CN116573324A - Moving in-place detection device of bin-changing robot - Google Patents
Moving in-place detection device of bin-changing robot Download PDFInfo
- Publication number
- CN116573324A CN116573324A CN202310632601.3A CN202310632601A CN116573324A CN 116573324 A CN116573324 A CN 116573324A CN 202310632601 A CN202310632601 A CN 202310632601A CN 116573324 A CN116573324 A CN 116573324A
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- China
- Prior art keywords
- chassis
- bin
- fixedly connected
- mounting plate
- detection device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000001514 detection method Methods 0.000 title claims abstract description 28
- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 6
- 238000013016 damping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a moving-in-place detection device of a bin-changing robot, which comprises a moving-in-place detection device of the bin-changing robot, and is characterized in that: comprises a chassis; hall sensors are fixedly connected to two sides of the chassis; one end of the chassis is fixedly connected with a first mounting plate; a displacement sensor is fixedly arranged on the mounting plate; the upper end of the mounting plate is fixedly connected with an inductor; when the Hall sensors on two sides of the chassis sense that the bin frame moves magnets in the goods guide rails, the positions on the left side and the right side of the chassis are completed in place, the chassis moves towards the bin frame at the moment, when the distance detected by the displacement sensor reaches the set detection distance, the front and rear positions of the bin changing robot are completed in place, the chassis is lifted to receive goods, meanwhile, the mounting plate is driven to move upwards, the sensor is close to the upper bin frame, when the distance from the upper bin frame to the sensor reaches the set distance, the sensor is automatically closed, and the chassis stops lifting the goods to reach the position capable of being safely carried at the moment.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a moving-in-place detection device of a bin-changing robot.
Background
The bin changing robot is used as equipment for carrying cargos or changing the cargos, has the advantages of convenience in use, continuous work, rapidness in movement and the like, and can carry out coding input to a controller to realize automatic carrying of the cargos by the bin changing robot, so that the number of carrying workers used in factories is greatly reduced;
however, in the use of the actual factory, when the goods are carried by the warehouse changing robot, the situation that the warehouse changing robot cannot move in place can occur, so that the warehouse changing robot chassis collides with the warehouse rack when the goods are carried, the warehouse rack is deformed and even the warehouse rack falls down, and because the warehouse rack distance between the upper layer and the lower layer is relatively short, the top end of the goods can be contacted with the warehouse rack of the goods on the upper layer when the goods are lifted by the chassis, the warehouse changing robot can bias the warehouse rack when the goods are taken out, and the danger to operators is very high.
Therefore, a moving-in-place detection device of a bin-changing robot is provided for solving the problems.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a moving-in-place detection device of a bin changing robot, which solves the problems that the bin changing robot is not in place when carrying cargoes and the cargoes are contacted with an upper layer bin frame when lifting.
A detection device for moving a bin-changing robot in place comprises a chassis; hall sensors are fixedly connected to two sides of the chassis; the Hall sensor can sense magnets in guide rails at two sides of the bin frame; one end of the chassis is fixedly connected with a first mounting plate; a displacement sensor is fixedly arranged on the mounting plate; the upper end of the mounting plate is fixedly connected with an inductor.
Preferably, the mounting plate is fixedly connected with the first slide tube; the first slide tube penetrates through the mounting plate; the two first slide pipes are arranged, and the first slide rods are connected in a sliding manner; one end of the first sliding rod, which is positioned at the displacement sensor, is fixedly connected with an abutting plate; the lower end of the abutting plate is lower than the displacement sensor; the other end of the first sliding rod is fixedly connected with a first limiting plate.
Preferably, a reset spring is sleeved on the first sliding rod; and two ends of the return spring are fixedly connected with the abutting plate and the mounting plate respectively.
Preferably, one end of the chassis, which is far away from the mounting plate, is fixedly connected with a buffer assembly; at least two buffer components are arranged; the two buffer assemblies are positioned on the same horizontal line.
