CN114434494B - Robot with heating heat preservation inner bag - Google Patents
Robot with heating heat preservation inner bag Download PDFInfo
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- CN114434494B CN114434494B CN202111574172.6A CN202111574172A CN114434494B CN 114434494 B CN114434494 B CN 114434494B CN 202111574172 A CN202111574172 A CN 202111574172A CN 114434494 B CN114434494 B CN 114434494B
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- robot
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- heating
- preserving
- platform
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- 238000010438 heat treatment Methods 0.000 title claims abstract description 102
- 238000004321 preservation Methods 0.000 title abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 abstract description 2
- 238000005485 electric heating Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000007791 liquid phase Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Packages (AREA)
- Manipulator (AREA)
Abstract
The robot with the heating and heat-preserving inner container comprises a robot running gear and a robot upper part, wherein the robot upper part is fixed on the robot running gear, the robot running gear drives the robot upper part to run, and the heating and heat-preserving inner container is detachably connected with the robot upper part through a quick dismounting platform; the quick disassembly platform comprises a cargo allocation platform and a lifting platform, wherein ear rods are arranged on two sides of the heating heat preservation liner, a platform rod port matched with the ear rods and an upper rod port are respectively arranged on the cargo allocation platform and the robot, the lifting platform is arranged below the cargo allocation platform, two sides of the lifting platform are provided with a disassembly entrance side ground and a loading entrance side ground, the disassembly entrance side ground is consistent with the lifting platform in an ascending state in terms of upper plane height, and the loading entrance side ground is consistent with the lifting platform in a descending state in terms of upper plane height.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot with a heating and heat-preserving liner.
Background
The robot has many incomparable advantages such as high load, all-weather work, intelligence and the like, so with the rise of intelligent delivery, the delivery becomes a new trend by the robot, so that many delivery robots are born, the delivery robots are applied to scenes such as warehouses, sorting centers, transportation and restaurants, and the like, the robots are used for carrying out operations such as goods transferring, transporting, food delivery and the like, the robots capable of realizing heating and heat preservation are needed when carrying out the delivery of goods and the like needing to keep a high-temperature state as the final ring of the end delivery in the whole logistics system or replacing manual delivery, the robots are usually composed of a base and an upper package, the base is used for driving the whole robot to walk, the upper package is used for placing the goods, the heating and heat preservation of the delivered goods are needed to be built in the upper package, and the Chinese utility model CN201921218240.3 discloses a quick heating liner and quick heating and electric heating equipment using the quick heating liner, wherein the quick heating liner comprises: the inner container body is arranged in a double-layer manner, a first containing cavity and a second containing cavity are formed, and a heating tube and at least one straight water pipeline are arranged in the first containing cavity; the water sequentially flows through the water inlet, the straight water pipeline and the second containing cavity and is discharged through the water outlet; the heat conduction oil is injected into the first containing cavity, the heating pipe heats the heat conduction oil, and the heat conduction oil transfers heat to water in the liner body; the quick heating electric heating equipment is formed by connecting a plurality of inner containers in a layer ladder mode, the quick heating electric heating equipment obtained by the quick heating inner containers can effectively utilize quick heating of heat conduction oil and accumulate heat energy at the topmost end of a liquid phase, water flowing through a straight water pipeline is quickly heated, water at the topmost end of the inner containers is heated, instant heating of the water is achieved, and the quick heating effect is achieved. The utility model aims to provide a robot with a heating and heat-preserving liner designed according to the actual working requirement of the distribution robot.
Disclosure of Invention
In order to solve the problems, the invention provides a robot with a heating and heat-preserving liner, which is loaded with the heating and heat-preserving liner, can realize the rapid combination and disconnection of the heating and heat-preserving liner and the robot through a rapid disassembly platform, and simultaneously sets a power supply switching mode and a switching structure to realize the switching of energy sources of the heating and heat-preserving liner, thereby meeting the switching of temporary demands and long-term demands.
The aim of the invention is achieved by the following technical scheme.
