CN117400221A - Special crawling robot for container operation and application method thereof - Google Patents
Special crawling robot for container operation and application method thereof Download PDFInfo
- Publication number
- CN117400221A CN117400221A CN202311678007.4A CN202311678007A CN117400221A CN 117400221 A CN117400221 A CN 117400221A CN 202311678007 A CN202311678007 A CN 202311678007A CN 117400221 A CN117400221 A CN 117400221A
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- swinging
- trolley
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- 230000009193 crawling Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims description 7
- 230000009194 climbing Effects 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 9
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 8
- 230000002349 favourable effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention provides a special crawling robot for container operation, which has the advantages of simple structure, convenient operation and high safety factor, and comprises a trolley for climbing a container, wherein a mechanical arm is arranged on the trolley, a fixing plate is arranged at the free end of the mechanical arm, a placing device for placing a binding belt to enable the binding belt to move along with the trolley is arranged on the fixing plate, and a clamping device for clamping the placing device into a container mouth is arranged on the fixing plate.
Description
Technical Field
The invention relates to the technical field of container equipment, in particular to a special crawling robot for container operation and an application method thereof.
Background
The container is a large-sized cargo container with certain strength, rigidity and specification and specially used for transportation or turnover. The container is used for transferring the goods, the goods can be directly loaded in a warehouse of a shipper, the goods can be transferred to a warehouse of a receiver for unloading, and the goods do not need to be taken out from the container for replacement when the vehicle and the ship are replaced in the middle.
The container has wide application field and region due to the advantages. When the existing containers are stacked in ports, the containers are required to be bundled to protect the containers in order to cope with severe weather, especially typhoon days, and to prevent the containers from falling down. When the traditional container is bound, the traditional container is manually climbed to go to the container for operation, so that the working efficiency is poor, and the operation is dangerous because the stacking height of the container is too high.
Disclosure of Invention
Therefore, aiming at the problems, the invention provides the special crawling robot for container operation and the application method thereof, which have the advantages of simple structure, convenient operation and high safety coefficient.
In order to solve the technical problems, the special crawling robot for container operation comprises a trolley for climbing a container, wherein a mechanical arm is arranged on the trolley, a fixing plate is arranged at the free end of the mechanical arm, a placing device for placing a binding belt to enable the binding belt to move along with the trolley is arranged on the fixing plate, and a clamping device for clamping the placing device into a container opening is arranged on the fixing plate.
The further improvement is that: the placing device comprises a first clamping plate and a second clamping plate, one ends of the first clamping plate and the second clamping plate are connected through a torsion device, the other ends of the first clamping plate and the second clamping plate are provided with connecting plates through connecting devices, and avoidance channels for the binding bands to penetrate are formed in the connecting plates.
The further improvement is that: the torsion device comprises a torsion spring, the upper ends of the first clamping plate and the second clamping plate are hinged through a pin shaft, torsion channels are formed in the first clamping plate and the second clamping plate, the torsion spring is arranged in the torsion channels, one end of the torsion spring is arranged on the first clamping plate, and the other end of the torsion spring is arranged on the second clamping plate.
The further improvement is that: the connecting device comprises a first cross rod and a second cross rod, the first cross rod is arranged on the first clamping plate, the second cross rod is arranged on the second clamping plate, the first cross rod and the second cross rod are symmetrically arranged, and the connecting plate is arranged on the first cross rod and the second cross rod through the swinging device.
The further improvement is that: the swinging device comprises a first swinging rod and a second swinging rod, the first swinging rod is arranged on the first cross rod, the second swinging rod is arranged on the second cross rod, an arc-shaped first swinging channel and an arc-shaped second swinging channel are formed in the connecting plate in a matched mode through the first swinging rod and the second swinging rod, the first swinging rod is arranged in the first swinging channel, and the second swinging rod is arranged in the second swinging channel.
The further improvement is that: the clamping device comprises a clamping electric cylinder, the clamping electric cylinder is arranged on the fixed plate, and two clamping jaws on the clamping electric cylinder are clamped between the first clamping plate and the second clamping plate.
The further improvement is that: the trolley comprises a trolley body, a driving wheel is arranged at one end of the trolley body, a driven wheel is arranged at the other end of the trolley body, a crawler is wound between the driving wheel and the driven wheel, an adsorption device for adsorbing the trolley on a container is arranged on the crawler, and a driving device for driving the driving wheel to rotate is arranged in the trolley body.
