CN114311028B - Quick plug-in structure, robot chassis and robot - Google Patents
Quick plug-in structure, robot chassis and robot Download PDFInfo
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- CN114311028B CN114311028B CN202111576224.3A CN202111576224A CN114311028B CN 114311028 B CN114311028 B CN 114311028B CN 202111576224 A CN202111576224 A CN 202111576224A CN 114311028 B CN114311028 B CN 114311028B
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- 238000003780 insertion Methods 0.000 claims description 17
- 230000037431 insertion Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 13
- 238000005096 rolling process Methods 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 description 8
- 238000010168 coupling process Methods 0.000 description 8
- 238000005859 coupling reaction Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005315 distribution function Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
A quick plug-in structure comprises a plug-in column, a socket, an auxiliary side guide plate and a locking rod; the spliced pole sets up in the upper portion of first adapting unit, the socket sets up in the lower part of second adapting unit, spliced pole and socket cooperation, the spliced pole can insert in the socket, the locking lever sets up in the second adapting unit, the locking lever can be in the second adapting unit about straight line slide, the locking lever includes left locking lever and right locking lever, be provided with the latch head on the inboard tip of locking lever, be provided with the locking hole on the spliced pole, the latch head cooperates with the locking hole, the latch head can insert in the locking hole, be provided with rotatable round head on the outside tip of locking lever, be provided with the elastic component that is used for giving the elastic force of locking lever outside on the second adapting unit, the locking lever cooperates with the conducting bar that sets up on supplementary side baffle, the entrance of conducting bar is provided with the inclined plane. The plugging structure is not limited in application field, but can be particularly applied to logistics distribution and catering distribution robots for realizing quick automatic replacement.
Description
Technical Field
The invention mainly relates to a plug-in connection structure among different parts, which can belong to the technical field of robots in application, in particular to a quick plug-in structure, a robot chassis and a robot.
Background
The quick plug-in is a robot which needs to be carried out in work of a plurality of mechanical equipment, for example, the robot is used as a distribution function, most of the structure is composed of a chassis and an upper part, the chassis is used for providing a moving function for the robot, the upper part is used for placing articles to be transported, the upper part is fixed above the chassis, in order to realize efficient distribution, the upper part can be directly connected with the chassis after the articles are placed on the upper part, and the chassis is used for driving the whole robot to move, so that the chassis and the upper part are required to be quickly plugged in, for example, a quick container disassembling mechanism for an autonomous distribution robot is provided by Chinese patent CN207902585U, the cabinet body and a vehicle body are mainly assembled or disassembled by using a buckle, but the quick plug-in structure generally cannot be realized, especially the automatic quick plug-in which can be realized without manual operation is not available in the market at present, and particularly can be well adapted to the quick plug-in structure which the robot is required to be replaced.
Disclosure of Invention
In order to solve the problems, the invention provides a quick plugging structure, a robot chassis and a robot, wherein the quick plugging structure can realize quick automatic plugging without manual operation, and particularly can be applied to the field of robots.
The aim of the invention is achieved by the following technical scheme.