The robot with the heating and heat-preserving inner container comprises a robot running gear and a robot upper part, wherein the robot upper part is fixed on the robot running gear, the robot running gear drives the robot upper part to run, and the heating and heat-preserving inner container is detachably connected with the robot upper part through a quick dismounting platform; the quick disassembly platform comprises a cargo allocation platform and a lifting platform, wherein ear rods are arranged on two sides of the heating heat preservation liner, a platform rod port matched with the ear rods and an upper rod port are respectively arranged on the cargo allocation platform and the robot, the lifting platform is arranged below the cargo allocation platform, the two sides of the lifting platform are a ground at a disassembly inlet side and a ground at a loading inlet side, the ground at the disassembly inlet side is consistent with the upper plane of the lifting platform in a lifting state, and the ground at the loading inlet side is consistent with the upper plane of the lifting platform in a lowering state;
When the robot brings the heating and heat-preserving inner container into the lifting platform from the ground at the unloading inlet side, the ear rod of the heating and heat-preserving inner container is matched with the rod loading opening, the heating and heat-preserving inner container is fixed on the robot, after the robot enters the lifting platform, the lifting platform falls down, the ear rod starts to contact the rod loading opening of the platform along with the descending of the lifting platform, the heating and heat-preserving inner container does not descend any more, the robot continues to descend along with the lifting platform, when the lifting platform descends to the lowest position, the upper surface of the lifting platform is flush with the ground at the loading inlet side, the robot leaves from the ground at the loading inlet side, when the robot needs to load the heating and heat-preserving inner container, the robot enters the lifting platform from the ground at the loading inlet side, the rod loading opening of the robot is propped against the ear rod of the heating and heat-preserving inner container, the lifting platform leaves the rod loading platform along with the ascending of the lifting platform, the upper surface of the lifting platform is flush with the ground at the unloading inlet side after the lifting platform ascends to the highest position, and the robot leaves from the ground at the unloading inlet side.
The robot with the heating and heat-preserving inner container is characterized in that the robot locking device is arranged on the heating and heat-preserving inner container, and the heating and heat-preserving inner container is locked on the robot by the robot locking device.
The robot with the heating and heat-preserving inner container is characterized in that the robot locking device comprises a plurality of electric telescopic rods B arranged on two sides of the lower portion of the heating and heat-preserving inner container, locking holes are formed in the robot, and the electric telescopic rods B are inserted into or taken out of the locking holes in a telescopic mode to lock and unlock the heating and heat-preserving inner container and the robot.
The robot with the heating and heat-preserving inner container is characterized in that the heating and heat-preserving inner container is provided with the cargo distributing platform locking device, and the cargo distributing platform locking device locks the heating and heat-preserving inner container on the cargo distributing platform.
The robot with the heating and heat-preserving inner container is characterized in that the cargo distribution platform locking device is an electric telescopic rod A arranged at the lower part of the ear rod of the heating and heat-preserving inner container, a locking hole is formed in a platform rod opening, and the electric telescopic rod A is inserted into or taken out of the locking hole in a telescopic manner to lock and unlock the heating and heat-preserving inner container and the cargo distribution platform.
The robot with the heating and heat-preserving liner is provided with the electric combining device at the joint of the rod end of any one electric telescopic rod B and the locking hole arranged on the robot.
The robot with the heating and heat-preserving inner container is provided with the electric combining device at the joint of the rod end of any one electric telescopic rod A and the locking hole of the platform rod mouth.
The robot with the heating and heat-preserving inner container comprises an ear rod, an electric telescopic rod A, an electric telescopic rod B, a heat-preserving cover, a heat-preserving shell, an inner container body, a base, a control module and a power module, wherein the appearance of the heating and heat-preserving inner container is integrally formed by the heat-preserving cover, the heat-preserving shell and the base from top to bottom;
The inner container body is provided with inner container chamber temperature detection module, electric telescopic handle A, electric telescopic handle B, electric heater, circulating pump and power module and control module electric connection, electric telescopic handle A, electric telescopic handle B, electric heater, circulating pump and power module electric connection.
The robot with the heating and heat-preserving liner comprises the power module, the storage battery, the upper power supply and the platform power supply.
The invention has the beneficial effects that:
The robot with the heating and heat-preserving inner container can meet the working condition with the heating and heat-preserving distribution requirements, is provided with the heating and heat-preserving inner container, and can realize the rapid combination and disconnection of the heating and heat-preserving inner container and the robot through the rapid disassembly platform. In addition, through setting up power switching mode and switching structure, realize heating heat preservation inner bag energy source's switching, satisfy the switching of temporary demand and long-time demand.
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 robot with a heating and thermal insulation liner according to an embodiment of the present invention.
Fig. 2 is a partial view of the direction indicated by letter a in fig. 1.
Fig. 3 is a left-hand view of fig. 1.
Fig. 4 is a schematic structural view of a heating and heat-preserving liner.
FIG. 5 is a schematic diagram of the control system for heating the insulating liner.
