CN114084600B - Top end object placing table and mobile robot trolley with same - Google Patents
Top end object placing table and mobile robot trolley with same Download PDFInfo
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- CN114084600B CN114084600B CN202111280570.7A CN202111280570A CN114084600B CN 114084600 B CN114084600 B CN 114084600B CN 202111280570 A CN202111280570 A CN 202111280570A CN 114084600 B CN114084600 B CN 114084600B
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- adjusting rod
- assembly
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- 239000000758 substrate Substances 0.000 claims abstract description 11
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 15
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
Abstract
The invention discloses a top object placing table and discloses a mobile robot trolley with the top object placing table, wherein the top object placing table comprises a base plate, a fixed cover, an anti-torsion assembly and an object carrying assembly. The substrate is provided with a convex ring; the fixed cover is arranged on the base plate and sleeved on the outer side of the convex ring, and the top end of the fixed cover is provided with an opening; the anti-torsion assembly is rotatably arranged in the fixed cover and is positioned above the base plate; the article carrying assembly is arranged at the upper end of the fixed cover and is positioned above the anti-torsion assembly, the anti-torsion assembly can prop against the article carrying assembly, and the article carrying assembly comprises an article placing plate which is movable. The movable object placing plate can passively conform to the pose change of an object on the plate, so that the object placing plate can be attached to the surface of the object, and the risk of falling of the object is reduced. The anti-torsion assembly can be propped against the carrying assembly, so that the torque internal stress in the vertical direction of the carrying assembly caused by the rotation of the carrying assembly is prevented, and finally, the direction change caused by the interference of the movement direction of the robot can be avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a top object placing table and a mobile robot trolley with the same.
Background
Mobile robotic dollies are increasingly being used in factories and warehouse cargo transportation. For cargoes with larger volume, a plurality of mobile robot dollies can support cargoes in a coordinated way to finish carrying. In the course of transporting goods in such an "ant moving" manner, firm contact between the goods and the robot needs to be maintained, otherwise the goods risk slipping off. However, sudden changes in topography, such as unevenness, may occur during transportation, which may cause a part of the robot to change its height position or tilt, and the relative pose between the object and the robot may also change. If the top object placing table of the robot cannot change its posture in a compliant manner, the contact between the robot and the object becomes a relatively weak point-to-surface contact or line-to-surface contact, and the object is also at risk of falling.
In addition, when the group robots cooperatively transport objects, due to errors in control precision, a torque internal stress in the vertical direction often exists between the robots and the objects, and if the stress cannot be timely eliminated, the movement direction of the robots can be slowly changed along with time, so that the completion of the group robots cooperatively transport tasks is affected. Therefore, how to mechanically and timely eliminate the internal stress of the contact surface of the robot and the object in the vertical rotation axis direction is also a problem to be considered.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the top object placing table, so that the robot can conform to the pose of the object to be transported, the object and the top object placing table keep a surface-to-surface contact state, and the risk of dropping the object is further reduced.
The invention further provides a mobile robot trolley with the top object placing table.
According to an embodiment of the first aspect of the present invention, the top end storage platform includes a base plate, a fixed cover, an anti-torsion assembly, and a carrying assembly. The substrate is provided with a convex ring; the fixed cover is arranged on the substrate and sleeved on the outer side of the convex ring, and an opening is formed in the top end of the fixed cover; the anti-torsion assembly is arranged in the fixed cover and is positioned above the base plate; the article carrying assembly is arranged at the upper end of the fixed cover and is positioned above the anti-torsion assembly, the anti-torsion assembly can prop against the article carrying assembly, the article carrying assembly comprises an article placing plate, and the article placing plate is movable.