The further improvement is that: the adsorption device comprises a plurality of elastic blocks with elasticity, elastic columns are arranged at two ends of each elastic block, and magnetic attraction blocks are arranged on the elastic blocks and the elastic columns.
The further improvement is that: the camera connecting block is arranged on the fixing plate and extends to the front of the placement device, and a camera for collecting images is arranged at the end part of the camera connecting block.
An application method of a special crawling robot for container operation to bind containers comprises the following steps:
s1: on the ground, one end of the binding belt passes through an avoidance channel of the connecting plate to be bound, then two clamping jaws of a clamping electric cylinder are clamped on the first clamping plate and the second clamping plate, and the torsion springs are compressed to enable the first clamping plate and the second clamping plate to mutually contract, so that the installation of one end of the binding belt is completed;
s2: starting a robot trolley, remotely controlling the robot trolley to climb the container upwards, enabling the robot trolley to travel to the vicinity of the container fixing hole along the container, enabling the mechanical arm to work at the moment, and adjusting the posture to enable the camera to be opposite to a certain height above the container fixing hole;
s3: the 2D vision system of the camera starts to locate the position of the fixing hole of the container, and the specific steps are as follows:
a, starting an internal lighting lamp of a camera, photographing, transmitting a photographed image to an image processing module in a 2D vision system for processing, and simultaneously obtaining position data of a cooperative mechanical arm;
the image processing module firstly carries out pretreatment, and converts a color picture based on RGB color space into a gray picture which can more intuitively express the tone, vividness and brightness of the color and is convenient for color comparison;
c, after pretreatment, extracting gray features in the image, and analyzing and comparing the extracted features to obtain pixel coordinates of the fixed hole;
d, after obtaining a pixel coordinate result and position data of the corresponding cooperative mechanical arm, converting a measurement result of image processing into a measurement coordinate system of the whole 2D visual system by a 2D visual system through matrix operation;
and e, sending the measurement coordinates of the fixed hole to a robot trolley control system.
S4: after the positioning is finished, the mechanical arm drives the first clamping plate and the second clamping plate to move to the position above the fixing hole of the container according to the position of the 2D vision system, and then the first clamping plate and the second clamping plate are inserted into the fixing hole.
S5: the clamping jaw of the clamping electric cylinder returns to the original position, the first clamping plate and the second clamping plate are loosened, the torsion spring returns to the original position, and the first clamping plate and the second clamping plate are hung to clamp the fixing hole under the action of the torsion spring.
S6: after the remote control trolley robot returns to the ground, the other end of the binding belt is manually pulled up on the ground. When the binding belt is stressed, the first swinging channel and the second swinging channel on the connecting plate move towards the two ends of the channel, so that the first clamping plate and the second clamping plate are always in an open clamping state, the clamping force is larger as the binding belt is stressed, and then the other end of the binding belt is tightly bound.
By adopting the technical scheme, the invention has the beneficial effects that:
1. simple structure, convenient operation and high safety coefficient. Through can replace artifical climbing to the eminence position of container through intelligent dolly, then the rethread robotic arm will tie up the rope and fix a position the fixed orifices at the container, not only efficient, the security is high moreover, is favorable to the staff to use.
2. When the intelligent trolley climbs, the rubber block can elastically deform when the intelligent trolley climbs over an obstacle, so that the intelligent trolley can better pass through the intelligent trolley, and the magnetic attraction block can better contact with the surface of the container in an attraction manner, so that the intelligent trolley can stably climb on the container.
3. Through the image acquisition of camera, conveniently fix a position intelligent trolley in the fixed orifices position of container, then through the image acquisition of camera, can make things convenient for the staff to fix a position first cardboard and second cardboard and the fixed orifices of container in container below is accurate, then with first cardboard and second cardboard card in the fixed orifices of container again.
Drawings
Fig. 1 is a schematic structural view of a special crawling robot for container operation according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a special crawling robot for container operation according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a placement device according to an embodiment of the present invention.
Fig. 4 is an enlarged schematic view of the embodiment a of the present invention.
FIG. 5 is a schematic diagram of a second card structure according to an embodiment of the invention.
Detailed Description
The invention will now be further described with reference to the drawings and specific examples.
