CN113733055B - Superspeed pile up neatly transfer robot for intelligence commodity circulation - Google Patents
Superspeed pile up neatly transfer robot for intelligence commodity circulation Download PDFInfo
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- CN113733055B CN113733055B CN202111109462.3A CN202111109462A CN113733055B CN 113733055 B CN113733055 B CN 113733055B CN 202111109462 A CN202111109462 A CN 202111109462A CN 113733055 B CN113733055 B CN 113733055B
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- 238000003860 storage Methods 0.000 claims abstract description 58
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- 230000006698 induction Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000008093 supporting effect Effects 0.000 claims description 8
- 230000008602 contraction Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 2
- 238000009434 installation Methods 0.000 abstract description 8
- 230000007246 mechanism Effects 0.000 description 10
- 238000005242 forging Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000005303 weighing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses an intelligent ultrahigh-speed stacking and carrying robot for logistics, which comprises a bottom plate, wherein a lifting rod is installed at the top of the bottom plate, an operation plate is slidably installed at the top of the lifting rod, a rotary table is installed at the top of the operation plate, an electronic tension meter is installed at the bottom of the tail end of a mechanical arm, symmetrically-arranged object collecting structures are installed on the front surface and the back surface of a storage cabinet, guide plates are installed at the top ends of the outer walls of the two sides of the bottom plate through hinges, installation blocks are installed on the front surface and the back surface of the bottom plate, and the bottoms of the installation blocks are in threaded connection with moving cylinders. According to the utility model, the object collecting structure is arranged, wherein the infrared distance meter provides instrument support for detecting whether a falling object exists, the stepping motor can provide torque support for adjusting the angle of the first electric telescopic rod, so that the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod form a telescopic adjustable intercepting frame structure, and the device can accurately collect and sort the falling object.
Description
Technical Field
The utility model relates to the technical field of transfer robots, in particular to an intelligent ultrahigh-speed stacking transfer robot for logistics.
Background
The carrying robot is a mechanical device replacing manual carrying work, can assist the logistics industry to carry out carrying and stacking treatment on objects due to the instruction of the intelligent assembly, can intelligently and efficiently realize carrying and stacking operation of the objects through detection of the intelligent assembly and sending of the instruction, further efficiently complete carrying and stacking of the objects, reduce labor cost expenditure and optimize rapid development of the logistics industry.
The existing transfer robot has the following defects:
1. reference CN110803530A discloses an automatic robot palletizer for automobile parts, which includes a mounting seat, a mounting groove, a fixing plate, a motor, a sliding rod, a sliding sleeve, a rotating rack, a pull rod, a clamping arm, and a wedge block. The utility model has the beneficial effects that: the rotating frame is driven to rotate through the rotation of the single motor, so that the pull rods synchronously pull or push the sliding sleeves to slide on the sliding rods, the synchronous relative movement of the clamping arms is realized, namely, the plurality of clamping arms can be synchronously opened or closed, the structure is simple, the manufacturing cost is lower than that of the prior art, the cost control of enterprises is improved, in addition, the driving device is also arranged, the circular electromagnet generates magnetism by electrifying, the wedge block is driven to move towards the radial inner side of the mounting seat, the wedge blocks on the plurality of clamping arms together scoop up the parts, the stacking of the parts is convenient, the manufacturing cost is low, the larger volume is not occupied, the compact design requirement of the stacking robot is convenient to improve, when the stacking robot is used for stacking objects, falling objects in the stacking process cannot be picked, picked and blown, so that the stacking working surface is not tidy enough, and the integrity of the objects in the stacking working surface is easily interfered;
2. the reference document CN106743717A discloses an industrial automatic stacking robot, which comprises a fixed rack, wherein a fixed plate is installed at the upper end of the front side surface of the fixed rack, a control system is installed on the upper end surface of the fixed plate, the control system controls the robot to automatically stack high-temperature forgings, a vertical plate is arranged on the left side of the lower end of the fixed plate, two stroke hydraulic cylinders are symmetrically installed on the inner wall of the vertical plate, mounting seats are installed at the top ends of the two stroke hydraulic cylinders through flanges, the upper end surfaces of the mounting seats are symmetrically installed on two linear sliding rails, and the two linear sliding rails are symmetrically installed on the lower end surface of the fixed plate; the forging piece clamping mechanism is characterized in that a clamping table is installed on the lower end face of the installation seat, a driving motor is installed in the middle of the lower end face of the clamping table through a motor base, a driving gear is installed on an output shaft of the driving motor, and two forging piece clamping mechanisms are meshed with the two sides of the driving gear respectively. The automatic stacking robot can realize the automatic stacking function of high-temperature forgings without manual operation, neglects the weighing treatment of the clamped objects when the stacking robot performs stacking operation, and fails to pick and sort the unqualified objects in time when carrying and stacking, so that the stacking quality of the device is reduced;
3. the reference CN211337925U discloses a bottle body stacking clamp and a stacking robot, which comprises a bearing mechanism and a clamping mechanism capable of clamping a bottle body from the circumferential direction of the bottle body; the clamping mechanism is connected with a stacking robot body of the stacking robot and moves synchronously so as to convey the bottle bodies from the conveying device to the stacking tray; the bearing mechanism is movably connected with the clamping mechanism so as to enable the bearing mechanism to bear the bottom of the bottle body or leave the bottom of the bottle body. The stacking robot comprises the bottle body stacking clamp. The bottle body stacking clamp and the stacking robot are matched through the clamping effect of the clamping mechanism on the bottle body and the bearing effect of the bearing mechanism, so that the bottle body stacking clamp can efficiently and flexibly complete bottle body stacking, and the problem that the existing high-position stacking is poor in compatibility and large in occupied area is solved to a certain extent by matching with the stacking robot;
4. comparison document CN213801963U discloses four-axis transport pile up neatly machine people, "including four-axis pile up neatly machine people body, rotate on the four-axis pile up neatly machine people body and install the rectangle frame, fixed mounting has fixture on the rectangle frame, fixture includes the box, the box run through the rectangle frame and with the inner wall fixed connection of rectangle frame, the box has seted up two slide openings on keeping away from one side inner wall of four-axis pile up neatly machine people body, equal slidable mounting has the horizontal pole in two slide openings, two horizontal poles run through the slide opening that corresponds respectively, it has two connecting rods to articulate on the horizontal pole, and the one end that the horizontal pole was kept away from to two connecting rods articulates there is same splint, and the equal fixed mounting in one side that two horizontal poles kept away from each other has the mounting panel, all articulates on two mounting panels has the cylinder. The robot palletizer is simple to operate, convenient to use, capable of adapting to boxes of different sizes, high in stability, good in clamping effect and wide in applicability, neglects detection of the cross section size, the shape and the weight of an object when the robot palletizer works, and cannot provide corresponding classification reference information for workers.