The invention provides a quick plug-in structure which is arranged between a first connecting part and a second connecting part and comprises an inserting column, a socket hole, an auxiliary side guide plate and a locking rod; the insertion column is arranged at the upper part of the first connecting component, the socket is arranged at the lower part of the second connecting component, the insertion column is matched with the socket, the insertion column can be inserted into the socket, the locking rod is arranged in the second connecting component, the locking rod can slide left and right in the second connecting component in a straight line, the locking rod comprises a left locking rod and a right locking rod, a locking head is arranged at the inner side end part of the locking rod, a locking hole is arranged on the insertion column, the locking head is matched with the locking hole, the locking head can be inserted into the locking hole, a rotatable rolling head is arranged at the outer side end part of the locking rod, an elastic element for giving an elastic force to the locking rod to the outer side is arranged on the second connecting component, the locking rod is matched with a guide bar arranged on the auxiliary side guide plate, and an inclined plane is arranged at the inlet of the guide bar;
When the first connecting part and the second connecting part are spliced together, the inserting column is inserted into the socket, the left locking rod and the right locking rod are both arranged at the inner side positions, the locking head can be inserted into the locking hole to lock the first connecting part and the second connecting part, when the connecting part needs to be replaced, equipment enters the auxiliary side guide plate, the rolling head firstly contacts with the inclined surface of the guide bar, the rolling head contacts with the side surface of the guide bar to inwards compress the locking rod along with the advancing of the equipment, the locking head compresses the elastic element, the locking head is disengaged from the locking hole, the first connecting part and the second connecting part are locked and disengaged, a base is arranged below the auxiliary side guide plate, the base can move up and down, the base moves downwards after the equipment moves onto the base, the first connecting part moves downwards to be separated from the second connecting part, and the second connecting part does not move downwards along with the first connecting part under the limitation of the auxiliary side guide plate; when the first connecting part is required to be inserted onto the second connecting part, the first connecting part moves onto the base, the base moves upwards, the first connecting part is inserted into the base, the equipment moves out of the auxiliary side guide plate, and the locking rod moves outwards under the action of the elastic element, so that the locking head is inserted into the locking hole to lock the first connecting part and the second connecting part.
The quick plug-in structure is also provided with a positioning mechanism; the positioning mechanism is arranged in the second connecting part and comprises a positioning rod and a follow-up column, the follow-up column is arranged in the second connecting part in a vertically linear sliding way, the lower end of the follow-up column stretches into the socket hole, a slope with a narrow bottom and a wide top is arranged in the middle of the follow-up column, the positioning rod is matched with the slope, the positioning rod is arranged in the second connecting part in a horizontally linear sliding way, an elastic element for giving the inward elastic force to the positioning rod is arranged on the second connecting part, the outer end part of the positioning rod is matched with a positioning hole arranged on the auxiliary side guide plate, the outer end part of the positioning rod can be inserted into the positioning hole, and an elastic element for giving the downward elastic force to the follow-up column is arranged on the second connecting part;
When the equipment enters the replacement position, the first connecting part moves downwards to be separated from the second connecting part, the follow-up column moves downwards under the action of the elastic element, the inclined surface on the follow-up column extrudes the positioning rod outwards, the outer end part of the positioning rod can be inserted into the positioning hole, when the first connecting part is inserted into the second connecting part, the follow-up column contacts with the insertion column, the elastic element is compressed to move upwards under the action of the insertion column, the positioning rod slides inwards under the action of the elastic element, and the outer end part of the positioning rod is separated from the positioning hole.
According to the quick plug-in structure, the long holes allowing the guide bars to pass through are formed in the second connecting part, and the parts, matched with the rolling heads, of the guide bars are not on the same horizontal plane with the long holes.
According to the quick plug-in structure, the rotatable roller is arranged at the inner side end part of the positioning rod.
The invention also provides a robot chassis which is provided with a fast replaceable upper part and is provided with the fast plug-in structure, and the specific structure is as follows:
The chassis has the same construction as the first connecting part of the quick plug structure, and the upper garment has the same construction as the second connecting part of the quick plug structure.
Preferably, the chassis is provided with universal wheels and a driving device.
The invention also provides a robot, which is provided with the robot chassis and the upper part.
The invention finally provides an application of the robot in logistics distribution and catering meal delivery. The invention has the beneficial effects that:
The quick plugging structure can realize quick automatic connection of two parts of different parts without manual operation through automatic plugging and positioning structure design, can be applied to the technical field of general machinery with quick plugging requirements, and particularly can be applied to robots used in logistics distribution and catering food delivery industries, and the robot with the quick plugging structure can realize quick automatic replacement under the cooperation of a replacement platform.
Drawings
The aspects and advantages of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. In the drawings:
Fig. 1 is a front view of a quick connect structure in a robotic replacement application according to an embodiment of the present invention.
Fig. 2 is a cross-sectional view A-A of fig. 1.
Fig. 3 is an enlarged view of the portion B in fig. 1.
Fig. 4 is an enlarged view of the portion C in fig. 1.
