CN112678730A - Mobile robot fork arm anti-throwing method, anti-throwing assembly and mobile robot - Google Patents
Mobile robot fork arm anti-throwing method, anti-throwing assembly and mobile robot Download PDFInfo
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- CN112678730A CN112678730A CN202110060657.7A CN202110060657A CN112678730A CN 112678730 A CN112678730 A CN 112678730A CN 202110060657 A CN202110060657 A CN 202110060657A CN 112678730 A CN112678730 A CN 112678730A
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Abstract
The invention discloses a fork arm anti-throwing method and an anti-throwing assembly of a mobile robot and the mobile robot, wherein the fork arm anti-throwing method comprises a body, wherein a first driving mechanism is arranged on the body; the first driving mechanism drives the body to move according to a specified path; the fork arm is provided with a second driving mechanism which drives the fork arm to actively and completely extend out of the body; the sliding rail is arranged between the fork arm and the body; the slide rail enables the sliding stroke of the fork arm relative to the body to exceed the body; a locking mechanism is provided between the body and the yoke to prevent the yoke from being thrown out of the body by inertia. The locking mechanism comprises a limit pin assembly and a pin hole, the limit pin assembly is arranged in the fork arm, and the pin hole is arranged on the body; the limiting pin assembly comprises a guide surface, a limiting pin and an elastic piece; the guide surface is displaced along with the extension and contraction of the fork arm; the limiting pin slides into the pin hole along the guide surface to lock the fork arm and the body; the elastic piece reversely pushes the limiting pin to leave the pin hole, so that the fork arm is separated from the body. The use is safe and reliable.
Description
Technical Field
The invention relates to the field of mobile robots, in particular to a method for preventing a fork arm of a mobile robot from being thrown out.
Background
The mobile robot is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions.
A transfer robot, for example, having publication number "109987554 a", entitled "reverse telescoping system and automatic transfer apparatus thereof", is emerging in the mobile robot industry; as disclosed in publication No. 210620154U, entitled "telescopic fork mechanism and automatic handling equipment therefor"; the active driving mechanism is arranged on the fork arms disclosed in the two patents, so that the fork arms can actively extend out relative to the vehicle body; the carrying device has simple structure and convenient control; the carrying efficiency is high; however, in the actual use process, because there is no fixed connection relationship between the yoke and the body, after the yoke is retracted into the body, the yoke is thrown out of the body due to inertia, which causes asynchronism between the plurality of yokes; the thrown-out yoke is also dangerous for the transportation site.
Disclosure of Invention
The present invention is directed to a method for preventing a yoke of a mobile robot from being thrown out, which may solve one or more of the above problems.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a method for preventing a fork arm of a mobile robot from being thrown out comprises the following steps
The device comprises a body, a first driving mechanism and a second driving mechanism, wherein the body is provided with the first driving mechanism; the first driving mechanism drives the body to move according to a specified path.
And the fork arm is provided with a second driving mechanism, and the second driving mechanism drives the fork arm so that the fork arm can actively and completely extend out of the body.
The sliding rail is arranged between the fork arm and the body; the slide rail enables the sliding stroke of the fork arm relative to the body to exceed the body. The fork arm can swing by taking the rear end of the sliding rail as an axis in the sliding process.
A locking mechanism is provided between the body and the yoke to prevent the yoke from being thrown out of the body by inertia.
The yoke is actively extended out of the body, so that there is no fixed structural connection between the yoke and the body, and there is no restriction in the direction in which the yoke extends; therefore, when the fork arm extends out, the extending length can be controlled by the second driving mechanism, but after the fork arm retracts into the body, the fork arm is not controlled to be thrown out by inertia in the sliding direction; therefore, after the locking mechanism is arranged, the retracted fork arm can be effectively prevented from being thrown out by inertia.
In principle, any structure that can be used to prevent throwing out is suitable for use with the robot of the present invention. Such as the simplest latch structure, or an electromagnetic switch, or a belt locking mechanism, or other similar devices.