Preferably, the buffer assembly comprises a second slide tube; the second slide tube is fixedly connected to the chassis through a second mounting plate; the second slide tube penetrates through the second mounting plate; the second sliding rod is connected inside the second sliding tube in a sliding manner; one end of the second sliding rod is fixedly connected with an anti-collision plate; the anti-collision plate is round, and the diameter of the anti-collision plate is larger than that of the second sliding rod; the other end of the second sliding rod is fixedly connected with a second limiting plate;
preferably, the buffer assembly comprises a buffer spring; the buffer spring is sleeved on the second sliding rod; two ends of the buffer spring are respectively and fixedly connected to the second mounting plate and the anti-collision plate.
Preferably, the upper surface of the chassis is fixedly connected with a positioning column; the positioning columns are at least arranged and symmetrically arranged on two sides of the chassis.
The chassis is arranged above the bin-changing robot body; an electric push rod is fixedly connected to the bin changing robot body; the electric push rods are arranged in four ways; the movable shaft of the electric push rod penetrates through the bin-changing robot body and is fixedly connected with the chassis to enable the electric push rod to move in the vertical direction of the chassis.
Preferably, the bottom of the bin changing robot body is fixedly connected with a universal driving wheel; the number of the universal driving wheels is even, and the number of the universal driving wheels is at least four.
The invention has the advantages that:
1. according to the invention, the Hall sensors are arranged on the two sides of the chassis, so that the Hall sensors sense the magnet in the bin rack guide rail, and the Hall sensors are sensitive to the magnetic field sensing, so that the bin-changing robot can be accurately moved in place left and right in the bin rack; meanwhile, displacement of goods on the chassis is detected through the displacement sensor, so that the goods are aligned with the chassis, and the bin changing robot moves forward and backward in the bin frame accurately.
2. According to the invention, through the arrangement of the sensor, when the chassis lifts the goods, the mounting plate moves upwards along with the chassis, and when the sensor above the mounting plate senses that the distance between the upper bin frame and the sensor is within the arrangement range, the chassis stops lifting, so that the goods cannot contact with the upper bin frame in the lifting process.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of a bin changing robot according to an embodiment of the invention;
FIG. 2 is a schematic view of the structure of a floor and bumper assembly in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of a first mounting plate and in-place detection assembly according to one embodiment of the present invention;
FIG. 4 is a schematic view of the structure of a base plate and mounting plate according to one embodiment of the invention;
FIG. 5 is a schematic diagram of an in-place detection assembly according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a bumper assembly according to an embodiment of the present invention.
In the figure: 1. a chassis; 2. a hall sensor; 3. a first mounting plate; 41. a displacement sensor; 42. a first slide tube; 43. a first slide bar; 44. an abutting plate; 45. a return spring; 46. a first limiting plate; 5. an inductor; 6. positioning columns; 7. a robot body; 8. a buffer assembly; 81. a second mounting plate; 82. a second slide tube; 83. a second slide bar; 84. an anti-collision plate; 85. a buffer spring; 86. a second limiting plate; 9. an electric push rod; 10. and a universal driving wheel.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, a bin changing robot moving in-place detection device comprises a chassis 1; hall sensors 2 are fixedly connected to two sides of the chassis 1; the Hall sensor 2 can sense magnets in guide rails at two sides of the bin frame; one end of the chassis 1 is fixedly connected with a first mounting plate 3; a displacement sensor 41 is fixedly arranged on the first mounting plate 3; the upper end of the first mounting plate 3 is fixedly connected with an inductor 5;