The top object placing table provided by the embodiment of the invention has at least the following beneficial effects: the base plate can be arranged on the robot body, the top object placing table is further arranged on the robot body, the fixing cover is sleeved on the convex ring, and the position of the fixing cover is further limited, so that the movement of the object carrying assembly is limited. The movable object placing plate can passively conform to the pose change of an object on the plate, so that the object placing plate can be attached to the surface of the object at any time, and the risk of falling of the object is reduced. In addition, the anti-torsion assembly in the fixed cover can prop against the carrying assembly, so that the rotation of the carrying assembly can be limited, further, the torque internal stress in the vertical direction of the carrying assembly caused by the rotation of the carrying assembly is prevented, and finally, the direction change caused by the interference of the movement direction of the robot can be avoided.
According to some embodiments of the invention, the carrier assembly further comprises: a base and more than two elastic pieces. The base is arranged in the fixed cover through a bearing and is positioned below the opening, and the base is movably connected with the object placing plate through a universal joint; one end of the elastic piece is arranged on the base, the other end of the elastic piece is arranged on the object placing table, and the elastic pieces are uniformly distributed on the outer side of the universal joint.
According to some embodiments of the invention, the anti-twist assembly comprises: friction plate, regulation pole and drive arrangement. The fixed end of the friction plate is fixed on the base plate, the movable end of the friction plate is movably arranged in the fixed cover, and the friction plate can be in contact with the base; the adjusting rod is arranged in the fixed cover and the convex ring in a penetrating way, the adjusting rod is movably arranged at two ends of the friction plate in a penetrating way, and the adjusting rod is in threaded connection with the movable end of the friction plate; the driving device is arranged on the substrate, the output end of the driving device is connected with the adjusting rod, and the driving device can drive the adjusting rod to rotate.
According to some embodiments of the invention, the base plate is provided with a mounting seat, a mounting hole is formed in the mounting seat, and one end of the adjusting rod is arranged in the mounting hole.
According to some embodiments of the invention, a first buffer plate is arranged at a position where the friction plate contacts with the bottom of the base, a second buffer plate is arranged at a position corresponding to the base, and the first buffer plate and the second buffer plate are elastic.
According to some embodiments of the invention, the adjusting rod is a screw.
According to some embodiments of the invention, the drive device comprises a motor, the output end of which is connected with the adjusting rod through a coupling.
According to some embodiments of the invention, the first and second cushioning sheets are each rubber sheets.
According to some embodiments of the invention, the elastic member is a spring.
A mobile robotic cart according to a second aspect of the invention includes a top loading station as in any of the above embodiments, the top loading station being disposed at an upper end of the mobile robotic cart.
The mobile robot trolley provided by the embodiment of the invention has at least the following beneficial effects: after the mobile robot trolley is installed on the top object placing table, on one hand, the mobile robot trolley can adapt to the pose change of a conveyed object; on the other hand, the mobile robot trolley is prevented from being influenced by internal stress in the top object placing table, so that the moving direction of the mobile robot trolley is kept unchanged, the moving precision of the mobile robot trolley is improved, and the higher target requirement is met.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of a top loading platform according to an embodiment of the present invention;
FIG. 2 is a schematic side view of the top storage platform of FIG. 1;
FIG. 3 is a schematic view of a semi-sectional structure of the top loading platform shown in FIG. 2;
FIG. 4 is an enlarged partial schematic view of A of the top deposit station shown in FIG. 3;
FIG. 5 is an enlarged partial schematic view of B of the top deposit table shown in FIG. 4;
fig. 6 is a schematic structural view of the anti-twisting assembly of the top loading platform shown in fig. 1.