Further: the locking mechanism is arranged between the bottom of the fork arm and the bottom wall of the body. According to the limited space of the mobile robot in practical use; the spacing pin and pin hole are one preferred configuration and are more preferably disposed between the bottom of the yoke and the bottom of the body.
Further: after the locking mechanism is unlocked, the fork arm actively extends out of the body, and the locking mechanism locks the fork arm and the body after the fork arm completely returns to the body. The locking mechanism has direction and time sequence.
Further: one or a plurality of combinations of a lifting component, a clamping component, a magnetic suction component and a vacuum suction component are arranged on the fork arm. The purpose of the mobile robot is not limited, and different components are arranged according to actual use requirements.
Further: the locking mechanism is a limiting pin and a pin hole.
Further: the limiting pin is arranged on the fork arm, and the pin hole is formed in the body. This arrangement is adopted because of the space constraints involved.
Further: the front end of the slide rail slides along with the fork arm and exceeds the body, and the rear end of the slide rail is remained in the body when the fork arm stops sliding. The fork arm is used for conveying the clamping or lifting device and cannot be separated from the body to reduce the control difficulty of the movement track of the fork arm, so that the optimal mode is 'straight going and straight going', in order to avoid deviation of the path of the fork arm, the movement track needs to be limited, the movement track is limited by the sliding rail, one end of the sliding rail is limited and connected with the body and cannot be separated from the body, and the limitation is arranged between the other end of the sliding rail and the fork arm to enable the fork arm not to be separated from the sliding rail.
A mobile robot yoke anti-throw-out assembly comprising any one of the above mobile robot yoke anti-throw-out methods: the locking mechanism comprises a limiting pin assembly and a pin hole, the limiting pin assembly is arranged in the fork arm, and the pin hole is formed in the body; the limiting pin assembly comprises a guide surface, a limiting pin and an elastic piece. The guide surface is an inclined surface, and the guide surface horizontally moves to release a vertical space, so that the limiting pin has a displacement space. The limiting pin slides into the pin hole along the guide surface to lock the fork arm and the body; the elastic piece reversely pushes the limiting pin to leave the pin hole, so that the fork arm is separated from the body.
The functions of the elastic member and the guide surface can be interchanged, the elastic member pushes the stopper pin into the pin hole, and the guide surface pushes the stopper pin out of the pin hole.
The moving mode of the guide surface is not limited, and a power mechanism can be independently arranged or the guide surface can be matched with some structures in the mobile robot to realize movement. The guide surface moves to realize the insertion and extraction between the limit pin and the limit hole.
The specific form of the guide surface is not limited, and may be, for example, a curved surface, an inclined surface, or the like.
Further: the included angle between the guide surface and the extending direction of the fork arm is an obtuse angle.
The planar guide surface is convenient to process and manufacture, and the lifting space of the positioning pin and the magnitude and direction of the force applied to the lifting of the positioning pin are stable.
Further: the elastic piece is a compression spring; one end of the compression spring is fixed on the limit pin, and the other end of the compression spring is fixed on the inner wall of the fork arm.
Further: the guide wheel is arranged at the top of the limit pin, and the guide wheel and the guide surface roll in a tangent mode.
Reduce the friction between spacer pin and the spigot surface, improve life, let the operation more smoothly, stable simultaneously.
Further: the limiting assembly further comprises a limiting shaft, and the limiting pin comprises a connecting part and a plug pin part; the connecting part is hinged with the limiting shaft, and the plug pin part swings into or out of the pin hole under the driving of the connecting part.
In another form of the limiting pin, the elastic force of the elastic piece can be better controlled by the limiting pin in the form, and the situation that the spring piece is too large in elasticity and the limiting pin is reset in a dislocation state is avoided.
Further: the elastic piece is a torsion spring which is arranged at the joint of the limiting shaft and the limiting pin.