Referring to fig. 1-5, disclosed are embodiments of the present invention: the special crawling robot for container operation comprises an intelligent trolley 1 for climbing a container, wherein a five-axis mechanical arm 2 is arranged on the intelligent trolley 1, a fixing plate 3 is arranged at the free end of the mechanical arm 2, a placing device for placing a binding belt to enable the binding belt to move along with the intelligent trolley 1 is arranged on the fixing plate 3, the placing device comprises a first clamping plate 5 and a second clamping plate 6, one end of the first clamping plate 5 is connected with one end of the second clamping plate 6 through a torsion spring 13, the upper ends of the first clamping plate 5 and the second clamping plate 6 are hinged through a pin shaft, a torsion channel is formed in the first clamping plate 5 and the second clamping plate 6, the torsion spring 13 is arranged in the torsion channel, one end of a torsion end of the torsion spring 13 is arranged on the first clamping plate 5, the other end of the torsion spring 13 is arranged on the second clamping plate 6, the first clamping plate 5 is provided with a first cross rod 51, the second clamping plate 6 is provided with a second cross rod 61, the first cross rod 51 and the second cross rod 61 are symmetrically arranged, the first cross rod 51 and the second cross rod 61 are provided with a connecting plate 9, the first cross rod 51 is provided with a first swinging rod, the second cross rod 61 is provided with a second swinging rod, the connecting plate 9 is matched with the first swinging rod and the second swinging rod to form a first swinging channel 91 and a second swinging channel 92, the first swinging rod is arranged in the first swinging channel 91, the second swinging rod is arranged in the second swinging channel 92, the connecting plate 9 is provided with an avoidance channel 93 for a binding belt to penetrate, the fixing plate 3 is provided with a clamping electric cylinder 4, and two clamping jaws on the clamping electric cylinder 4 are clamped between the first clamping plate 5 and the second clamping plate 6, when the intelligent trolley is used, the binding belt passes through the avoidance channel 93 and is bound on the connecting plate 9, then the first clamping plate 5 and the second clamping plate 6 are clamped on the clamping electric cylinder 4, then the intelligent trolley 1 is remotely controlled, the intelligent trolley 1 climbs on the container again, so that the binding belt climbs to the position of the fixing hole of the container, then the first clamping plate 5 and the second clamping plate 6 are put into fixation, the clamping electric cylinder 4 releases the first clamping plate 5 and the second clamping plate 6 again, the torsion spring 13 returns, the first clamping plate 5 and the second clamping plate 6 are clamped in the fixing hole, the installation of one end of the binding belt is completed, and then the other end of the binding belt is pulled by a worker to bind. Through this series of operations, can replace artifical climbing to the eminence position of container through intelligent dolly 1, not only efficient, the security is high moreover, is favorable to the staff to use.
Specifically, the intelligent trolley 1 comprises a trolley body, one end of the trolley body is provided with a driving wheel 101, the other end of the trolley body is provided with a driven wheel 103, the trolley body is provided with a transition wheel 104 between the driving wheel 101 and the driven wheel 103, a crawler 102 is wound between the driving wheel 101 and the driven wheel 103, an adsorption device for adsorbing the intelligent trolley 1 on a container is arranged on the crawler 102, and a servo motor for driving the driving wheel 101 to rotate is arranged in the trolley body.
Preferably, the adsorption device comprises a plurality of elastic rubber blocks 10, rubber columns 11 are arranged at two ends of the elastic blocks, and magnetic attraction blocks 12 are arranged on the rubber blocks 10 and the rubber columns 11. Wherein, when intelligent dolly 1 is climbing, rubber piece 10 when rolling the barrier, can elastic deformation for intelligent dolly 1 better pass through, and magnetic attraction piece 12 can be better with container surface actuation contact, make intelligent dolly 1 can be more stable not climb on the container.
Preferably, the magnetic attraction block 12 is: an electromagnet.
For convenience staff's operation, go into container locating hole with first cardboard 5 and second cardboard 6 card, be equipped with camera 8 connecting block 7 on the fixed plate 3, camera 8 connecting block 7 extends to placer the place ahead, camera 8 connecting block 7 tip is equipped with the camera 8 of gathering the image. Through the image acquisition of camera 8, conveniently fix a position intelligent vehicle 1 in the fixed orifices position of container, then through the image acquisition of camera 8, can make things convenient for the staff to fix a position first cardboard 5 and second cardboard 6 and the fixed orifices of container in the container below is accurate, then with first cardboard 5 and second cardboard 6 card in the fixed orifices of container again.