during operation, in order to store more cargoes in the warehouse, the distance between the warehouse racks is compact, and the distance between the upper warehouse rack and the lower warehouse rack is also lower, so that the warehouse rack collides with the warehouse racks on two sides when the warehouse changing robot carries cargoes or changes cargoes, so that the warehouse racks shake or even topple over, the cargoes are damaged, and the safety danger of staff is increased; when a worker operates the bin changing robot to move to the front of a bin frame, the Hall sensors 2 on two sides of the chassis 1 can sense the magnet in a bin frame moving goods guide rail, when the Hall sensors 2 sense the magnet, the left side and the right side of the chassis 1 are in place, at the moment, the bin changing robot moves towards the goods, the distance between the goods and the displacement sensor 41 gradually becomes smaller in the moving process, when the distance detected by the displacement sensor 41 reaches the set detection distance, the front and back positions of the bin changing robot are completed, the goods are aligned with the chassis 1, at the moment, the chassis 1 is lifted to receive the goods, the first mounting plate 3 is driven to move upwards at the same time, the inductor 5 on the top of the first mounting plate 3 is slowly close to the bin frame on the upper layer in the upward moving process, when the bin frame on the upper layer is away from the inductor 5, the chassis 1 stops lifting, at the moment, the goods reach the position capable of being safely conveyed, the position of the bin changing robot is detected by the Hall sensors 2 and the displacement sensor 41, the situation of the bin changing robot moving to the bin frame is completed, and the problem of being easily solved when the bin frame is lifted by the upper layer;
as an embodiment of the present invention, the first mounting plate 3 is fixedly connected to the first slide tube 42; the first slide tube 42 penetrates through the first mounting plate 3; the two first slide pipes 42 are arranged, and the first slide rods 43 are connected with the two first slide pipes 42 in a sliding manner; an abutting plate 44 is fixedly connected to one end of the first sliding rod 43, which is positioned on the displacement sensor 41; the lower end of the abutting plate 44 is lower than the displacement sensor 41; the other end of the first sliding rod 43 is fixedly connected with a first limiting plate 46;
when the warehouse robot moves into the warehouse rack, cargoes are contacted with the abutting plate 44 firstly, in the moving process, the cargoes are abutted with the abutting plate 44, the abutting plate 44 drives the first sliding rod 43 to slide in the first sliding tube 42, the distance between the abutting plate 44 and the displacement sensor 41 is gradually reduced, after the distance between the abutting plate 44 and the displacement sensor 41 reaches the set distance, the displacement sensor 41 acts, so that the warehouse changing robot stops moving, and the warehouse changing robot finishes detection in place before and after the warehouse changing robot; the first slide tube 42 is arranged, so that the first slide rod 43 is smoother in moving, and the displacement sensor 41 is more accurate in detecting distance, so that the bin changing robot can be more accurate in position;
a return spring 45 is sleeved on the first sliding rod 43; two ends of the return spring 45 are fixedly connected with the abutting plate 44 and the first mounting plate 3 respectively;
when the bin changing robot moves in the bin frame, goods react to the abutting plate 44, the abutting plate 44 drives the first sliding rod 43 to move, the reset spring 45 is compressed at the moment, the abutting plate 44 is not extruded by the goods after the goods are carried away or the bin changing is finished, and the reset spring 45 resets and pushes the abutting plate 44 to return to the initial position at the same time, so that the next in-place detection of the bin changing robot is facilitated;
one end of the chassis 1 far away from the first mounting plate 3 is fixedly connected with a buffer assembly 8; at least two buffer assemblies 8 are arranged; the two buffer assemblies 8 are positioned on the same horizontal line;
when the device works, due to the fact that the using time of the detection device or the operation of staff is improper, deviation can occur in detection, and the bin changing robot collides with the bin frame; at the moment, the buffer component 8 acts to buffer the bin changing robot when colliding with the bin frame, so that the bin changing robot is prevented from being seriously collided with the bin frame, and the bin frame and the good cargo bin changing robot are prevented from being damaged;
the damping assembly 8 includes a second slide tube 82; the second slide tube 82 is fixedly connected to the chassis 1 through a second mounting plate 81; the second slide tube 82 penetrates through the second mounting plate 81; a second sliding rod 83 is slidably connected inside the second sliding tube 82; an anti-collision plate 84 is fixedly connected to one end of the second sliding rod 83; the anti-collision plate 84 is circular, and the diameter of the anti-collision plate 84 is larger than that of the second sliding rod 83; the other end of the second sliding rod 83 is fixedly connected with a second limiting plate 86;
when the bin changing robot collides with the bin frame during operation, the anti-collision plate 84 is contacted with the bin frame firstly, and after the anti-collision plate 84 contacts with the bin frame, the second slide bar 83 is driven to move in the second slide tube 82 through the impact force anti-collision plate 84, meanwhile, the second slide tube 82 enables the second slide bar 83 to play a guiding role during movement, and the second slide bar 83 is enabled to transmit the impact force better;