Reference numerals:
a base plate 10 and a convex ring 11;
a fixed cover 20;
the anti-torsion assembly 30, the friction plate 31, the fixed end 313, the movable end 314, the first buffer plate 311, the second buffer plate 312, the adjusting rod 32, the mounting seat 321, the driving device 33 and the coupler 331;
the object carrying assembly 40, the object carrying plate 41, the base 42, the needle bearing 421, the tapered roller bearing 422, the universal joint 423 and the elastic piece 43.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 to 3, a top loading stage according to an embodiment of the first aspect of the present invention includes a base plate 10, a fixing cover 20, an anti-twisting assembly 30, and a loading assembly 40. The base plate 10 is provided with a collar 11; the fixed cover 20 is arranged on the base plate 10 and sleeved outside the convex ring 11, and an opening (not shown) is formed in the top end of the fixed cover 20; the anti-twist assembly 30 is disposed in the fixed cover 20 and above the base plate 10; the carrying assembly 40 is disposed at the upper end of the fixed cover 20 and above the anti-torsion assembly 30, the anti-torsion assembly 30 can abut against the carrying assembly 40, the carrying assembly 40 includes a carrying plate 41, and the carrying plate 41 is movable. The substrate 10 can be mounted on a robot body, a placement table capable of placing articles is mounted on the robot body, and the articles can be placed on the placement plate 41 and then moved and carried by the robot.
The fixing cover 20 is sleeved on the convex ring 11, and the convex ring 11 can effectively limit the position of the fixing cover 20, so as to limit the movement of the carrying assembly 40 on the board surface of the substrate 10. The movable object placing plate 41 can passively conform to the pose change of the object on the plate, so that the object placing plate 41 can be attached to the surface of the object at any time, and the risk of dropping the object is reduced. In addition, the anti-torsion assembly 30 in the fixed cover 20 can prop against the carrying assembly 40, on one hand, the carrying assembly 40 is tightly pressed and limited between the fixed cover 20 and the anti-torsion assembly 30, so that the carrying assembly 40 is limited to rotate in the carrying process, further, torque internal stress in the vertical direction is prevented from occurring due to rotation of the carrying assembly 40, and finally, the direction of movement of the robot can be prevented from being changed due to interference, on the other hand, if the anti-torsion assembly 30 is loosened to be contacted with the carrying assembly 40, the carrying assembly 40 is convenient to rotate, the carrying assembly 40 is convenient to conform to the position change of cargoes, further, the object placing plate 41 can be guaranteed to be attached to the surface of an object at any time, the risk of dropping of the object is reduced, and meanwhile, internal stress torque between the object and the robot can be eliminated when necessary.
Referring to fig. 1-4, according to some embodiments of the invention, carrier assembly 40 may further include: a base 42 and two or more elastic members 43. The base 42 is rotatably disposed in the fixed cover 20 below the opening by a bearing, an upper end surface of the base 42 is connected to a lower end surface of the opening of the fixed cover 20 by a needle bearing 421, and a lower end of the base 42 is provided with a flange (not shown) connected to an inner wall of the collar 11 on the base plate 10 by a tapered roller bearing 422. The base 42 can have a degree of freedom of rotation in the vertical rotation axis direction by the needle roller bearing 421 and the tapered roller bearing 422. The upper end of the base 42 is movably connected with the object placing plate 41 through a universal joint 423, the universal joint 423 can enable the plate surface of the object placing plate 41 to be free towards any direction with the joint point as the center, and finally the object placing table at the top end has the capability of conforming to the position and the posture of goods, and it can be understood that the upper end of the base 42 can also be movably connected with the object placing plate 41 through a ball joint, the function of the ball joint is approximately the same as that of the universal joint 423, and the ball joint is a technology well known to a person skilled in the art, and the ball joint is not repeated one by one. An elastic piece 43 is further arranged between the base 42 and the object placing plate 41, one end of the elastic piece 43 is arranged on the base 42, the other end of the elastic piece 43 is arranged on the object placing plate 41, and the elastic pieces 43 are uniformly distributed on the outer side of the universal joint 423.