The components represented by the reference numerals in the figures are:
The heating heat preservation liner 1, the ear rod 11, the electric telescopic rod A12, the electric telescopic rod B13, the heat preservation cover 14, the heat preservation shell 15, the liner body 16, the circulating pipe 17, the base 18, the water outlet pipe 19, the water return pipe 20, the water tank 21, the electric heater 22, the safety exhaust valve 23, the circulating pump 24, the cargo allocation platform 2, the platform rod port 201, the lifting platform 3, the robot walking device 4, the robot upper part 5, the upper part rod port 51, the inlet side ground 6 and the loading inlet side ground 7 are detached.
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.
Referring to fig. 1-3, fig. 1-3 are schematic structural diagrams of a robot with a heating and heat preservation liner according to an embodiment of the present invention, the robot with the heating and heat preservation liner includes a robot running gear 4 and a robot upper package 5, the robot upper package 5 is fixed on the robot running gear 4, the robot running gear 4 drives the robot upper package 5 to run, and the heating and heat preservation liner 1 is detachably connected with the robot upper package 5 through a quick disassembly platform;
The quick disassembly platform comprises a cargo allocation platform 2 and a lifting platform 3, ear rods 11 are arranged on two sides of the heating and heat preservation liner 1, platform rod openings 201 and upper rod openings 51 matched with the ear rods 11 are respectively arranged on the cargo allocation platform 2 and the robot upper part 5, the lifting platform 3 is arranged below the cargo allocation platform 2, two sides of the lifting platform 3 are a disassembly entrance side ground 6 and a loading entrance side ground 7, the height of the disassembly entrance side ground 6 is consistent with the height of an upper plane when the lifting platform 3 is in a lifting state, and the height of the loading entrance side ground 7 is consistent with the height of an upper plane when the lifting platform 3 is in a descending state;
When the robot brings the heating and heat-preserving liner 1 into the lifting platform 3 from the ground 6 at the unloading inlet side, the ear rod 11 of the heating and heat-preserving liner 1 is matched with the rod loading opening 51, the heating and heat-preserving liner 1 is fixed on the robot loading platform 5, after the robot enters the lifting platform 3, the lifting platform 3 falls down, the ear rod 11 starts to contact the platform rod opening 201 along with the falling of the lifting platform 3, the heating and heat-preserving liner 1 does not fall any more, the robot continues to descend along with the lifting platform 3, when the lifting platform 3 descends to the lowest position, the upper surface of the lifting platform 3 is flush with the ground 7 at the loading inlet side, the robot leaves from the ground 7 at the loading inlet side, when the robot needs to load the heating and heat-preserving liner 1, the robot enters the lifting platform 3 from the ground 7 at the loading inlet side, the rod loading opening 51 of the robot loading platform 5 is propped against the ear rod 11 of the heating and heat-preserving liner 1 to leave the platform rod opening 201, after the lifting platform 3 rises to the highest position, the upper surface of the lifting platform 3 is flush with the ground 6 at the unloading inlet side, and leaves from the ground 6 at the unloading inlet side.
Referring to fig. 2, a robot locking device is arranged on a heating and heat-preserving liner 1, and the heating and heat-preserving liner 1 is locked on a robot upper part 5 by the robot locking device; specifically, the robot locking device is a plurality of electric telescopic rods B13 arranged on two sides of the lower part of the heating and heat-preserving liner 1, locking holes are formed in the robot upper part 5, and the electric telescopic rods B13 are inserted into or taken out of the locking holes in a telescopic manner to lock and unlock the heating and heat-preserving liner 1 and the robot upper part 5; a cargo allocation platform locking device is arranged on the heating and heat-preserving liner 1, and the cargo allocation platform locking device locks the heating and heat-preserving liner 1 on the cargo allocation platform 2; specifically, the cargo allocation platform locking device is an electric telescopic rod A12 arranged at the lower part of the ear rod 11 of the heating and heat-preserving liner 1, a locking hole is arranged in the platform rod port 201, and the electric telescopic rod A12 is inserted into or taken out of the locking hole in a telescopic manner to lock and unlock the heating and heat-preserving liner 1 and the cargo allocation platform 2.
Preferably, an electric combining device is arranged at the joint of the rod end of any electric telescopic rod B13 and the locking hole of the robot upper garment 5, namely, a plug is arranged at the rod end of the electric telescopic rod B13 and is connected with an electric element in the heating and heat-preserving liner 1 through a cable, a socket is arranged at the locking hole of the robot upper garment 5 and is connected with the electric element in the robot upper garment 5, and when the electric telescopic rod B13 is inserted into the locking hole, the plug is inserted into the socket to realize electric communication; in the same manner, an electric coupling device is provided at the junction of the rod end of any one of the electric telescopic rods a12 and the locking hole of the platform rod mouth 201.