Disclosure of Invention
The utility model aims to provide an intelligent ultra-high-speed stacking and transporting robot for logistics, which aims to solve the problems in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme: an intelligent ultra-high-speed stacking and carrying robot for logistics comprises a bottom plate, wherein four corners of the top of the bottom plate are respectively provided with a lifting rod, and the top of each lifting rod is provided with an operation plate in a sliding manner;
the top of the operating panel is provided with a turntable, the top of the turntable is provided with a mechanical arm, the bottom of the tail end of the mechanical arm is provided with an electronic tension meter, the top of the bottom plate is provided with a storage cabinet, and the front and the back of the storage cabinet are both provided with symmetrically arranged article collecting structures;
gather thing structure including infrared distancer, step motor, electric telescopic handle, No. two electric telescopic handle and No. three electric telescopic handle, wherein infrared distancer installs the side surface of keeping away from the storage cabinet at the lifter, step motor installs the front and the back at the storage cabinet, electric telescopic handle is installed to step motor's output, electric telescopic handle's trailing end connection has No. two electric telescopic handle, No. two electric telescopic handle's tail end surface mounting has No. three electric telescopic handle.
Preferably, a symmetrical arrangement's baffle is installed through the axostylus axostyle in the bottom of electron tensiometer, No. two baffles are installed through the axostylus axostyle to the tail end of a baffle, No. three baffles that the slope was arranged are installed to the tail end of No. two baffles, and No. three baffles are inwards inclined, and one of them is a set of double-end electric telescopic handle is installed to the inner wall of a baffle, and double-end electric telescopic handle's tail end and the interior wall connection of another group's a baffle.
Preferably, the installation piece is all installed to the front and the back of bottom plate, the bottom threaded connection of installation piece has the removal cylinder, remove cylindrical inside and run through and install the round bar, the gyro wheel has been cup jointed respectively on the both ends surface of round bar, remove cylindrical surface mounting has symmetrical arrangement's L type branch, and the CD-ROM drive motor is installed at the top of one of them group branch, the output of CD-ROM drive motor is connected with the derailleur, the output of derailleur is connected with the one end of round bar, another group the balancing weight is installed at the top of L type branch.
Preferably, the baffle is installed through the hinge on the both sides outer wall top of bottom plate, the internally mounted of baffle has photosensitive induction piece, weight induction plate is installed to photosensitive induction piece's bottom, the internally mounted of weight induction plate has the weight inductor.
Preferably, the top of operation panel is installed and is kept away the barrier and detect the box, and keeps away the place ahead that the barrier detected the box and is located the carousel, keep away the barrier and detect the both sides outer wall of box and install ultrasonic ranging appearance respectively, keep away the barrier and detect the top of box and install the pilot lamp of symmetrical arrangement, and the pilot lamp respectively with two sets of ultrasonic ranging appearance electric connection, keep away the barrier and detect the front of box and install the status light, and status light and electron tensiometer electric connection.
Preferably, the storage cabinet is located the centre of four groups of lifter, the baffle is installed to the inner wall of storage cabinet, the both sides outer wall of storage cabinet all is equipped with the feed chute that runs through, the diapire of feed chute is equipped with the recess, the internally mounted of recess has the lift blend stop, infrared range finder is all installed to the both sides inner wall of storage cabinet, and infrared range finder is located the both sides of feed chute.
Preferably, the top of lifter is equipped with the spout, the bottom sliding connection of spout and operation panel, the surface mounting of lifter has gomphosis strip and rotation axostylus axostyle, and rotates the both sides that axostylus axostyle and gomphosis strip are located the spout respectively, the surface of rotation axostylus axostyle has cup jointed the gomphosis strip.
Preferably, the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod form a C-shaped structure.
Preferably, the display screen is installed at the top of operation panel, and the display screen is located one side of carousel, display screen and electron tensiometer electric connection.