However, in order to make the elastic force applied to the storage plate 41 the same, the elastic deformation amount of the elastic member 43 should be uniform; in addition, in order to maintain the horizontal state of the storage plate 41 without external force, more than two elastic members 43 should be uniformly distributed on the outer side of the universal joint 423, i.e., more than two elastic members 43 should be uniformly connected around the storage plate 41. In the drawing, for example, the number of the elastic members 43 is three, and a span between two adjacent elastic members 43 is 120 °, so that the storage plate 41 can be maintained in a horizontal state. If the number of the elastic members 43 is two, the two elastic members 43 are arranged oppositely, and the two elastic members 43 can be maintained in a horizontal state by 180 degrees in span, but the stability is lower than that under the three elastic members 43. It will be appreciated that a greater number of resilient members 43 will provide greater stability to the storage plate 41 while providing smoother contact with the cargo. Therefore, the number of the elastic members 43 is not particularly limited in the present embodiment, and the storage plate 41 can be kept horizontal.
It should be noted that, the elastic members 43 disposed between the storage plate 41 and the base plate 10 should be elongated, so that the storage plate 41 can be reset to a horizontal state. The compressed state is unfavorable for the reset of the storage plate 41 to the horizontal state.
Referring to fig. 1-2, according to some embodiments of the invention, the resilient member 43 is a spring. The two ends of the spring are connected with the object placing plate 41 and the base 42 through the hinge parts, and can rotate around the rotation center of the hinge parts along with the change of the position and the posture of the goods, so that the length of the spring can be prolonged or compressed according to the change of the position and the posture of the goods. The elastic member 43 may be a spring, a elastic cord having high elasticity and high toughness, a pneumatic cylinder or an electric cylinder having flexible operation, or the like. The elastic member 43 is not particularly limited, and the return of the storage plate 41 to the horizontal state may be completed.
Referring to fig. 2-6, according to some embodiments of the invention, an anti-twist assembly 30 includes: friction plate 31, adjustment rod 32 and drive device 33. The fixed end 313 of the friction plate 31 is fixed on the base plate 10, the movable end 314 of the friction plate 31 is movably arranged in the fixed cover 20, and the friction plate 31 can be contacted with the base 42; the adjusting rod 32 is arranged in the fixed cover 20 and the convex ring 11 in a penetrating way, the adjusting rod 32 is movably arranged at two ends of the friction plate 31 in a penetrating way, namely, the adjusting rod 32 is arranged in the fixed end 313 and the movable end 314 in a penetrating way at the same time, and meanwhile, the adjusting rod 32 is in threaded connection with the movable end 314 of the friction plate 31; the driving device 33 is disposed on the substrate 10, the output end of the driving device 33 is connected with the adjusting rod 32, and the driving device 33 can drive the adjusting rod 32 to rotate.
It will be appreciated that when the driving device 33 drives the adjusting rod 32 to rotate, since the adjusting rod 32 is in threaded connection with the movable end 314 of the friction plate 31, the fixed end 313 of the other end of the friction plate 31 is fixed, and the rotating adjusting rod 32 pushes the movable end 314 of the friction plate 31 to move toward the center, the friction plate 31 is bent to abut upwards and be pressed to the lower end surface of the base 42 of the carrying assembly 40, and the free rotation degree of freedom of the base 42 in the vertical direction is lost.
On the contrary, when the driving device 33 drives the adjusting lever 32 to rotate in the opposite direction, the adjusting lever 32 rotating in the opposite direction pushes the movable end 314 of the friction plate 31 to move in the direction away from the center, the upward curved portion of the friction plate 31 slowly descends and separates from the lower end surface of the base 42 of the carrying assembly 40, so that the base 42 has free rotation freedom in the vertical direction.
The position of the friction plate 31 is adjusted by the driving device 33, so that the rotational freedom degree of the carrying assembly 40 in the vertical rotation axis direction is controllable, the top carrying plate 41 is convenient to conform to the position change of the goods, the internal stress torque between the goods and the top carrying table can be eliminated when necessary, and the carrying movement direction of the goods is prevented from being disturbed to change the direction.