The components represented by the reference numerals in the figures are:
The connecting device comprises a first connecting part 1, an inserting column 11, a locking hole 111, a second connecting part 2, a socket 21, an auxiliary side guide plate 3, a guide bar 31, a positioning hole 32, a base 4, a locking rod 5, a left locking rod 51, a right locking rod 52, a rolling head 53, a positioning rod 6 and a follow-up column 7.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
For example, the following description will be given of the principle of the quick-connect structure of the present invention by taking the application in robot changing in the logistics distribution and catering industry as an example, but it is obvious that the connection structure can be applied to any mechanical equipment with similar requirements.
Referring to fig. 1 and 2, fig. 1 and 2 are front views of a quick-connect structure in a robot replacement application according to an embodiment of the present invention, in which a first connection part 1 is a chassis of a robot and a second connection part 2 is a top-loading of the robot.
In order to be consistent with the foregoing, in the following description, the descriptions of the first and second connection members will be still used.
Specifically, the quick plug-in structure comprises a first connecting part 1 and a second connecting part 2, the first connecting part 1 and the second connecting part 2 are combined together through the quick plug-in structure, a universal wheel and a robot driving device are arranged on the first connecting part 1 to drive the whole robot to walk, and the second connecting part 2 is arranged on the first connecting part 1 and used for placing various articles, which is the prior art and is not repeated. The figure shows a reloading platform for a reloading auxiliary robot, comprising an auxiliary side guide 3 and a base 4. Further, the quick-connect structure includes a plug-in post 11, a socket 21, an auxiliary side guide 3, and a locking lever 5; the insertion column 11 is fixedly installed or integrally arranged at the upper part of the first connecting part 1, the socket 21 is arranged at the lower part of the second connecting part 2, the insertion column 11 is matched with the socket 21, the insertion column 11 can be inserted into the socket 21, the locking rod 5 is arranged in the second connecting part 2, the locking rod 5 can linearly slide left and right in the second connecting part 2, as shown in the figure, a sleeve for guiding the locking rod 5 is arranged in the second connecting part 2, the locking rod 5 can linearly slide left and right along the hole of the sleeve, the locking rod 5 comprises a left locking rod 51 and a right locking rod 52, a locking head is arranged at the inner side end part of the locking rod 5, a locking hole 111 is arranged on the insertion column 11, the locking head is matched with the locking hole 111, the locking head can be inserted into the locking hole 111, a rotatable rolling head 53 is arranged at the outer side end part of the locking rod 5, the rolling head 53 can rotate around the shaft arranged at the outer side end part of the locking rod 5, a guide bar is arranged on the second connecting part 2, an elastic element for guiding the locking rod 5 is arranged at the outer side of the guide bar, and an elastic element 31 is arranged at the side of the guide bar is matched with the elastic element 31.
When the first connecting part 1 and the second connecting part 2 are plugged together, the plug-in post 11 is plugged into the socket 21, the left locking rod 51 and the right locking rod 52 are all arranged at the inner side, the locking heads can be plugged into the locking holes 111 to lock the first connecting part 1 and the second connecting part 2, when the robot needs to be replaced, the robot enters the auxiliary side guide 3, the second connecting part 2 is provided with a long hole allowing the guide bar 31 to pass through, the part of the guide bar 31 matched with the roller head 53 is not arranged on the same horizontal plane with the long hole, thus avoiding the situation that an object enters the long hole by mistake during the running process of the robot to touch the roller head 53, causing misoperation, therefore, the shape of the guide bar 31 also needs to be specially designed, the roller head 53 firstly contacts with the inclined plane of the guide bar 31, and the roller head 53 contacts with the side surface of the guide bar 31 to press the locking bar 5 inwards along with the running of the robot, the locking rod 5 compresses the elastic element, the locking head is separated from the locking hole 111, the first connecting part 1 and the second connecting part 2 are locked and separated, the base 4 is arranged below the auxiliary side guide plate 3, the base 4 can move up and down by using the electric push rod, when the robot walks on the base 4, the base 4 moves down, the first connecting part 1 moves down to be separated from the second connecting part 2, the second connecting part 2 does not move down with the first connecting part 1 under the limit of the auxiliary side guide plate 3, at the moment, the first connecting part 1 and the second connecting part 2 are thoroughly separated, the first connecting part 1 can be driven to move away, or a moving device is arranged on the base 4 to move the base 4 together with the first connecting part 1, so that the quick separation of the first connecting part 1 and the second connecting part 2 is realized; when it is necessary to insert the first coupling part 1 onto the second coupling part 2, the first coupling part 1 is moved onto the base 4 or the first coupling part 1 is moved under the second coupling part 2 together with the base 4, the base 4 is moved up, the first coupling part 1 is inserted into the base 4, and then the robot is moved out of the auxiliary side guide 3, and the locking lever 5 is moved outwardly by the elastic member such that the locking head is inserted into the locking hole 111 to lock the first coupling part 1 and the second coupling part 2.