The compression spring can play a reaction to the limit pin, and the same torsion spring can play a reaction to the shaft to enable the limit pin to leave the pin hole.
Further: the fork arm limiting device is characterized by further comprising a limiting seat, wherein the limiting seat is installed in the fork arm, and the limiting assembly is installed on the limiting seat. The integral installation is on spacing seat, and the easy access is perhaps changed spare part.
Further: the guide surface is installed on the linear motion mechanism, and the linear motion mechanism is matched with the second driving mechanism to enable the second driving mechanism to drive the fork arm to leave the body actively.
The guide surface is matched with the structure of the mobile robot, the linear motion mechanism is used for extending the second driving mechanism to enable the second driving wheel to touch the ground, the second driving mechanism drives the second driving wheel to roll, and the fork arm actively extends out of the body.
The locking mechanism is arranged in a narrow space inside the fork arm, the structure of the fork arm is combined, the original structure is not changed, locking or unlocking is achieved, the concept is ingenious, the locking mechanism runs stably and reliably, the locking precision requirement is low, and the locking effect is high.
The linear motion mechanism comprises but is not limited to a pneumatic rod, a hydraulic rod, a screw rod assembly and a gear rack assembly; the guide surface enables the limiting pin to move under the driving of the linear motion mechanism.
A mobile robot comprises a body and a fork arm, wherein the fork arm can actively leave the body and realize overtravel sliding; comprising the locking mechanism of any of the above.
The invention has the technical effects that:
according to the invention, the locking mechanism is arranged between the fork arm and the body, and when the fork arm is retracted into the body, the locking mechanism automatically locks the fork arm and the body, so that the degree of freedom of the fork arm in the telescopic direction is limited, and the fork arm cannot be thrown out in the operation process of the mobile robot; when the fork arm is required to extend out, the locking mechanism is unlocked automatically, and the fork arm can be extended out of the vehicle body to carry out goods taking and placing operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic view of a mobile robot according to the present invention;
FIG. 2 is a schematic illustration of a position of a locking mechanism of FIG. 1;
FIG. 3 is a schematic view of the use of the locking mechanism of FIG. 2;
FIG. 4 is an enlarged fragmentary schematic view of the position of the locking mechanism of FIG. 3;
FIG. 5 is a schematic illustration of a preferred latch mechanism;
FIG. 6 is a schematic view of the specific usage configuration of FIG. 5;
FIG. 7 is a schematic view of another preferred locking mechanism (partially schematic view);
FIG. 8 is a schematic view of the use state of FIG. 7;
wherein the figures include the following reference numerals:
the device comprises a body 1, a fork arm 2, a slide rail 3, a fork arm bottom wall 4, a limit pin component 5, a limit seat 501, a limit pin 502, a guide wheel 503, a guide block 504, a first guide surface 5041, a second guide surface 5042, a third guide surface 5043, an elastic piece 505, a limit shaft 506, a pin hole 6, a wheel 7 and a linear motion component 8.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as unduly limiting the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
A method for preventing a fork arm of a mobile robot from being thrown out comprises the following steps
The device comprises a body 1, wherein a first driving mechanism is arranged on the body 1; the first driving mechanism drives the body to move according to a specified path.
And the fork arm 2 is provided with a second driving mechanism, and the second driving mechanism drives the fork arm so that the fork arm can actively and completely extend out of the body.
The first drive mechanism and the second drive mechanism need not be explained or limited in detail.
The sliding rail 3 is arranged between the fork arm 2 and the body 1; the slide rail 3 enables the sliding stroke of the fork arm relative to the body to exceed the body 1. Rolling friction is formed between the fork arms and the sliding rails.
The fork arm 2 can swing by taking the rear end of the slide rail 3 as an axis in the sliding process. The rear end of the sliding rail is provided with a bearing or a roller, so that friction can be reduced and the sliding rail can be used as a rotating shaft.
The body and the fork arm of the mobile robot are connected through a sliding rail, for example, as described in detail in two patents in the background art.