Referring to fig. 4 and 5, the heating and heat-preserving liner 1 comprises an ear rod 11, an electric telescopic rod a12, an electric telescopic rod B13, a heat-preserving cover 14, a heat-preserving shell 15, a liner body 16, a base 18, a control module and a power module, wherein the appearance of the heating and heat-preserving liner 1 is integrally formed by the heat-preserving cover 14, the heat-preserving shell 15 and the base 18 from top to bottom, the heat-preserving cover 14 is fixed on the heat-preserving shell (15) in an openable manner through a hinge, the ear rod 11 is arranged on the outer side of the heat-preserving shell 15, the electric telescopic rod a12 and the electric telescopic rod B13 are respectively arranged on the ear rod 11 and the base 18, the heat-preserving shell 15 and the base 18 are fixedly connected, the liner body 16 is fixed in the heat-preserving shell 15, a circulating pipe 17 is wound on the periphery of the liner body 16, two ends of the circulating pipe 17 are respectively connected to a water tank 21 through a water outlet pipe 19 and a water return pipe 20, the water tank 21 is arranged in the base 18, an electric heater 22 and a safety exhaust valve 23 are arranged on the water tank 21, and a circulating pump 24 is arranged on the water outlet pipe 19;
The liner body 16 is provided with a liner cavity temperature detection module, the electric telescopic rod A12, the electric telescopic rod B13, the electric heater 22, the circulating pump 24 and the power module are electrically connected with the control module, and the electric telescopic rod A12, the electric telescopic rod B13, the electric heater 22 and the circulating pump 24 are electrically connected with the power module.
Further, the liner cavity temperature detection module is a temperature sensor.
Further, the power module comprises a storage battery, a top-up power supply and a platform power supply.
The control principle of the heating and heat preserving liner 1 is as follows:
Temperature control principle: the control module is provided with a lowest limit value and a highest limit value of the temperature of the inner container cavity, when the real-time temperature detected by the inner container cavity temperature detection module is lower than the lowest limit value, the control module starts the electric heater 22 and the circulating pump 24, when the real-time temperature exceeds the highest limit value, the control module stops the electric heater 22 and the circulating pump 24, the water tank 21 is provided with the safety exhaust valve 23, and when the pressure in the water tank 21 reaches the safety air pressure of the preset safety exhaust valve 23, the safety exhaust valve 23 automatically exhausts.
The power supply switching principle: when the heating and heat-preserving liner 1 is switched on the robot and the cargo loading platform 2, the power supply used for the heating and heat-preserving liner 1 is switched between the loading power supply and the platform power supply by combining the rod end of the electric telescopic rod B13 with the locking hole of the robot loading 5 and the locking hole of the electric telescopic rod A12 with the platform rod opening 201.
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 (2)
1. The robot with the heating and heat-preserving liner comprises a robot running gear (4) and a robot upper part (5), wherein the robot upper part (5) is fixed on the robot running gear (4), and the robot running gear (4) drives the robot upper part (5) to run; the quick disassembly platform comprises a cargo allocation platform (2) and a lifting platform (3), ear rods (11) are arranged on two sides of the heating and heat-preserving liner (1), platform rod openings (201) and upper rod openings (51) matched with the ear rods (11) are respectively arranged on the cargo allocation platform (2) and the robot upper assembly (5), the lifting platform (3) is arranged below the cargo allocation platform (2), the two sides of the lifting platform (3) are a demounting inlet side ground (6) and a loading inlet side ground (7), the demounting inlet side ground (6) is consistent with the upper plane height when the lifting platform (3) is in a lifting state, and the loading inlet side ground (7) is consistent with the upper plane height when the lifting platform (3) is in a descending state;
When the robot brings the heating and heat-preserving liner (1) into the lifting platform (3) from the ground (6) at the inlet side, the ear rod (11) of the heating and heat-preserving liner (1) is matched with the rod loading port (51), the heating and heat-preserving liner (1) is fixed on the robot upper mounting (5), after the robot enters the lifting platform (3), the lifting platform (3) falls down, the ear rod (11) starts to contact the rod loading port (201) along with the falling of the lifting platform (3), the heating and heat-preserving liner (1) is not lowered, the robot continues to descend along with the lifting platform (3), when the lifting platform (3) descends to the lowest position, the upper surface of the lifting platform (3) is flush with the ground (7) at the inlet side, the robot leaves from the ground (7) at the inlet side, when the robot needs to load the heating and heat-preserving liner (1), the robot enters the lifting platform (3) from the ground (7) at the inlet side, the ear rod loading port (5) is lifted up along with the lifting platform (3), the ear rod loading port (51) leaves the lifting platform (3) at the highest position, the rod loading port (51) at the top of the lifting platform (3) is lifted off from the ground (3) at the highest position, the robot leaves from the ground (6) at the unloading inlet side;