the damping assembly 8 includes a damping spring 85; the buffer spring 85 is sleeved on the second sliding rod 83; two ends of the buffer spring 85 are fixedly connected to the second mounting plate 81 and the anti-collision plate 84 respectively;
when the bin changing robot is about to collide with the bin frame in operation, the anti-collision plate 84 is contacted with the bin frame first, after the anti-collision plate 84 is contacted with the bin frame, the second sliding rod 83 is driven to move in the second sliding tube 82 through the impact force anti-collision plate 84, meanwhile, the buffer spring 85 is compressed, the impact force is converted into restoring force generated when the buffer spring 85 is compressed through the compression of the buffer spring 85, the impact force of the bin changing robot and the bin frame is reduced, and the bin changing robot and the bin frame are not damaged;
the upper surface of the chassis 1 is fixedly connected with a positioning column 6; the number of the positioning columns 6 is at least 4, and the positioning columns are symmetrically arranged on two sides of the chassis 1;
in order to make the goods more stable on the chassis 1 during operation, the chassis 1 is provided with the positioning column 6, when the chassis 1 is lifted, the positioning column 6 gradually approaches the goods and is spliced with a connecting port at the bottom of the goods fixing plate, and when the goods are contacted with the chassis 1, the goods are fixed on the chassis 1 by the positioning column 6;
the chassis 1 is arranged above the cabin changing robot body 7; an electric push rod 9 is fixedly connected to the bin changing robot body 7; four electric push rods 9 are arranged; the moving shaft of the electric push rod 9 passes through the bin changing robot body 7 and is fixedly connected with the chassis 1, and the electric push rod 9 is used for moving in the vertical direction of the chassis 1;
when the electric brake device works, the lifting of the chassis 1 is realized through the electric push rods 9, and four electric push rod 9 operators can move up and down the moving shaft of the electric push rods 9 through an operation controller (not shown), and meanwhile, the signals of the sensors 5 can also act on the electric push rods 9, so that the electric push rods 9 can be braked accurately;
the bottom of the bin changing robot body 7 is fixedly connected with a universal driving wheel 10; the number of the universal driving wheels 10 is even, and the number is at least four;
during operation, in order that the robot body 7 can move flexibly and accurately, the bottom of the robot body is fixedly connected with the universal driving wheel 10, the universal driving wheel 10 is driven by a worker to move forwards and backwards and turn, and meanwhile, signals of the movable sensor can be transmitted to the universal driving wheel 10 through the controller, so that the robot body 7 can be accurately positioned.
Working principle: when goods need to be carried, a worker operates the universal driving wheel 10 through the controller to move the robot body 7 to the front of the bin frame, the Hall sensors 2 on the two sides of the chassis 1 can sense the magnet in the guide rail of the goods moving from the bin frame, when the Hall sensors 2 sense the magnet, the positions on the left side and the right side of the chassis 1 are completed in place, at the moment, the bin changing robot moves into the bin frame, the goods firstly contact with the abutting plate 44, in the moving process, the goods abut against the abutting plate 44, the abutting plate 44 drives the first sliding rod 43 to slide in the first sliding tube 42, the distance between the abutting plate 44 and the displacement sensor 41 is gradually reduced, after the distance between the abutting plate 44 and the displacement sensor 41 reaches the set distance, the displacement sensor 41 acts, the universal driving wheel 10 stops rotating, the chassis 1 is detected in place around this moment, at this moment, the telescopic shaft of electric putter 9 moves upwards, chassis 1 is lifted and is accepted the goods, drive the upward movement of first mounting panel 3 simultaneously, the sensor 5 at the in-process first mounting panel 3 top of first mounting panel 3 upward movement is close to the storehouse frame on upper strata slowly, when the storehouse frame on upper strata reaches the distance that sets up from sensor 5, sensor 5 self-closing, electric putter 9 stops the effect, the goods can be safely carried this moment, after the goods is carried away or trade the storehouse and end, the butt plate 44 is not receiving the extrusion of goods, reset spring 45 resets and promotes butt plate 44 to get back to initial position simultaneously this time, so that the detection in place of the storehouse robot is traded next time.
The structure of the controller belongs to the prior art, so the description is not made in the present document.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims.