A locking mechanism is provided between the body and the yoke to prevent the yoke from being thrown out of the body by inertia.
As shown in fig. 1-4, in some embodiments: the locking mechanism is arranged between the bottom of the fork arm and the bottom wall of the body.
Simple structure like this, the maintenance of being convenient for can not take place spacing subassembly and other subassemblies and take place to interfere.
In certain embodiments: as shown in fig. 2, after the locking mechanism is unlocked, the fork arm actively extends out of the body, and the locking mechanism is unlocked in the process of extending the fork arm. As shown in fig. 3, the locking mechanism locks the yoke and the body after the yoke is fully returned to the body.
The locking mechanism is matched with the telescopic fork arm to unlock and unlock, so that the use of the fork arm is not influenced, and the fork arm is prevented from being thrown out.
In some embodiments, the fork arm is provided with one or more of a lifting assembly, a clamping assembly, a magnetic attraction assembly and a vacuum attraction assembly.
This needs to be selected according to the actual use case. For example, in two patents mentioned in the background, a lift assembly having a lift function is provided.
In certain embodiments, as shown in FIGS. 1-8; the locking mechanism is a limiting pin 502 and a pin hole 6. A stop pin and pin hole are one preferred locking mechanism.
In some embodiments, the limit pin is disposed on the yoke and the pin hole is disposed on the body. The structure of the whole locking mechanism and the mobile robot can be simplified.
As shown in fig. 1, the front end of the slide rail slides with the yoke beyond the body, and the rear end of the slide rail remains in the body when the yoke stops sliding.
Further: the locking mechanism comprises a limiting pin assembly and a pin hole, the limiting pin assembly is arranged in the fork arm, and the pin hole is formed in the body; the limiting pin assembly comprises a guide surface, a limiting pin and an elastic piece;
the guide surface is displaced along with the extension and contraction of the fork arm; the displacement enables the limiting pin to move in the vertical direction, and then locking or unlocking is completed.
The limiting pin slides into the pin hole along the guide surface to lock the fork arm and the body; the elastic piece reversely pushes the limiting pin to leave the pin hole, so that the fork arm is separated from the body.
In some embodiments, as shown in fig. 5-8: the included angle between the guide surface and the extending direction of the fork arm is an obtuse angle.
In the above-mentioned figures, the guide surfaces (the first guide surface 5041, the second guide surface 5042, and the third guide surface 5043) are provided on the guide block 504, and the guide block 504 is connected with the linear assembly, and since the guide surfaces are inclined surfaces, when the guide surfaces move laterally, a vertical space is also released, so that the stopper pin can move upward.
As shown in fig. 5-8, in some embodiments: the elastic piece is a compression spring; one end of the compression spring is fixed on the limit pin, and the other end of the compression spring is fixed on the inner wall of the fork arm.
The elastic member 505 is a compression spring here, and the compression spring resets the stopper pin by its own elasticity. The compression spring can here be replaced by other components having the same function.
As shown in fig. 5-8, in some embodiments: the guide wheel 503 is arranged on the top of the limit pin, and the guide wheel 503 rolls tangentially with the guide surface (arranged on the guide block 504).
As shown in fig. 5 and 6, in some embodiments, the limiting assembly further includes a limiting shaft 506, and the limiting pin 502 includes a connecting portion and a plug portion; the connecting part is hinged with the limiting shaft, and the plug pin part swings into or out of the pin hole 6 under the driving of the connecting part.
Compared with other structures, the structure is more stable in the using process, better in positioning performance and lower in assembly tolerance requirement.
In some embodiments, the elastic member may be replaced by a compression spring, such as a torsion spring having a limiting shaft, the torsion spring is installed at a connection position between the limiting shaft and the limiting pin, and when the limiting pin rotates around the limiting shaft, the torsion spring rotates around a spring center, and the spring is elastically deformed; elastic deformation will produce moment of torsion or revolving force and bounce the unblock with the spacer pin resets.