Preferably, the working steps of the robot are as follows:
s1, before the robot is used for carrying out corresponding logistics carrying and stacking operations, the movable cylinder is selectively used according to actual use requirements, when the movable cylinder is not needed and only the robot is used for carrying and stacking at a fixed point, the movable cylinder can be taken down from the bottom of the mounting block, and then a base formed by the bottom plate and the mounting block is used for providing a stable supporting effect for the robot;
s2, the operation board is embedded into the sliding groove in a sliding mode, then the embedding strip is rotated clockwise, the rod body at the tail end of the embedding strip is embedded into the clamping frame, then the clamping connection of the operation board is limited and locked, and the operation board is prevented from sliding;
s3, then, the turntable is rotated, the mechanical arm is adjusted to a proper carrying direction, the mechanical arm is started to drive the electronic tension meter to move downwards, after the third baffle plate frames a corresponding object, the double-end electric telescopic rod can be started, the two first baffle plates are moved to contract inwards, then the two second baffle plates can be close to each other, the object to be clamped is collected, the object is prevented from falling off in the plate transportation process, meanwhile, the electronic tension meter can be used for weighing the collected and clamped object, further, in the process of carrying out batch object processing, the carried object can be subjected to quality detection, and the phenomenon of bag leakage is avoided;
s4, in the process of carrying the object, the object falling phenomenon may exist, at the moment, the falling objects at two sides of the robot can be detected through the infrared distance measuring instruments, at the moment, according to the distance values detected by the two groups of infrared distance measuring instruments, the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod at one side of the infrared distance measuring instrument with smaller numerical values are started, the corresponding object falling on the ground is collected, then the second electric telescopic rod is inwards contracted, so that the object collected by the two groups of third electric telescopic rods can drive the object to move to the surface of the bottom plate along the surface of the guide plate along with the contraction of the second electric telescopic rod, and then the object falls into the storage cabinet to realize the collection and the sorting of the object;
s5, in the process of picking up and sorting the objects, starting the lifting barrier strips to enable the top ends of the lifting barrier strips to move downwards to the inside of the groove, further keeping the feed chute of the storage cabinet in a flat state, and lifting the lifting barrier strips again after the objects are picked up and sorted, further forming a threshold structure to prevent the picked objects in the storage cabinet from overflowing the inside of the storage cabinet due to sliding;
s6, when the guide plate surface passes through the folded object, the size of the area sheltered by the object when passing through the guide plate surface can be detected by the photosensitive sensing sheet, the size of the appearance size of the folded object can be known immediately, and the weight sensing plate can be used for detecting the weight information of the object when the object passes through the guide plate, so as to perfect the information of the object stored in the storage cabinet;
s7, when the movable cylinder is needed to carry out movable carrying operation on the device, the robot is integrally lifted by utilizing the hanging frame and then the movable cylinder is connected to the bottom of the mounting block in a threaded mode, then the driving motors are started to drive the rollers to rotate, when the device needs reversing movement, the two groups of speed changers on one side are synchronously started, the output rotating speeds of the driving motors on the two sides of the bottom plate can be enabled to generate difference, and therefore the rollers with large rotating speeds can conveniently generate arc-shaped deviation along the rollers with small rotating speeds, and the reversing purpose is achieved.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the utility model, the object collecting structure is arranged and comprises the infrared distance measuring instrument, the stepping motor, the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod, wherein the infrared distance measuring instrument provides instrument support for detecting whether a falling object exists, the stepping motor is arranged and can provide torque support for adjusting the angle of the first electric telescopic rod, so that the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod form a telescopic and adjustable intercepting frame structure, and the accurate collecting and picking of the falling object by the device are further ensured.
2. According to the utility model, the electronic tension meter, the first baffle, the second baffle, the third baffle and the double-head electric telescopic rod are arranged, and the double-head electric telescopic rod can drive two groups of the first baffles to mutually approach and separate, so that a clamping structure formed by the first baffle, the second baffle and the third baffle can clamp a conveyed object and the clamped object can be weighed by using the electronic tension meter, thus the unqualified objects are prevented from being conveyed and stacked in the conveying process, and the conveying and stacking quality is ensured.
3. The robot is provided with the moving cylinder, the driving motor, the speed changer, the roller and the balancing weight, the device can be driven to perform reversing movement through the matching of the driving motor and the speed changer, and the weight balance treatment can be performed on the driving motor and the speed changer arranged on the side surface of the roller through the balancing weight, so that the robot can keep stable reversing operation.
4. According to the utility model, by installing the guide plate, the photosensitive sensing sheet and the weight sensing plate, when an object passes through the surfaces of the photosensitive sensing sheet and the weight sensing plate, information such as size, shape and weight of the passing object can be collected, and workers can conveniently collect, sort and classify the stored object in the follow-up process.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a storage cabinet mounting structure of the present invention;
FIG. 3 is a schematic view of the mounting structure at location A of the present invention;
FIG. 4 is a schematic view of the guide plate assembly of the present invention;
FIG. 5 is a schematic view of the mounting structure between the mounting block and the driving motor, the transmission and the roller of the present invention;
FIG. 6 is a schematic view of the mounting block and counterweight mounting structure of the present invention;
FIG. 7 is a schematic structural diagram of an obstacle avoidance detection box according to the present invention;
FIG. 8 is a schematic view of the mounting structure of the robotic arm and electronic tension meter of the present invention.