Preferably, the quick plug-in structure is also provided with a positioning mechanism; the positioning mechanism is arranged in the second connecting part 2 and comprises a positioning rod 6 and a follow-up column 7, the follow-up column 7 is arranged in the second connecting part 2 in a vertically linear sliding way, namely, a sleeve capable of limiting the follow-up column 7 to slide along the follow-up column in a vertically linear way is arranged in the second connecting part 2, the lower end of the follow-up column 7 stretches into the socket hole 21, a slope with a narrow bottom and a wide top is arranged in the middle of the follow-up column 7, the positioning rod 6 is matched with the slope, the positioning rod 6 can be arranged in the second connecting part 2 in a horizontally linear sliding way, an elastic element for giving an inward elastic force to the positioning rod 6 is arranged on the second connecting part 2, the outer end part of the positioning rod 6 is matched with a positioning hole 32 arranged on the auxiliary side guide plate 3, and the outer end part of the positioning rod 6 can be inserted into the positioning hole 32, and an elastic element for giving a downward elastic force to the follow-up column 7 is arranged on the second connecting part 2.
When the robot enters the reloading position, the first connecting part 1 moves downwards to be separated from the second connecting part 2, the follow-up column 7 moves downwards under the action of the elastic element, the inclined surface on the follow-up column extrudes the positioning rod 6 outwards, the outer end part of the positioning rod 6 can be inserted into the positioning hole 32, when the first connecting part 1 is inserted into the second connecting part 2, the follow-up column 7 contacts with the inserting column 11 and then compresses the elastic element to move upwards under the action of the inserting column 11, the positioning rod 6 slides inwards under the action of the elastic element, and the outer end part of the positioning rod 6 is separated from the positioning hole 32; preferably, the inner end of the positioning rod 6 is provided with a rotatable roller.
The rapid plugging method of the robot may include the steps of:
S1, a robot enters a reloading platform, an auxiliary side guide plate 3 of the reloading platform is inserted into a long hole of a second connecting part 2, a roller head 53 at the outer side of a locking rod 5 is firstly contacted with an inclined surface of a guide bar 31, the roller head 53 is contacted with the side surface of the guide bar 31 to press the locking rod 5 inwards along with the advancing of the robot, the locking rod 5 compresses an elastic element, and the locking head is separated from a locking hole 111;
s2: when the robot walks onto the base 4 of the reloading platform, the base 4 is moved downwards, the first connecting part 1 is separated from the second connecting part 2, and the second connecting part 2 does not move downwards along with the first connecting part 1 under the limit of the auxiliary side guide plate 3;
S3: the first connecting part 1 moves to the base 4 of the other reloading platform;
s4: after the first connecting part 1 is in place, the base 4 moves upwards, and the first connecting part 1 is inserted into the base 4;
S5: the robot moves to the outside of the reloading platform, and the locking bar 5 moves outwards under the action of the elastic element, so that the locking head is inserted into the locking hole 111 to lock the first connecting part 1 and the second connecting part 2.