Claims (10)
1. The utility model provides a trade storehouse robot and remove detection device that targets in place which characterized in that: comprises a chassis (1); hall sensors are fixedly connected to two sides of the chassis (1); one end of the chassis (1) is fixedly connected with a first mounting plate (3); a displacement sensor (41) is fixedly arranged on the mounting plate (3); the upper end of the mounting plate (3) is fixedly connected with an inductor (5).
2. The bin exchange robot moving in place detection device according to claim 1, wherein: the mounting plate (3) is fixedly connected with the first slide tube (42); the first slide tube (42) penetrates through the mounting plate (3); the two first slide pipes (42) are arranged, and the first slide rods (43) are connected in a sliding manner in the two first slide pipes (42).
3. The bin exchange robot moving in place detection device according to claim 2, wherein: one end of the first sliding rod (43) positioned at the displacement sensor (41) is fixedly connected with an abutting plate (44); the lower end of the abutting plate (44) is lower than the displacement sensor (41); the other end of the first sliding rod (43) is fixedly connected with a first limiting plate (46).
4. A bin exchange robot moving in place detection device according to claim 3, wherein: a return spring (45) is sleeved on the first sliding rod (43); two ends of the return spring (45) are fixedly connected with the abutting plate (44) and the mounting plate (3) respectively.
5. The bin exchange robot moving in place detection device according to claim 4, wherein: one end of the chassis (1) far away from the mounting plate (3) is fixedly connected with a buffer assembly (8); at least two buffer assemblies (8) are arranged; the two buffer assemblies (8) are positioned on the same horizontal line.
6. The bin exchange robot moving in place detection device according to claim 5, wherein: the buffer assembly (8) comprises a second slide tube (82); the second slide tube (82) is fixedly connected to the chassis (3) through a second mounting plate (81); the second slide tube (82) penetrates through the second mounting plate (81); a second sliding rod (83) is connected inside the second sliding tube (82) in a sliding manner; one end of the second sliding rod (83) is fixedly connected with an anti-collision plate (84); the anti-collision plate (84) is round, and the diameter of the anti-collision plate (84) is larger than that of the second sliding rod (83); the other end of the second sliding rod (83) is fixedly connected with a second limiting plate (86).
7. The bin exchange robot moving in place detection device according to claim 6, wherein: the cushioning assembly includes a cushioning spring (85); the buffer spring (85) is sleeved on the second sliding rod (83); two ends of the buffer spring (85) are respectively and fixedly connected to the second mounting plate (81) and the anti-collision plate (84).
8. The bin exchange robot moving in place detection device of claim 7, wherein: the upper surface of the chassis (1) is fixedly connected with a positioning column (6); the number of the positioning columns (6) is at least 4, and the positioning columns are symmetrically arranged on two sides of the chassis (1).
9. The bin exchange robot moving in place detection device of claim 8, wherein: the chassis (1) is arranged above the bin-changing robot body (7); an electric push rod (9) is fixedly connected to the bin changing robot body (7); the movable shaft of the electric push rod (9) penetrates through the bin changing robot body (7) and is fixedly connected with the chassis (1), and the electric push rod (9) is used for moving in the vertical direction of the chassis (1).
10. The bin exchange robot moving in place detection device of claim 9, wherein: the bottom of the bin-changing robot body (7) is fixedly connected with a universal driving wheel (10); the number of the universal driving wheels (10) is even, and the number is at least four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310632601.3A CN116573324A (en) | 2023-05-30 | 2023-05-30 | Moving in-place detection device of bin-changing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310632601.3A CN116573324A (en) | 2023-05-30 | 2023-05-30 | Moving in-place detection device of bin-changing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116573324A true CN116573324A (en) | 2023-08-11 |
Family
ID=87535646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310632601.3A Withdrawn CN116573324A (en) | 2023-05-30 | 2023-05-30 | Moving in-place detection device of bin-changing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116573324A (en) |
-
2023
- 2023-05-30 CN CN202310632601.3A patent/CN116573324A/en not_active Withdrawn
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Application publication date: 20230811 |
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| WW01 | Invention patent application withdrawn after publication |