Referring to fig. 2 and 3, according to some embodiments of the invention, the adjustment rod 32 is a lead screw. The screw is provided with threads and is in threaded connection with the movable end 314 of the friction plate 31, and when the screw rotates, the screw can push the movable end 314 of the friction plate 31 to stably move, so that the friction plate 31 can be stably contacted and extruded with the base 42.
Referring to fig. 1 and 2, according to some embodiments of the present invention, a mount 321 is provided on a base plate 10, a mounting hole is provided in the mount 321, and one end of an adjustment lever 32 is provided in the mounting hole. The mounting seat 321 is used for mounting the suspended end of the adjusting rod 32 in the self interior and providing supporting force for the suspended end of the adjusting rod 32, so that the adjusting rod 32 can rotate better and stably, and the supported adjusting rod 32 is positioned on the same horizontal line and can push the movable end 314 of the friction plate 31 better.
Referring to fig. 3 and 5, according to some embodiments of the present invention, a first buffer sheet 311 is provided at a position where the friction sheet 31 contacts the bottom of the base 42, and a second buffer sheet 312 is provided at a position corresponding to the base 42. When the driving device 33 drives the adjusting rod 32 to rotate, the adjusting rod 32 is in threaded connection with the movable end 314 of the friction plate 31, the movable end 313 of the other end of the friction plate 31 is fixed, the rotating adjusting rod 32 pushes the movable end 314 of the friction plate 31 to move towards the center, the friction plate 31 is bent upwards, the first buffer plate 311 can be abutted against and pressed onto the second buffer plate 312 on the lower end face of the base 42 of the carrying assembly 40, the first buffer plate 311 and the second buffer plate 312 are elastic, and the strong collision during contact can be relieved through the elastic effect during contact, so that the friction plate 31 and the base 42 can be protected, and the maintenance or replacement cost is reduced. In addition, friction lines can be arranged on the first buffer sheet 311 and the second buffer sheet 312, and the friction lines can be more beneficial to the mutual friction between the first buffer sheet 311 and the second buffer sheet 312, so that the base 42 is more beneficial to losing the freedom degree of free rotation in the vertical direction, and meanwhile, enough friction force is ensured.
Referring to fig. 3 and 5, further, according to some embodiments of the present invention, the first buffer sheet 311 and the second buffer sheet 312 are both rubber sheets. The manufacturing cost of the rubber sheet is low, so that the maintenance cost can be reduced, and frequent replacement is facilitated; meanwhile, the buffer friction effect of the rubber sheet is obvious, and a better contact extrusion effect can be achieved. The first buffer sheet 311 and the second buffer sheet 312 may be a silicone sheet, a metal spring sheet, or the like, in addition to the rubber sheet, and the material of the first buffer sheet 311 and the second buffer sheet 312 is not specifically limited herein, and the contact, extrusion, and fastening of the base 42 of the carrier assembly 40 may be completed.
Referring to fig. 1-2, according to some embodiments of the present invention, the driving device 33 includes a motor, an output end of which is connected to the adjustment lever 32 through a coupling 331. The motor is arranged on the base plate 10 through the mounting plate, so that the motor can be replaced conveniently, motors with different rotating speeds can be replaced, a servo motor and the like can be replaced, and the motor can be detached conveniently; meanwhile, the output end of the motor and the adjusting rod 32 are connected through the coupler 331, so that the requirements of stable constant-speed transmission can be met while the disassembly and the maintenance are convenient.