In some embodiments, the spacing block 501 is further included, the spacing block 501 is installed in the yoke 2 (the spacing block is installed on the yoke bottom wall 4), and the whole spacing pin assembly is installed on the spacing block 501. The connection can be completed only by bolt connection, and locking or unlocking is completed by matching with the guide surface. The limit pin passes through the yoke bottom wall 4 and enters the pin hole.
The limiting seat can also be used as an adjusting piece of the swing angle of the limiting pin, the swing angle of the limiting pin is increased or reduced by the limiting seat, and the limiting seat is adjusted according to the space where the locking mechanism is located and is not limited.
In some embodiments, such as shown in fig. 5 and 6, the guide surface is mounted on the linear motion mechanism 8, and the linear motion mechanism 8 cooperates with the second driving mechanism to make the second driving mechanism drive the fork arm 2 to leave the body 1 actively.
The guide surfaces (the first guide surface 5041, the second guide surface 5042, and the third guide surface 5043 having at least three forms) are inclined surfaces provided on the guide block 504.
The extension and retraction of the linear motion mechanism can drive a caster (one part in the second driving mechanism) to lift and control whether the caster contacts the ground or not; the extension and retraction of the inserting arm are realized by controlling the rotation of the caster; the linear motion mechanism drives the caster to lift and controls the locking mechanism to unlock or lock; to accommodate the telescoping of the yoke.
According to the invention, the locking mechanism is designed according to local conditions in a narrow space, the use of the locking mechanism can not generate structural interference and other influences on the existing structure, and meanwhile, the existing structure is not required to be greatly improved, and the locking mechanism can be matched with the telescopic action of the fork arm to complete locking or unlocking work only by being arranged at the corresponding position, so that the working process is smooth; the locking or unlocking process is realized along with the linear driving mechanism, and the locking or unlocking process is synchronous with the extension and retraction of the fork arm, so that the fork arm is unlocked when needing to extend, and is locked when retracting; therefore, the locking effect is good, and the asynchronous misoperation condition can not occur.
As shown in fig. 1 to 4, the mobile robot including the locking mechanism as described above is safer and more stable during use, and the phenomenon that the yoke is thrown out by inertia or the movement of the yokes is asynchronous due to the fact that the yoke is thrown out does not occur.
The mobile robot is more stable and reliable in use, and the working environment is safer.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (16)
1. The method for preventing the fork arm of the mobile robot from being thrown out comprises the following steps
The device comprises a body, a first driving mechanism and a second driving mechanism, wherein the body is provided with the first driving mechanism; the first driving mechanism drives the body to move according to a specified path;
the fork arm is provided with a second driving mechanism, and the second driving mechanism drives the fork arm so that the fork arm can actively and completely extend out of the body;
the sliding rail is arranged between the fork arm and the body; the slide rail enables the sliding stroke of the fork arm relative to the body to exceed the body;
the method is characterized in that:
a locking mechanism is provided between the body and the yoke to prevent the yoke from being thrown out of the body by inertia.
2. The mobile robot yoke anti-fling method of claim 1, wherein: the locking mechanism is arranged between the bottom of the fork arm and the bottom wall of the body.
3. The mobile robot yoke anti-fling method of claim 1, wherein: after the locking mechanism is unlocked, the fork arm actively extends out of the body, and the locking mechanism locks the fork arm and the body after the fork arm completely returns to the body.
4. The mobile robot yoke anti-fling method of claim 1, wherein: one or a plurality of combinations of a lifting component, a clamping component, a magnetic suction component and a vacuum suction component are arranged on the fork arm.
5. The mobile robot yoke anti-fling method of claim 1, wherein: the locking mechanism is a limiting pin and a pin hole.
6. The mobile robot yoke anti-fling method of claim 5, wherein: the limiting pin is arranged on the fork arm, and the pin hole is formed in the body.