In the figure: 1. a base plate; 101. mounting blocks; 2. an operation panel; 201. a turntable; 202. a mechanical arm; 203. a display screen; 3. a storage cabinet; 301. a partition plate; 302. a feed chute; 303. lifting the barrier strip; 304. an infrared range finder; 4. an aggregate structure; 401. an infrared range finder; 402. a stepping motor; 403. a first electric telescopic rod; 404. a second electric telescopic rod; 405. a third electric telescopic rod; 5. a guide plate; 501. a photosensitive induction sheet; 502. a weight sensing plate; 6. a lifting rod; 601. a chute; 602. clamping a frame; 603. a tabling strip; 7. moving the cylinder; 701. a drive motor; 702. a transmission; 703. a roller; 704. a balancing weight; 8. an obstacle avoidance detection box; 801. an ultrasonic range finder; 802. an indicator light; 803. a status light; 9. an electronic tension meter; 901. a first baffle plate; 902. a second baffle; 903. a third baffle plate; 904. double-end electric telescopic handle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Example one
Referring to fig. 1, an embodiment of the present invention: an intelligent ultra-high-speed stacking and carrying robot for logistics comprises a bottom plate 1, wherein a storage cabinet 3 is installed at the top of the bottom plate 1, and article collecting structures 4 which are symmetrically arranged are installed on the front surface and the back surface of the storage cabinet 3;
Specifically, before collecting and sorting ground materials, whether falling objects exist on the surfaces of two sides of the robot can be detected through the infrared distance measuring instruments 401, if falling objects exist, the two groups of infrared distance measuring instruments 401 can send the information to the first electric telescopic rod 403, the first electric telescopic rod 403 can be extended towards the front and the rear of the bottom plate 1 immediately, when the second electric telescopic rod 404 is located at the front and the rear of the bottom plate 1, the second electric telescopic rod 404 is started until the tail end of the second electric telescopic rod crosses one side of the ground falling object, the third electric telescopic rod 405 is started immediately, the falling objects can be collected under the intercepting action of the two groups of third electric telescopic rods 405 at the moment, then the second electric telescopic rod 404 is started again to be contracted inwards, and along with the storage of the second electric telescopic rod 404, the falling objects can slowly approach the surface of the bottom plate 1 under the intercepting and collecting action of the third electric telescopic rods 405, then the guide plate 5 in an inclined state slides into the storage cabinet 3 to realize the function of collecting and picking the objects;
in addition, when the size of the falling object is small, the stepping motor 402 can be started to drive the first electric telescopic rod 403 to rotate, so that the tail end of the second electric telescopic rod 404 contacts the ground, and the falling object at a lower position can be intercepted and collected into the storage cabinet 3, thereby realizing the overall collection and sorting of the object.
Example two
Referring to fig. 3 and 8, an embodiment of the present invention: an ultra-high-speed palletizing and carrying robot for intelligent logistics comprises electronic tension meters 9, four corners of the top of a bottom plate 1 are provided with lifting rods 6, the top of each lifting rod 6 is provided with an operating plate 2 in a sliding mode, the top of each operating plate 2 is provided with a turntable 201, the top of each turntable 201 is provided with a mechanical arm 202, the bottom of the tail end of each mechanical arm 202 is provided with the electronic tension meters 9, the bottom of each electronic tension meter 9 is provided with first baffles 901 which are symmetrically arranged through a shaft rod, the tail end of each first baffle 901 is provided with a second baffle 902 through a shaft rod, the tail end of each second baffle 902 is provided with a third baffle 903 which is obliquely arranged, each third baffle 903 is inwards inclined, a double-end electric telescopic rod 904 is arranged on the inner wall of one group of the first baffles 901, and the tail end of each double-end electric telescopic rod 904 is connected with the inner wall of the other group of the first baffles 901, display screen 203 is installed at the top of operation panel 2, and display screen 203 is located one side of carousel 201, display screen 203 and electron tensiometer 9 electric connection.
The top of lifter 6 is equipped with spout 601, spout 601 and operation panel 2's bottom sliding connection, lifter 6's surface mounting has gomphosis strip 603 and rotation axostylus axostyle, and rotates axostylus axostyle and gomphosis strip 603 and be located the both sides of spout 601 respectively, the surface of rotation axostylus axostyle has cup jointed gomphosis strip 603.
Specifically, the sliding connection between the operation panel 2 and the lifting rod 6 can be realized through the sliding groove 601, then the embedding strip 603 is rotated clockwise, the position of the embedding strip 603 can be rotated to enable the rod body at the tail end of the embedding strip to be embedded into the clamping frame 602, and further the embedding strip 603 can form crosspiece interception, so that the operation panel 2 is prevented from sliding and deviating with the lifting rod 6 when being installed in a sliding manner, and the installation stability of the device is prevented from being influenced;
in addition, after the operation board 2 is installed, the turntable 201 can be rotated, the robot can grasp with multiple degrees of freedom by using the mechanical arm 202, when an object is grasped, the double-end electric telescopic rod 904 can be started firstly, so that the first baffle 901 is opened at the two ends of the double-end electric telescopic rod, the first baffle 901 is immediately disposed and falls to the outer side of the object, then the double-end electric telescopic rod 904 is closed, so that the double-end electric telescopic rod 904 drives the two groups of first baffles 901 to mutually approach, and then the closed picking structure formed by the two groups of second baffles 902 and the third baffles 903 can clamp the object, so that the object is clamped;
in the process, the electronic tension meter 9 can be used for weighing a closed structure formed by the first baffle 901, the second baffle 902 and the third baffle 903, so that the objects can be weighed and detected when the objects are transported, the phenomenon that the objects in the same batch are packed to cause bag leakage time is avoided, the normal operation of follow-up logistics sending work is influenced, and the weighed data can be visually displayed through the display screen 203.
EXAMPLE III
Referring to fig. 5 and 6, an embodiment of the present invention: the utility model provides an intelligence hypervelocity pile up neatly transfer robot for commodity circulation, is including removing cylinder 7, installation piece 101 is all installed at the front and the back of bottom plate 1, the bottom threaded connection of installation piece 101 has removal cylinder 7, the inside of removing cylinder 7 is run through and is installed the round bar, gyro wheel 703 has been cup jointed respectively to the both ends surface of round bar, the surface mounting who removes cylinder 7 has symmetrical arrangement's L type branch, and driving motor 701 is installed at the top of one of them group of branch, driving motor 701's output is connected with derailleur 702, the output of derailleur 702 is connected with the one end of round bar, another group balancing weight 704 is installed at the top of L type branch.