Further, in the steps S2 and S4, a positioning step is also provided; the positioning step comprises the following steps:
In S2, when the robot enters the reloading position and moves the first connecting component 1 downward to separate from the second connecting component 2, the follower post 7 moves downward under the action of the elastic element, the inclined surface on the follower post extrudes the positioning rod 6 to the outside, and the outer end of the positioning rod 6 can be inserted into the positioning hole 32; in S4, when the first connecting member 1 is inserted into the second connecting member 2, the follower post 7 contacts the insertion post 11, and then the elastic member is compressed by the insertion post 11 to move upward, the positioning rod 6 slides inward by the elastic member, and the outer end portion of the positioning rod 6 is released from the positioning hole 32.
As described above, the present embodiment only illustrates the principle of the quick-connect structure of the present invention by taking the application in robot changing in the industry of logistics distribution and catering, but it is obvious that the connection structure can be applied to any mechanical equipment with similar requirements.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The quick plug-in structure is arranged between the first connecting part (1) and the second connecting part (2) and is characterized by comprising an insertion column (11), a socket hole (21), an auxiliary side guide plate (3) and a locking rod (5); the insertion column (11) is arranged at the upper part of the first connecting component (1), the socket (21) is arranged at the lower part of the second connecting component (2), the insertion column (11) is matched with the socket (21), the insertion column (11) can be inserted into the socket (21), the locking rod (5) is arranged in the second connecting component (2), the locking rod (5) can slide linearly left and right in the second connecting component (2), the locking rod (5) comprises a left locking rod (51) and a right locking rod (52), a locking head is arranged at the inner side end part of the locking rod (5), a locking hole (111) is arranged on the insertion column (11), the locking head is matched with the locking hole (111), the locking head can be inserted into the locking hole (111), a rotatable rolling head (53) is arranged at the outer side end part of the locking rod (5), an elastic element for giving the elastic force of the locking rod (5) is arranged on the second connecting component (2), and the locking rod (5) is matched with an inclined surface (31) arranged at the outer side guide bar (31) of the auxiliary side guide plate (3);
When the first connecting part (1) and the second connecting part (2) are plugged together, the plug-in column (11) is plugged into the socket hole (21), the left locking rod (51) and the right locking rod (52) are both arranged at the inner side, the locking heads can be plugged into the locking holes (111) to lock the first connecting part (1) and the second connecting part (2), when the connecting parts need to be replaced, equipment enters the auxiliary side guide plate (3), the rolling heads (53) are firstly contacted with the inclined surfaces of the guide bars (31), the rolling heads (53) are contacted with the side surfaces of the guide bars (31) to press the locking rods (5) inwards along with the advancing of the equipment, the locking rods (5) compress elastic elements, the locking heads are disconnected from the locking holes (111), the first connecting part (1) and the second connecting part (2) are locked and disconnected, the base (4) can be moved up and down under the auxiliary side guide plate (3), after the equipment moves onto the base (4), the base (4) moves downwards, and the first connecting part (1) is separated from the second connecting part (2) along with the lower connecting part (2) and is not limited to be connected with the lower connecting part (2) on the lower side of the auxiliary side (2); when the first connecting part (1) is required to be inserted onto the second connecting part (2), the first connecting part (1) moves onto the base (4), the base (4) moves upwards, the first connecting part (1) is inserted into the base (4), the equipment moves out of the auxiliary side guide plate (3), and the locking rod (5) moves outwards under the action of the elastic element, so that the locking head is inserted into the locking hole (111) to lock the first connecting part (1) and the second connecting part (2).