A mobile robotic cart (not shown) according to an embodiment of the second aspect of the invention includes a top stage according to any of the embodiments described above, with a top stage disposed at an upper end of a mobile robotic cart. After the mobile robot trolley is provided with the top object placing table, on one hand, the mobile robot trolley can adapt to the pose change of a conveyed object; on the other hand, the mobile robot trolley is prevented from being influenced by internal stress in the object placing table at the top end, and internal stress torque between an object and the mobile robot trolley can be eliminated if necessary, so that the moving direction of the mobile robot trolley is kept unchanged, the moving precision of the mobile robot trolley is improved, and the higher target requirement is met.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (7)
1. A top end storage station, comprising:
the device comprises a substrate, a first connecting piece and a second connecting piece, wherein the substrate is provided with a convex ring;
the fixed cover is arranged on the substrate and sleeved on the outer side of the convex ring, and the top end of the fixed cover is provided with an opening;
the anti-torsion assembly is arranged in the fixed cover and is positioned above the base plate; and
the carrying component is arranged at the upper end of the fixed cover and is positioned above the anti-torsion component, the anti-torsion component can prop against the carrying component, and the carrying component comprises a carrying plate which can move;
the carrier assembly further comprises:
the base is arranged in the fixed cover through a bearing and is positioned below the opening, and the base is movably connected with the object placing plate through a universal joint; and
more than two elastic pieces, one end of each elastic piece is arranged on the base, the other end of each elastic piece is arranged on the object placing table, and the elastic pieces are uniformly distributed on the outer side of the universal joint;
the anti-twist assembly includes:
the fixed end of the friction plate is fixed on the base plate, the movable end of the friction plate is movably arranged in the fixed cover, and the friction plate can be in contact with the base;
the adjusting rod is arranged in the fixed cover and the convex ring in a penetrating mode, the adjusting rod is movably arranged at two ends of the friction plate in a penetrating mode, and the adjusting rod is in threaded connection with the movable end of the friction plate; and
the driving device is arranged on the substrate, the output end of the driving device is connected with the adjusting rod, and the driving device can drive the adjusting rod to rotate;
the friction plate is provided with a first buffer plate at the contact position with the bottom of the base, a second buffer plate is provided at the corresponding position of the base, and the first buffer plate and the second buffer plate are elastic.
2. The top end storage table according to claim 1, wherein a mounting seat is arranged on the base plate, a mounting hole is formed in the mounting seat, and one end of the adjusting rod is arranged in the mounting hole.
3. The top end storage table of claim 1, wherein the adjustment rod is a lead screw.
4. The top end storage table according to claim 1, wherein the driving device comprises a motor, and an output end of the motor is connected with the adjusting rod through a coupling.
5. The top end storage table of claim 1, wherein the first buffer sheet and the second buffer sheet are rubber sheets.
6. A top end station as set forth in claim 2 wherein said resilient member is a spring.
7. A mobile robot trolley comprising a top loading station according to any one of claims 1 to 6, said top loading station being arranged at the upper end of said mobile robot trolley.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111280570.7A CN114084600B (en) | 2021-10-29 | 2021-10-29 | Top end object placing table and mobile robot trolley with same |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111280570.7A CN114084600B (en) | 2021-10-29 | 2021-10-29 | Top end object placing table and mobile robot trolley with same |
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| CN114084600A CN114084600A (en) | 2022-02-25 |
| CN114084600B true CN114084600B (en) | 2024-01-02 |
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| CN108946018A (en) * | 2018-08-06 | 2018-12-07 | 安吉县欧阳竹木工艺品厂 | A kind of transfer frame for bamboo product processing |
| EP3763489A1 (en) * | 2019-07-09 | 2021-01-13 | Instar Robotics | Device for moving objects |
| CN111268392A (en) * | 2020-02-27 | 2020-06-12 | 山东大学 | Flexible self-adaptive support robot and method |
| CN111216108A (en) * | 2020-03-03 | 2020-06-02 | 中国科学院光电技术研究所 | Multi-state parallel multi-degree-of-freedom motion platform based on piezoelectric drive |
| CN111993389A (en) * | 2020-08-24 | 2020-11-27 | 宁波大学 | Hybrid-driven movable multi-degree-of-freedom parallel motion platform |
| CN112894342A (en) * | 2021-01-13 | 2021-06-04 | 东莞理工学院 | Micro-corner adjusting device used in micro-assembly of intelligent machine parts |
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