Specifically, when the moving cylinder 7 is not needed, the mounting block 101 can effectively increase the contact area between the robot and the supporting plane, so as to increase the stability of the device, and in addition, when the moving cylinder 7 is needed, the whole robot can be lifted by using the lifting frame device, then the moving cylinder 7 is in threaded connection with the bottom of the mounting block 101, and then the roller 703 is driven by the driving motor 701 to realize autonomous rotation, so as to drive the robot to realize the moving type palletizing and carrying operation;
when the robot needs to turn in a reversing way, according to the reversing direction, when the robot needs to rotate in the counterclockwise direction, the two groups of transmissions 702 close to the front below the bottom plate 1 can be started, so that the output rotating speed of the transmissions is lower than that of the two groups of driving motors 701 close to the rear, and then the two groups of rollers 703 close to the rear can realize the rotation with a larger radius under the action of larger driving drive, so that the overall reversing of the robot is realized;
the use of the weight 704 can ensure that the weight of the roller 703 is balanced on both sides of the roller 703 under the condition that the driving motor 701 is mounted on one side of the roller 703 and the transmission 702 is mounted on the other side of the roller, thereby realizing the stable movement of the device.
Example four
Referring to fig. 2, fig. 4 and fig. 7, an embodiment of the present invention: the utility model provides an intelligence hypervelocity pile up neatly transfer robot for commodity circulation, includes baffle 5, baffle 5 is installed through the hinge on the both sides outer wall top of bottom plate 1, the internally mounted of baffle 5 has photosensitive induction piece 501, weight induction plate 502 is installed to photosensitive induction piece 501's bottom, the internally mounted of weight induction plate 502 has the weight inductor, storage cabinet 3 is located the centre of four group's lifter 6, baffle 301 is installed to storage cabinet 3's inner wall, storage cabinet 3's both sides outer wall all is equipped with the feed chute 302 that runs through, the diapire of feed chute 302 is equipped with the recess, the internally mounted of recess has lift blend stop 303, infrared distance meter 304 is all installed to storage cabinet 3's both sides inner wall, and infrared distance meter 304 is located the both sides of feed chute 302.
Specifically, the guide plate 5 is made of transparent acrylic material, under the action of gravity, one side of the guide plate 5 falls on the ground, and further forms a slope structure with the bottom plate 1, when the articles are collected and sorted through the guide plate 5 and enter the storage cabinet 3, the articles are collected and sorted through the surface of the guide plate 5, the surface of the guide plate 5 can be shielded, so that the cross-sectional shape and the size information of the articles can be collected by the photosensitive induction sheet 501, the weight information of the articles can be collected through the weight inductor inside the weight induction plate 502, and the related information of the articles can be conveniently known by workers, so that the contents of the articles can be judged and collected, and reference information is provided for subsequent classification.
When the articles are collected and sorted through the feeding groove 302 and enter the storage cabinet 3, the lifting barrier strips 303 descend to the inside of the grooves, at the moment, the feeding groove 302 keeps in a flat state, the lifting barrier strips 303 rise again after the articles are collected and sorted, a threshold structure is further formed, the articles collected and sorted inside the storage cabinet 3 are prevented from overflowing the inside of the storage cabinet 3 due to sliding, along with the collection and sorting operation, the storage space in two groups of spaces formed by the partition plates 301 is gradually reduced, at the moment, the distance between the gradually approached articles collected and sorted and the inner wall of the storage cabinet 3 can be detected through the infrared range finder 304, and a reference signal is provided for the subsequent cleaning, screening and sorting storage cabinet 3.
The top of operation panel 2 is installed and is kept away barrier detection box 8, and keeps away the place ahead that barrier detection box 8 is located carousel 201, keep away the barrier and detect the both sides outer wall of box 8 and install ultrasonic ranging appearance 801 respectively, keep away the barrier and detect the top of box 8 and install symmetrical arrangement's pilot lamp 802, and pilot lamp 802 respectively with two sets of ultrasonic ranging appearance 801 electric connection, keep away the barrier and detect the front of box 8 and install status light 803, and status light 803 and electron tensiometer 9 electric connection.
Specifically, the ultrasonic distance measuring instrument 801 can detect the distance between obstacles on two sides of the robot, the indicator lamp 802 close to one side is started immediately when the robot meets the obstacles, an indicator signal is immediately provided for starting the transmission 702, and the status lamp 803 is used, so that when the electronic tension meter 9 detects that the weight is abnormal, the status lamp can be timely lighted up to remind a worker to mark the picked and received objects in time, and the robot can be guaranteed to normally carry out corresponding work when carrying and stacking.