2. The quick plugging structure according to claim 1, further comprising a positioning mechanism arranged in the second connecting member (2) and comprising a positioning rod (6) and a follow-up column (7), wherein the follow-up column (7) is slidably arranged in the second connecting member (2) in an up-down linear manner, the lower end of the follow-up column (7) extends into the socket hole (21), a slope with a narrow bottom and a wide top is arranged in the middle of the follow-up column (7), the positioning rod (6) is matched with the slope, the positioning rod (6) is slidably arranged in the second connecting member (2) in a left-right linear manner, an elastic element for giving the inward elastic force to the positioning rod (6) is arranged on the second connecting member (2), the outer end part of the positioning rod (6) is matched with a positioning hole (32) arranged on the auxiliary side guide plate (3), the outer end part of the positioning rod (6) can be inserted into the positioning hole (32), and an elastic element for giving the downward elastic force to the follow-up column (7) is arranged on the second connecting member (2);
When the equipment enters a replacement position, the first connecting part (1) moves downwards to be separated from the second connecting part (2), the follow-up column (7) moves downwards under the action of the elastic element, the inclined surface on the follow-up column extrudes the positioning rod (6) outwards, the outer end part of the positioning rod (6) can be inserted into the positioning hole (32), when the first connecting part (1) is inserted into the second connecting part (2), the follow-up column (7) is contacted with the inserting column (11), the elastic element is compressed to move upwards under the action of the inserting column (11), the positioning rod (6) slides inwards under the action of the elastic element, and the outer end part of the positioning rod (6) is separated from the positioning hole (32).
3. A quick-connect structure according to claim 1 or 2, characterized in that the second connecting part (2) is provided with a slot for allowing the passage of the guide bar (31), the portion of the guide bar (31) cooperating with the roller head (53) being not in the same horizontal plane as the slot.
4. A quick connect structure according to claim 2, characterized in that the inner end of the positioning rod (6) is provided with rotatable rollers.
5. A robot chassis having a quick exchangeable upper part, characterized in that a quick plug structure according to any one of claims 1-4 is applied, said chassis having the same construction as the first connection part (1) of the quick plug structure, said upper part having the same construction as the second connection part (2) of the quick plug structure.
6. The robot chassis of claim 5, wherein the chassis is provided with universal wheels and a drive.
7. A robot having the robot chassis and upper garment of claim 5.
8. Use of the robot of claim 7 in logistics distribution, catering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111576224.3A CN114311028B (en) | 2021-12-21 | 2021-12-21 | Quick plug-in structure, robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111576224.3A CN114311028B (en) | 2021-12-21 | 2021-12-21 | Quick plug-in structure, robot chassis and robot |
Publications (2)
| Publication Number | Publication Date |
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| CN114311028A CN114311028A (en) | 2022-04-12 |
| CN114311028B true CN114311028B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111576224.3A Active CN114311028B (en) | 2021-12-21 | 2021-12-21 | Quick plug-in structure, robot chassis and robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310807B (en) * | 2021-12-21 | 2024-04-02 | 重庆特斯联智慧科技股份有限公司 | Work platform for quickly replacing robot upper garment |
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| CN106838558A (en) * | 2016-08-12 | 2017-06-13 | 中山大山摄影器材有限公司 | Fast joint structure |
| CN107492757A (en) * | 2017-08-14 | 2017-12-19 | 朱丹青 | A kind of electric power plug assembly |
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| CN108953865A (en) * | 2018-03-28 | 2018-12-07 | 张灵杰 | A kind of measuring device |
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| CN108406844A (en) * | 2018-05-29 | 2018-08-17 | 北京电子工程总体研究所 | A kind of docking mechanism quickly connecting separation for robot |
| CN209286644U (en) * | 2018-12-18 | 2019-08-23 | 广州壹陆捌动漫科技有限公司 | A kind of intelligent sound formula candy doll machine |
| CN209833660U (en) * | 2019-05-09 | 2019-12-24 | 许立基 | Subway operation dispatching management device |
| CN212705460U (en) * | 2020-05-20 | 2021-03-16 | 成都理工大学工程技术学院 | Clamp quick-change device |
| CN214039714U (en) * | 2020-12-21 | 2021-08-24 | 海门市飞鹭制冷设备有限公司 | Air heat exchanger |
| CN214213812U (en) * | 2021-01-26 | 2021-09-17 | 广州佰希泰自动化科技有限公司 | Automatic quick-change device for robot gripper |
| CN214818599U (en) * | 2021-02-03 | 2021-11-23 | 钦州市鼎盛英博教育科技有限公司 | Artificial intelligence teaching robot convenient to dismouting |
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