The heating and heat-preserving liner (1) is provided with a robot locking device, and the robot locking device locks the heating and heat-preserving liner (1) on a robot upper garment (5);
the robot locking device is a plurality of electric telescopic rods B (13) arranged on two sides of the lower part of the heating and heat-preserving liner (1), locking holes are formed in the robot upper part (5), and the electric telescopic rods B (13) are inserted into or taken out of the locking holes in a telescopic manner to lock and unlock the heating and heat-preserving liner (1) and the robot upper part (5);
a cargo allocation platform locking device is arranged on the heating and heat-preserving liner (1), and the cargo allocation platform locking device locks the heating and heat-preserving liner (1) on the cargo allocation platform (2);
The cargo allocation platform locking device is an electric telescopic rod A (12) arranged at the lower part of an ear rod (11) of the heating and heat-preserving liner (1), a locking hole is formed in a platform rod opening (201), and the electric telescopic rod A (12) is inserted into or taken out of the locking hole in a telescopic manner to lock and unlock the heating and heat-preserving liner (1) and the cargo allocation platform (2);
An electric combining device is arranged at the joint of the rod end of any one electric telescopic rod B (13) and the locking hole of the robot upper part (5);
An electric combining device is arranged at the joint of the rod end of any one electric telescopic rod A (12) and the locking hole of the platform rod opening (201);
The heating and heat-preserving liner (1) comprises an ear rod (11), an electric telescopic rod A (12), an electric telescopic rod B (13), a heat-preserving cover (14), a heat-preserving shell (15), a liner body (16), a base (18), a control module and a power module, wherein the appearance of the heating and heat-preserving liner (1) is integrally formed by the heat-preserving cover (14), the heat-preserving shell (15) and the base (18) from top to bottom, the ear rod (11) is arranged on the outer side of the heat-preserving shell (15), the electric telescopic rod A (12) and the electric telescopic rod B (13) are respectively arranged on the ear rod (11) and the base (18), the heat-preserving shell (15) is fixedly connected with the base (18), the liner body (16) is fixed in the heat-preserving shell (15), the periphery of the liner body (16) is wound with a circulating pipe (17), two ends of the circulating pipe (17) are respectively connected to a water tank (21) through a water outlet pipe (19) and a water return pipe (20), the water tank (21) is arranged in the base (18), an electric heater (22) and a safety vent valve (23) are arranged on the water tank (21), and a circulating pump (24) is arranged on the water tank (21);
The inner container body (16) is provided with an inner container cavity temperature detection module, the electric telescopic rod A (12), the electric telescopic rod B (13), the electric heater (22), the circulating pump (24) and the power supply module are electrically connected with the control module, and the electric telescopic rod A (12), the electric telescopic rod B (13), the electric heater (22) and the circulating pump (24) are electrically connected with the power supply module.
2. The robot with heating and insulating liner of claim 1, wherein the power module comprises a battery, a top-up power supply, and a platform power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111574172.6A CN114434494B (en) | 2021-12-21 | 2021-12-21 | Robot with heating heat preservation inner bag |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111574172.6A CN114434494B (en) | 2021-12-21 | 2021-12-21 | Robot with heating heat preservation inner bag |
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| Publication Number | Publication Date |
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| CN114434494A CN114434494A (en) | 2022-05-06 |
| CN114434494B true CN114434494B (en) | 2024-05-24 |
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| CN202111574172.6A Active CN114434494B (en) | 2021-12-21 | 2021-12-21 | Robot with heating heat preservation inner bag |
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| CN207594923U (en) * | 2017-11-02 | 2018-07-10 | 蔚来汽车有限公司 | Electric installation is changed for the resetting-mechanism for changing electric installation that floats, floating |
| EP3715194A1 (en) * | 2017-11-22 | 2020-09-30 | NIO Nextev Limited | Drifting abutting connection device, battery replacing robot, and locking, unlocking and locking-unlocking methods |
| WO2019141257A1 (en) * | 2018-01-18 | 2019-07-25 | 东莞理工学院 | Omni-directional mobile robot applied to intelligent warehouse |
| JP2019138890A (en) * | 2018-02-06 | 2019-08-22 | 広州市漫教雲境文化伝播有限公司 | Intelligence detection robot |
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| CN111619687A (en) * | 2020-06-03 | 2020-09-04 | 南昌大学 | Embroidered ball loading and cross-connecting robot |
| CN112319653A (en) * | 2020-09-30 | 2021-02-05 | 中国煤炭科工集团太原研究院有限公司 | Trackless auxiliary transport robot for underground coal mine |
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