The working steps of the robot are as follows:
s1, before the robot is used for carrying out corresponding logistics carrying and stacking operations, the movable cylinder 7 is selectively used according to actual use requirements, when the movable cylinder 7 is not needed to be used and only the robot is used for carrying and stacking at fixed points, the movable cylinder 7 can be taken down from the bottom of the mounting block 101, and then a base formed by the bottom plate 1 and the mounting block 101 is used for providing a stable supporting effect for the robot;
s2, sliding the operation board 2 into the sliding groove 601, clockwise rotating the tabling strip 603 to make the rod body at the tail end tabling into the clamping frame 602, and then forming a limit locking function to the clamping connection of the operation board 2 to prevent the operation board 2 from sliding;
s3, then the turntable 201 is rotated, the mechanical arm 202 is adjusted to a proper carrying orientation, the mechanical arm 202 is started to drive the electronic tension meter 9 to move downwards, after the third baffle 903 frames a corresponding object, the double-end electric telescopic rod 904 can be started, the two groups of first baffles 901 are adjusted to contract inwards, then the two groups of second baffles 902 can be close to each other, the object to be clamped is folded, the object is prevented from falling off in the plate transportation process, meanwhile, the folded and clamped object can be weighed by the electronic tension meter 9, and further, the carried object can be subjected to quality detection in the batch object processing process, and the phenomenon of bag leakage is avoided;
s4, in the process of carrying the object, the object falling phenomenon may exist, at this time, the infrared distance measuring instrument 401 can detect that the object falling from the two sides of the robot exists, at this time, according to the distance value detected by the two groups of infrared distance measuring instruments 401, the first electric telescopic rod 403, the second electric telescopic rod 404 and the third electric telescopic rod 405 on one side of the infrared distance measuring instrument 401 with smaller values are started, and then the corresponding object falling on the ground is collected, and then the second electric telescopic rod 404 is retracted inwards, so that the object collected by the two groups of third electric telescopic rods 405 can be driven to move to the surface of the bottom plate 1 along the surface of the guide plate 5 along with the contraction of the second electric telescopic rod 404, and then the object falls into the storage cabinet 3, and the collection and the sorting of the object are realized;
s5, in the process of picking up and sorting the objects, the lifting barrier strips 303 are started to enable the top ends of the lifting barrier strips 303 to move downwards to the inside of the grooves, so that the feed chute 302 of the storage cabinet 3 is kept in a flat state, and the lifting barrier strips 303 are lifted again after the objects are picked up and sorted, so that a threshold structure is formed, and the objects picked up and sorted in the storage cabinet 3 are prevented from overflowing the inside of the storage cabinet 3 due to sliding;
s6, when the guide plate 5 surface passes through the folded object, the size of the area sheltered by the object passing through the guide plate 5 surface can be detected by the photosensitive induction sheet 501, the appearance size of the folded object can be known immediately, and the weight information of the object can be detected by the weight induction sheet 502 when the object passes through the guide plate 5, so as to perfect the object information collected in the storage cabinet 3;
s7, when the movable column 7 is needed to carry out movable carrying operation on the device, the robot can be lifted integrally by the aid of the hanging bracket, the movable column 7 is connected to the bottom of the mounting block 101 in a threaded mode immediately, then the driving motors 701 are started to drive the rollers 703 to rotate, when the device needs reversing movement, the two groups of speed changers 702 on one side are started synchronously, output rotating speeds of the driving motors 701 on two sides of the bottom plate 1 can be different, and accordingly the rollers 703 with large rotating speeds can generate arc-shaped deviation along the rollers 703 with small rotating speeds conveniently, and reversing is achieved.
The working principle is as follows: before the robot is used for carrying out corresponding logistics carrying and stacking operations, the movable cylinder 7 is selectively used according to actual use requirements, when the movable cylinder 7 is not needed to be used and only the robot is used for carrying and stacking at a fixed point, the movable cylinder 7 can be taken down from the bottom of the mounting block 101, and then a base formed by the bottom plate 1 and the mounting block 101 is used for providing a stable supporting function for the robot;
then the operation board 2 is embedded into the sliding groove 601 in a sliding way, then the embedding strip 603 is rotated clockwise, the rod body at the tail end of the operation board is embedded into the clamping frame 602, then the clamping connection of the operation board 2 is limited and locked, the sliding of the operation board 2 is prevented, then the turntable 201 is rotated, the mechanical arm 202 is adjusted to a proper carrying direction, the mechanical arm 202 is started to drive the electronic tension meter 9 to move downwards, after the third baffle 903 frames the corresponding object, the double-head electric telescopic rod 904 can be started, the two groups of the first baffles 901 are moved to contract inwards, then the two groups of the second baffles 902 can be close to each other, the object to be clamped is collected, the object is prevented from falling off in the board carrying process, meanwhile, the collected and clamped object can be weighed by the electronic tension meter 9, and further the quality detection can be carried out on the object in the batch object processing process, the phenomenon of packet leakage is avoided;
in the process of carrying the objects, the objects may fall off, at this time, the infrared distance measuring instruments 401 detect that the objects falling off from the two sides of the robot, at this time, according to the distance values detected by the two groups of infrared distance measuring instruments 401, the first electric telescopic rod 403, the second electric telescopic rod 404 and the third electric telescopic rod 405 on one side of the infrared distance measuring instrument 401 with smaller values are started, and then the corresponding objects falling on the ground are collected, and then the second electric telescopic rod 404 is inwardly contracted, so that the objects collected by the two groups of third electric telescopic rods 405 can drive the objects to move to the surface of the bottom plate 1 along the surface of the guide plate 5 along with the contraction of the second electric telescopic rod 404, and then fall into the storage cabinet 3, so as to realize the collection and the sorting of the objects, in the process of collecting and sorting the objects, the lifting barrier strips 303 are started to move the top ends of the lifting barrier strips to the inside of the grooves, so that the feed chute 302 of the storage cabinet 3 is kept in a flat state, after the articles are collected and picked, the lifting barrier strips 303 rise again to form a threshold structure, so that the articles collected and picked in the storage cabinet 3 are prevented from overflowing the interior of the storage cabinet 3 due to sliding;