7. The mobile robot yoke anti-fling method of claim 1, wherein: the front end of the slide rail slides along with the fork arm and exceeds the body, and the rear end of the slide rail is remained in the body when the fork arm stops sliding.
8. Subassembly is prevented getting rid of by mobile robot yoke, its characterized in that: the mobile robot fork arm anti-throwing method comprises the following steps of A, installing a limit pin assembly in the fork arm and installing a pin hole in the body, wherein the limit pin assembly comprises a limit pin and a pin hole;
the limiting pin assembly comprises a guide surface, a limiting pin and an elastic piece;
the guide surface is displaced along with the extension and contraction of the fork arm;
the limiting pin slides into the pin hole along the guide surface to lock the fork arm and the body; the elastic piece reversely pushes the limiting pin to leave the pin hole, so that the fork arm is separated from the body.
9. The mobile robot yoke anti-fling out assembly of claim 8; the method is characterized in that: the included angle between the guide surface and the extending direction of the fork arm is an obtuse angle.
10. The mobile robot yoke anti-fling out assembly of claim 8; the method is characterized in that: the elastic piece is a compression spring; one end of the compression spring is fixed on the limit pin, and the other end of the compression spring is fixed on the inner wall of the fork arm.
11. The mobile robot yoke anti-fling out assembly of claim 8; the method is characterized in that: the guide wheel is arranged at the top of the limit pin, and the guide wheel and the guide surface roll in a tangent mode.
12. A mobile robot yoke anti-throw-out assembly according to claim 8 or 10; the method is characterized in that: the limiting assembly further comprises a limiting shaft, and the limiting pin comprises a connecting part and a plug pin part; the connecting part is hinged with the limiting shaft, and the plug pin part swings into or out of the pin hole under the driving of the connecting part.
13. The mobile robot yoke of claim 12, being resistant to throw-out and components thereof; the method is characterized in that: the elastic piece is a torsion spring which is arranged at the joint of the limiting shaft and the limiting pin.
14. The mobile robot yoke anti-fling out assembly of claim 8; the method is characterized in that: the fork arm limiting device is characterized by further comprising a limiting seat, wherein the limiting seat is installed in the fork arm, and the limiting assembly is installed on the limiting seat.
15. The mobile robot yoke anti-fling out assembly of claim 8; the method is characterized in that: the guide surface is installed on the linear motion mechanism, and the linear motion mechanism is matched with the second driving mechanism to enable the second driving mechanism to drive the fork arm to leave the body actively.
16. A mobile robot comprises a body and a fork arm, wherein the fork arm can actively leave the body and realize overtravel sliding; the method is characterized in that: comprising a lock mechanism as claimed in any preceding claim.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110060657.7A CN112678730A (en) | 2021-01-18 | 2021-01-18 | Mobile robot fork arm anti-throwing method, anti-throwing assembly and mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110060657.7A CN112678730A (en) | 2021-01-18 | 2021-01-18 | Mobile robot fork arm anti-throwing method, anti-throwing assembly and mobile robot |
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| CN112678730A true CN112678730A (en) | 2021-04-20 |
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| CN202110060657.7A Pending CN112678730A (en) | 2021-01-18 | 2021-01-18 | Mobile robot fork arm anti-throwing method, anti-throwing assembly and mobile robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114129353A (en) * | 2021-12-29 | 2022-03-04 | 广东塔斯克机器人有限公司 | Carrying device |
| WO2022151698A1 (en) * | 2021-01-18 | 2022-07-21 | 北京图什科技有限公司 | New-type active extending and retracting system and automated transport device |
-
2021
- 2021-01-18 CN CN202110060657.7A patent/CN112678730A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022151698A1 (en) * | 2021-01-18 | 2022-07-21 | 北京图什科技有限公司 | New-type active extending and retracting system and automated transport device |
| CN114129353A (en) * | 2021-12-29 | 2022-03-04 | 广东塔斯克机器人有限公司 | Carrying device |
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