An application method of special crawling robot for container operation to bind containers,
first: on the ground, one end of the binding belt passes through the avoidance channel 93 of the connecting plate 9 to be bound, then two clamping jaws for clamping the electric cylinder 4 are clamped on the first clamping plate 5 and the second clamping plate 6, and the torsion spring 13 is compressed to enable the first clamping plate 5 and the second clamping plate 6 to mutually contract, so that the installation of one end of the binding belt is completed;
second,: starting the intelligent robot trolley 1, remotely controlling the intelligent robot trolley 1 to climb the container upwards, enabling the intelligent robot trolley 1 to travel to the vicinity of the container fixing hole along the container, enabling the mechanical arm to work at the moment, and adjusting the posture to enable the camera 8 to be opposite to a certain height above the container fixing hole;
third,: the 2D vision system of the camera 8 starts to locate the position of the fixing hole of the container, specifically as follows:
a, starting an internal lighting lamp of a camera 8, photographing, transmitting a photographed image to an image processing module in a 2D vision system for processing, and simultaneously obtaining position data of a cooperative mechanical arm;
the image processing module firstly carries out pretreatment, and converts a color picture based on RGB color space into a gray picture which can more intuitively express the tone, vividness and brightness of the color and is convenient for color comparison;
c, after pretreatment, extracting gray features in the image, and analyzing and comparing the extracted features to obtain pixel coordinates of the fixed hole;
d, after obtaining a pixel coordinate result and position data of the corresponding cooperative mechanical arm, converting a measurement result of image processing into a measurement coordinate system of the whole 2D visual system by a 2D visual system through matrix operation;
and e, sending the measurement coordinates of the fixed holes to a control system of the intelligent trolley 1 of the robot.
Fourth,: after the positioning is finished, the mechanical arm drives the first clamping plate 5 and the second clamping plate 6 to move to the position above the fixing hole of the container according to the position of the 2D vision system, and then the first clamping plate 5 and the second clamping plate 6 are inserted into the fixing hole.
Fifth,: the clamping jaw of the clamping electric cylinder 4 returns to the original position, the first clamping plate 5 and the second clamping plate 6 are loosened, the torsion spring 13 returns to the original position, and the first clamping plate 5 and the second clamping plate 6 are hung to clamp the fixing hole under the action of the torsion spring 13.
Sixth: after the robot of the remote control intelligent car 1 returns to the ground, the other end of the binding belt is manually pulled tightly on the ground. When the binding belt is stressed, the first swinging channel 91 and the second swinging channel 92 on the connecting plate 9 move towards the two ends of the channel, so that the first clamping plate 5 and the second clamping plate 6 are always in an open clamping state, the clamping force is larger when the binding belt is stressed, and then the other end of the binding belt is tightly bound.
While the basic principles and main features of the present invention and advantages thereof have been shown and described, it will be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, which are described merely by way of illustration of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents.
Claims (10)
1. A special type robot of crawling for container operation, its characterized in that: including the dolly that is used for climbing the container, be equipped with robotic arm on the dolly, robotic arm's free end is equipped with the fixed plate, be equipped with on the fixed plate and be used for placing the bandage and make the bandage along with the placer of dolly removal, be equipped with the clamping device who is used for the centre gripping placer to put into the container mouth on the fixed plate.
2. A special crawling robot for container operations as claimed in claim 1, characterized in that: the placing device comprises a first clamping plate and a second clamping plate, one ends of the first clamping plate and the second clamping plate are connected through a torsion device, the other ends of the first clamping plate and the second clamping plate are provided with connecting plates through connecting devices, and avoidance channels for the binding bands to penetrate are formed in the connecting plates.
3. A special crawling robot for container operations as claimed in claim 2, characterized in that: the torsion device comprises a torsion spring, the upper ends of the first clamping plate and the second clamping plate are hinged through a pin shaft, torsion channels are formed in the first clamping plate and the second clamping plate, the torsion spring is arranged in the torsion channels, one end of the torsion spring is arranged on the first clamping plate, and the other end of the torsion spring is arranged on the second clamping plate.
4. A special crawling robot for container operations as claimed in claim 2, characterized in that: the connecting device comprises a first cross rod and a second cross rod, the first cross rod is arranged on the first clamping plate, the second cross rod is arranged on the second clamping plate, the first cross rod and the second cross rod are symmetrically arranged, and the connecting plate is arranged on the first cross rod and the second cross rod through the swinging device.
5. A special crawling robot for container operations as claimed in claim 4, characterized in that: the swinging device comprises a first swinging rod and a second swinging rod, the first swinging rod is arranged on the first cross rod, the second swinging rod is arranged on the second cross rod, an arc-shaped first swinging channel and an arc-shaped second swinging channel are formed in the connecting plate in a matched mode through the first swinging rod and the second swinging rod, the first swinging rod is arranged in the first swinging channel, and the second swinging rod is arranged in the second swinging channel.