when the surface of the guide plate 5 passes through the folded object, the size of the area shielded by the object passing through the surface of the guide plate 5 can be detected through the photosensitive induction sheet 501, the size of the appearance size of the folded object can be known immediately, and in the process that the object passes through the guide plate 5, the weight information of the object can be detected through the weight induction plate 502, so that the information of the object stored in the storage cabinet 3 can be perfected;
when the movable cylinder 7 is required to be used for carrying out movable carrying operation on the device, the whole robot is lifted by utilizing the hanging bracket, the movable cylinder 7 is connected to the bottom of the mounting block 101 in a threaded mode immediately, then the driving motor 701 is started to drive the roller 703 to rotate, when the device is required to be reversed and moved, the two groups of speed changers 702 on one side are started synchronously, the output rotating speeds of the driving motors 701 on the two sides of the bottom plate 1 can be enabled to be different, the roller 703 with large rotating speed can be enabled to generate arc-shaped deviation along the roller 703 with small rotating speed conveniently, and the reversing purpose is achieved.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (2)
1. The utility model provides an intelligence hypervelocity pile up neatly transfer robot for commodity circulation, includes bottom plate (1), its characterized in that: four corners of the top of the bottom plate (1) are provided with lifting rods (6), and the top of each lifting rod (6) is provided with an operating plate (2) in a sliding manner;
a turntable (201) is installed at the top of the operating panel (2), a mechanical arm (202) is installed at the top of the turntable (201), an electronic tension meter (9) is installed at the bottom of the tail end of the mechanical arm (202), a storage cabinet (3) is installed at the top of the bottom plate (1), and symmetrically arranged article collecting structures (4) are installed on the front surface and the back surface of the storage cabinet (3);
the collection structure (4) comprises an infrared distance meter (401), a stepping motor (402), a first electric telescopic rod (403), a second electric telescopic rod (404) and a third electric telescopic rod (405), wherein the infrared distance meter (401) is installed on the surface of one side, away from the storage cabinet (3), of the lifting rod (6), the stepping motor (402) is installed on the front face and the back face of the storage cabinet (3), the first electric telescopic rod (403) is installed at the output end of the stepping motor (402), the second electric telescopic rod (404) is connected to the tail end of the first electric telescopic rod (403), and the third electric telescopic rod (405) is installed on the surface of the tail end of the second electric telescopic rod (404);
the bottom of the electronic tension meter (9) is provided with a first baffle (901) which is symmetrically arranged through a shaft rod, the tail end of the first baffle (901) is provided with a second baffle (902) through the shaft rod, the tail end of the second baffle (902) is provided with a third baffle (903) which is obliquely arranged, the third baffle (903) is inwards inclined, the inner wall of one group of the first baffles (901) is provided with a double-head electric telescopic rod (904), and the tail end of the double-head electric telescopic rod (904) is connected with the inner wall of the other group of the first baffles (901);
the front and the back of the bottom plate (1) are both provided with mounting blocks (101), the bottom of each mounting block (101) is in threaded connection with a moving cylinder (7), a round rod is installed inside each moving cylinder (7) in a penetrating mode, the surfaces of two ends of each round rod are respectively sleeved with a roller (703), L-shaped supporting rods which are symmetrically arranged are installed on the surface of each moving cylinder (7), a driving motor (701) is installed at the top of one group of the supporting rods, the output end of each driving motor (701) is connected with a transmission (702), the output end of each transmission (702) is connected with one end of each round rod, and a balancing weight (704) is installed at the top of the other group of the L-shaped supporting rods;
the top ends of the outer walls of the two sides of the bottom plate (1) are provided with guide plates (5) through hinges, photosensitive induction sheets (501) are arranged inside the guide plates (5), weight induction plates (502) are arranged at the bottoms of the photosensitive induction sheets (501), and weight inductors are arranged inside the weight induction plates (502);
the device comprises an operating panel (2), an obstacle avoidance detection box (8) is installed at the top of the operating panel (2), the obstacle avoidance detection box (8) is located in front of a turntable (201), ultrasonic distance meters (801) are installed on outer walls of two sides of the obstacle avoidance detection box (8) respectively, symmetrically arranged indicating lamps (802) are installed at the top of the obstacle avoidance detection box (8), the indicating lamps (802) are electrically connected with the two groups of ultrasonic distance meters (801) respectively, a status lamp (803) is installed on the front of the obstacle avoidance detection box (8), and the status lamp (803) is electrically connected with an electronic tension meter (9);
the storage cabinet (3) is located in the middle of four groups of lifting rods (6), a partition plate (301) is installed on the inner wall of the storage cabinet (3), feed grooves (302) penetrating through the outer walls of the two sides of the storage cabinet (3) are formed in the outer wall of the two sides of the storage cabinet (3), a groove is formed in the bottom wall of each feed groove (302), a lifting barrier strip (303) is installed inside the groove, infrared range finders (304) are installed on the inner walls of the two sides of the storage cabinet (3), and the infrared range finders (304) are located on the two sides of the feed grooves (302);
a sliding groove (601) is formed in the top of the lifting rod (6), the sliding groove (601) is connected with the bottom of the operating plate (2) in a sliding mode, an embedding strip (603) and a rotating shaft rod are mounted on the surface of the lifting rod (6), the rotating shaft rod and the embedding strip (603) are located on two sides of the sliding groove (601) respectively, and the embedding strip (603) is sleeved on the surface of the rotating shaft rod;
the first electric telescopic rod (403), the second electric telescopic rod (404) and the third electric telescopic rod (405) form a C-shaped structure;
display screen (203) is installed at the top of operation panel (2), and display screen (203) are located one side of carousel (201), display screen (203) and electron tensiometer (9) electric connection.
