bottom of the left manipulator suspension (35), the rotating motor driven plate (38) is hinged to the left manipulator suspension (35), and the clamping jaw assembly is arranged between the rotating motor connecting plate (33) and the rotating motor driven plate (38) and can rotate along with the output shaft of the rotating motor (34).
8. The robot for carrying express delivery logistics small pieces as claimed in claim 1, wherein the transmission device (5) comprises a motor (39), a belt transmission mechanism and a manipulator suspension fixing frame (47), an output shaft of the motor (39) is connected with the belt transmission mechanism, the belt transmission mechanism converts rotation of the output shaft of the motor (39) into horizontal movement of a belt, the top of the manipulator suspension fixing frame (47) is connected with the belt in the belt transmission mechanism, and the bottom of the manipulator suspension fixing frame is connected with the manipulator suspension.
9. The robot for carrying express logistics smalls as claimed in claim 8, wherein the belt transmission mechanism comprises a rotating shaft (41) and at least two belts, the rotating shaft (41) is fixedly connected with an output shaft of the motor (39), two ends of each belt are respectively wound on corresponding belt wheels, one of the belt wheels is fixedly connected with the rotating shaft (41), the other belt wheel is hinged with the rack (2), and a pressing sheet is arranged on the top of the manipulator suspension fixing frame (47) and presses the belts on the manipulator suspension fixing frame (47).
10. The robot for carrying express delivery logistics smallclothes according to claim 9, characterized in that the frame (2) is provided with a plurality of linear guides with sliders, the linear guides are parallel to the belt, and the manipulator suspension holder (47) is mounted on the sliders and can reciprocate on the linear guides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023374.0A CN111113365A (en) | 2020-01-09 | 2020-01-09 | Express delivery commodity circulation smallclothes transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010023374.0A CN111113365A (en) | 2020-01-09 | 2020-01-09 | Express delivery commodity circulation smallclothes transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111113365A true CN111113365A (en) | 2020-05-08 |
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ID=70487729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010023374.0A Pending CN111113365A (en) | 2020-01-09 | 2020-01-09 | Express delivery commodity circulation smallclothes transfer robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111113365A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335816A (en) * | 2021-06-04 | 2021-09-03 | 北京科技大学 | Omnidirectional movement multi-degree-of-freedom warehousing and transportation robot |
| CN114683236A (en) * | 2022-03-21 | 2022-07-01 | 南京工程学院 | Commodity circulation carrying trolley based on vision |
| CN116522976A (en) * | 2023-04-04 | 2023-08-01 | 无锡恒烨软件技术有限公司 | RFID automatic sorting vehicle capable of checking order goods in real time |
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| CN106429269A (en) * | 2016-11-17 | 2017-02-22 | 安徽工业大学 | Express transportation robot |
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| US20180305124A1 (en) * | 2017-04-24 | 2018-10-25 | Ching Qing Guo | Automatic Batch Picking Robot |
| CN208246810U (en) * | 2018-06-11 | 2018-12-18 | 暨南大学 | A kind of Kun Zhuan article carrying robot |
| WO2019117521A1 (en) * | 2017-12-14 | 2019-06-20 | 주식회사 포스코 | Duct cleaning apparatus |
| CN110282330A (en) * | 2018-12-29 | 2019-09-27 | 杭州慧盈智能科技有限公司 | A kind of storage transfer robot and its working method |
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| CN106429269A (en) * | 2016-11-17 | 2017-02-22 | 安徽工业大学 | Express transportation robot |
| US20180305124A1 (en) * | 2017-04-24 | 2018-10-25 | Ching Qing Guo | Automatic Batch Picking Robot |
| CN207566453U (en) * | 2017-10-26 | 2018-07-03 | 安徽工业大学 | A kind of warehouse tubing transfer robot |
| WO2019117521A1 (en) * | 2017-12-14 | 2019-06-20 | 주식회사 포스코 | Duct cleaning apparatus |
| CN208246810U (en) * | 2018-06-11 | 2018-12-18 | 暨南大学 | A kind of Kun Zhuan article carrying robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335816A (en) * | 2021-06-04 | 2021-09-03 | 北京科技大学 | Omnidirectional movement multi-degree-of-freedom warehousing and transportation robot |
| CN114683236A (en) * | 2022-03-21 | 2022-07-01 | 南京工程学院 | Commodity circulation carrying trolley based on vision |
| CN116522976A (en) * | 2023-04-04 | 2023-08-01 | 无锡恒烨软件技术有限公司 | RFID automatic sorting vehicle capable of checking order goods in real time |
| CN116522976B (en) * | 2023-04-04 | 2024-03-26 | 无锡恒烨软件技术有限公司 | RFID automatic sorting vehicle capable of checking order goods in real time |
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Application publication date: 20200508 |