6. A special crawling robot for container operations as claimed in claim 1, characterized in that: the clamping device comprises a clamping electric cylinder, the clamping electric cylinder is arranged on the fixed plate, and two clamping jaws on the clamping electric cylinder are clamped between the first clamping plate and the second clamping plate.
7. A special crawling robot for container operations as claimed in claim 1, characterized in that: the trolley comprises a trolley body, a driving wheel is arranged at one end of the trolley body, a driven wheel is arranged at the other end of the trolley body, a crawler is wound between the driving wheel and the driven wheel, an adsorption device for adsorbing the trolley on a container is arranged on the crawler, and a driving device for driving the driving wheel to rotate is arranged in the trolley body.
8. A special crawling robot for container operations as claimed in claim 7, characterized in that: the adsorption device comprises a plurality of elastic blocks with elasticity, elastic columns are arranged at two ends of each elastic block, and magnetic attraction blocks are arranged on the elastic blocks and the elastic columns.
9. A special crawling robot for container operations as claimed in claim 1, characterized in that: the camera connecting block is arranged on the fixing plate and extends to the front of the placement device, and a camera for collecting images is arranged at the end part of the camera connecting block.
10. The application method for binding the container by using the special crawling robot for container operation is characterized by comprising the following steps of:
s1: on the ground, one end of the binding belt passes through an avoidance channel of the connecting plate to be bound, then two clamping jaws of a clamping electric cylinder are clamped on the first clamping plate and the second clamping plate, and the torsion springs are compressed to enable the first clamping plate and the second clamping plate to mutually contract, so that the installation of one end of the binding belt is completed;
s2: starting a robot trolley, remotely controlling the robot trolley to climb the container upwards, enabling the robot trolley to travel to the vicinity of the container fixing hole along the container, enabling the mechanical arm to work at the moment, and adjusting the posture to enable the camera to be opposite to a certain height above the container fixing hole;
s3: the 2D vision system of the camera starts to locate the position of the fixing hole of the container, and the specific steps are as follows:
a, starting an internal lighting lamp of a camera, photographing, transmitting a photographed image to an image processing module in a 2D vision system for processing, and simultaneously obtaining position data of a cooperative mechanical arm;
the image processing module firstly carries out pretreatment, and converts a color picture based on RGB color space into a gray picture which can more intuitively express the tone, vividness and brightness of the color and is convenient for color comparison;
c, after pretreatment, extracting gray features in the image, and analyzing and comparing the extracted features to obtain pixel coordinates of the fixed hole;
d, after obtaining a pixel coordinate result and position data of the corresponding cooperative mechanical arm, converting a measurement result of image processing into a measurement coordinate system of the whole 2D visual system by a 2D visual system through matrix operation;
e, sending the measurement coordinates of the fixed hole to a robot trolley control system;
s4: after the positioning is finished, the mechanical arm drives the first clamping plate and the second clamping plate to move to the position above the fixing hole of the container according to the position of the 2D vision system, and then the first clamping plate and the second clamping plate are inserted into the fixing hole;
s5: the clamping jaw for clamping the electric cylinder returns, the first clamping plate and the second clamping plate are loosened, the torsion spring returns, and the first clamping plate and the second clamping plate are hung to clamp the fixing hole under the action of the torsion spring;
s6: after the remote control trolley robot returns to the ground, the other end of the binding belt is manually pulled up on the ground. When the binding belt is stressed, the first swinging channel and the second swinging channel on the connecting plate move towards the two ends of the channel, so that the first clamping plate and the second clamping plate are always in an open clamping state, the clamping force is larger as the binding belt is stressed, and then the other end of the binding belt is tightly bound.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311678007.4A CN117400221A (en) | 2023-12-08 | 2023-12-08 | Special crawling robot for container operation and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311678007.4A CN117400221A (en) | 2023-12-08 | 2023-12-08 | Special crawling robot for container operation and application method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117400221A true CN117400221A (en) | 2024-01-16 |
Family
ID=89491084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311678007.4A Pending CN117400221A (en) | 2023-12-08 | 2023-12-08 | Special crawling robot for container operation and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117400221A (en) |
-
2023
- 2023-12-08 CN CN202311678007.4A patent/CN117400221A/en active Pending
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