2. An intelligent ultra-high speed palletizing and transporting robot for logistics according to claim 1, wherein the robot comprises the following working steps:
s1, before the robot is used for carrying out corresponding logistics carrying and stacking operations, the moving cylinder (7) is selectively used according to actual use requirements, when the moving cylinder (7) is not needed and only the robot is used for carrying and stacking at a fixed point, the moving cylinder (7) can be taken down from the bottom of the mounting block (101), and then a base formed by the bottom plate (1) and the mounting block (101) is used for providing a stable supporting function for the robot;
s2, sliding the operation plate (2) to be embedded into the sliding groove (601), clockwise rotating the embedding strip (603) to embed the rod body at the tail end into the clamping frame (602), and then forming a limiting locking effect on the clamping connection of the operation plate (2) to prevent the sliding of the operation plate (2);
s3, then, the turntable (201) is rotated, the mechanical arm (202) is adjusted to a proper carrying orientation, the mechanical arm (202) is started to drive the electronic tension meter (9) to move downwards, the double-end electric telescopic rod (904) can be started after the third baffle (903) frames a corresponding object, the two groups of the first baffles (901) are moved to contract inwards, then the two groups of the second baffles (902) can be close to each other, the object to be clamped is folded, the object is prevented from falling off in the plate transportation process, meanwhile, the folded and clamped object can be weighed by the electronic tension meter (9), and further, in the batch object processing process, the carried object can be subjected to quality detection, and the phenomenon of bag leakage is avoided;
s4, in the process of carrying the object, the object falling phenomenon possibly exists, at the moment, the falling objects exist on two sides of the robot can be detected through the infrared distance measuring instruments (401), at the moment, the first electric telescopic rod (403), the second electric telescopic rod (404) and the third electric telescopic rod (405) on one side of the infrared distance measuring instruments (401) with smaller values are started according to the distance values detected by the two groups of infrared distance measuring instruments (401), then the corresponding object falling on the ground is collected, and then the second electric telescopic rod (404) is inwards contracted, so that the object collected by the two groups of third electric telescopic rods (405) can drive the object to move to the surface of the bottom plate (1) along the surface of the guide plate (5) along with the contraction of the second electric telescopic rod (404), and then the object falls into the storage cabinet (3), and the collection of the object are realized;
s5, in the process of collecting and sorting the objects, starting the lifting barrier strips (303) to enable the top ends of the lifting barrier strips to move downwards to the inside of the grooves, further enabling the feeding groove (302) of the storage cabinet (3) to be kept in a flat state, and lifting the lifting barrier strips (303) again after the objects are collected and sorted, further forming a threshold structure to prevent the collected and sorted objects in the storage cabinet (3) from overflowing the inside of the storage cabinet (3) due to sliding;
s6, when the surface of the guide plate (5) passes through the folded object, the size of the area shielded by the object passing through the surface of the guide plate (5) can be detected by the photosensitive sensing sheet (501), the appearance size of the folded object can be known immediately, and in the process that the object passes through the guide plate (5), the weight information of the object can be detected by the weight sensing plate (502), so that the information of the object stored in the storage cabinet (3) can be improved;
s7, when the movable cylinder (7) is needed to be used for carrying out movable carrying operation on the device, the whole robot can be lifted by utilizing the hanging bracket to be connected to the bottom of the mounting block (101) in a threaded mode through the movable cylinder (7), then the driving motor (701) is started to drive the roller (703) to rotate, when the device needs reversing movement, the two groups of speed changers (702) on one side are started synchronously, the output rotating speeds of the driving motors (701) on the two sides of the bottom plate (1) can be enabled to be different, and the roller (703) with the larger rotating speed can conveniently generate arc deviation along the roller (703) with the smaller rotating speed, so that the reversing purpose is achieved.
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| CN117718950B (en) * | 2024-02-18 | 2024-04-12 | 北京润捷浩达科技有限公司 | Multi-degree-of-freedom automatic grabbing mechanical arm mechanism for plastic cup production |
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| JP5698789B2 (en) * | 2013-04-18 | 2015-04-08 | ファナック株式会社 | Robot control device that transports workpieces |
| CN104875211B (en) * | 2015-04-23 | 2017-07-28 | 南京布瑞锶克金属科技有限公司 | A kind of manipulator end clamping, pickup, adsorption combined device |
| CN106628911B (en) * | 2017-01-17 | 2018-09-28 | 中山市奥斯精工机械科技有限公司 | Applied to device and the automatic food delivery system of eating in the interception in automatic food delivery system |
| DE102018132655A1 (en) * | 2018-12-18 | 2020-06-18 | Tvi Entwicklung Und Produktion Gmbh | Transfer plant and transfer process |
| CN209581382U (en) * | 2019-01-10 | 2019-11-05 | 中电科真空电子科技有限公司 | A kind of data acquisition device based on wireless communication |
| CN110127256B (en) * | 2019-03-29 | 2020-11-17 | 杭州师范大学钱江学院 | Logistics trolley based on pneumatic grabbing and transportation method thereof |
| CN211890832U (en) * | 2020-03-20 | 2020-11-10 | 成都耶华科技有限公司 | Sorting manipulator for radiographic inspection instrument |
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Effective date of registration: 20231214 Address after: Building 10, No. 169 Lifa Avenue, Chengdong Town, Hai'an City, Nantong City, Jiangsu Province, 226600 Patentee after: JIANGSU TURIN CHI ROBOT Co.,Ltd. Patentee after: SHANGHAI TURIN SMART ROBOT CO.,LTD. Address before: 226600 169 Li Fa FA Road, Chengdong Town, Haian City, Nantong, Jiangsu. Patentee before: JIANGSU TURIN CHI ROBOT Co.,Ltd. |
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