CN117819154A - Automatic handling device of robot - Google Patents
Automatic handling device of robot Download PDFInfo
- Publication number
- CN117819154A CN117819154A CN202410238656.0A CN202410238656A CN117819154A CN 117819154 A CN117819154 A CN 117819154A CN 202410238656 A CN202410238656 A CN 202410238656A CN 117819154 A CN117819154 A CN 117819154A
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- Prior art keywords
- rack
- platform
- module
- driving gear
- handling device
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- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 20
- 230000009471 action Effects 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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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
- B65G13/00—Roller-ways
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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
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
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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
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/007—Means for moving conveyor frames and control arrangements therefor
- B65G41/008—Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The application belongs to the technical field of carrying. In view of the problem that the existing carrying device is easy to topple when loading and unloading, the application discloses a robot automatic carrying device, which comprises a movable carrier; the support platform is arranged on the movable carrier; the carrying platform is assembled on the supporting platform in a sliding way; the carrying platform is provided with a first rack; the driving gear is meshed with the first rack; the power module is in transmission connection with the driving gear so as to drive the driving gear to rotate forward or reversely; the driven gear is meshed with the driving gear; the second rack is meshed with the driven gear and is assembled on the supporting platform in a sliding way; the second rack is arranged in parallel with the first rack; the traveling module is connected with the second rack and is assembled on one side of the mobile carrier corresponding to the end part of the first rack; the walking module can walk on the working surface. When the carrying device is used for unloading, the stress point of the whole device is changed through the walking module, so that toppling is avoided, and the carrying device is safe and reliable.
Description
Technical Field
The application belongs to the technical field of carrying, and particularly relates to an automatic carrying device of a robot.
Background
During the transport of the articles, handling is often involved. In the past, the transportation is usually carried by manpower, which is time-consuming and labor-consuming; along with the progress of technology, handling devices have also been developed, such as an AGV forklift, an AGV car with a lifting device, and the like.
At present, a robot carrying device with a forklift is used for carrying objects, in the process of loading and unloading, the objects can be loaded and unloaded only by translating the vehicle body back and forth and left and right, enough space is needed for completing the action, and the requirement on space conditions is high, so that the robot carrying device is not suitable for a working environment with a small space.
In order to solve the above problems, a translatable loading and unloading mechanism is designed on a carrying device so as to move below the articles to be loaded or above an unloading platform. However, in the actual use process, the gravity center of the structure can deviate in the loading and unloading processes, so that the carrying device is easy to topple over, and safety accidents are caused.
Disclosure of Invention
In view of the problem that the existing conveying device easily falls down to cause safety accidents in the loading and unloading process, one of the purposes of the application is to provide an automatic robot conveying device which does not need a large working space in the working process, can avoid falling down of the conveying device, and is therefore very suitable for conveying objects.
In order to achieve the above purpose, the present application adopts the following technical scheme:
an automatic robot carrying device comprises a movable carrier which is placed on a working surface; the support platform is arranged on the movable carrier; the carrying platform is assembled on the supporting platform in a sliding way and is used for loading articles; the carrying platform is provided with a first rack; the driving gear is rotatably arranged on the supporting platform and meshed with the first rack; the power module is in transmission connection with the driving gear so as to drive the driving gear to rotate forwards or backwards; the driven gear is rotatably arranged on the supporting platform and meshed with the driving gear; the second rack is meshed with the driven gear and is slidably assembled on the supporting platform; the second rack and the first rack are arranged in parallel; the traveling module is connected with the second rack and is assembled on one side of the mobile carrier corresponding to the end part of the first rack; the walking module can walk on the working surface under the action of the second rack.
In one of the technical schemes disclosed in the application, a conveying module is arranged on the carrying platform and used for conveying the article to one side.
In one of the technical schemes disclosed in the application, a buffer mechanism is arranged at the lower side of the tail end of the conveying module.
In one of the technical schemes disclosed in the application, the buffer mechanism comprises a mounting seat fixedly arranged at the tail end of the conveying module; the elastic piece is arranged on the mounting seat; the buffer plate is arranged on the elastic piece; wherein, the buffer surface of buffer board still is equipped with the protection pad.
In one of the technical schemes disclosed in the application, the carrying platform is also provided with a lifting module; the lifting module is connected with the conveying module to adjust the height of the conveying module.
In one of the technical schemes disclosed in the application, one side of the supporting surface of the supporting platform is provided with a linear guide rail parallel to the first rack, and the other side is provided with a hollow groove; the bottom of the carrying platform is provided with a sliding seat which is in sliding fit with the linear guide rail; the driving gear and the driven gear are both arranged in the empty groove, and the driving gear part penetrates through the empty groove to be meshed with the first rack.
In one of the technical schemes disclosed in the application, two sides of the supporting platform along the length direction of the first rack are provided with side plates; a slideway parallel to the length direction of the first rack is arranged on the side plate; and sliding blocks in sliding fit with the slide ways are arranged on two sides of the carrying platform.
In one of the technical schemes disclosed in the application, the device further comprises two limit sensors; wherein, be equipped with on the transport platform with limit sensor complex response piece.
In one of the technical schemes disclosed in the application, two limit sensors are respectively arranged at one side and a central area of the supporting platform; the induction piece is arranged at the center of the side face of the carrying platform.
In one of the technical schemes disclosed in the application, the section of the slideway is in a T shape; the linear guide rail is I-shaped.
According to the above description, compared with the prior art, the beneficial effects of the application are as follows:
the device has simple structure, and the traveling module synchronously moves in the same direction along with the carrying platform through the transmission relation of the first rack, the driving gear, the driven gear and the second rack, so that the stress point of the whole device can be correspondingly changed, the phenomenon of toppling during unloading is avoided, and the safety is high; further, by arranging the conveying module on the carrying platform, the articles are conveyed to one side, so that automatic unloading can be finished; finally, the limit sensor and the sensing piece control the limit movement position of the carrying platform, so that accidents can be avoided, and the safety of the device is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic three-dimensional structure of the present application.
Fig. 2 is a schematic view of a longitudinal sectional structure of the present application.
Fig. 3 is a schematic view of a longitudinal section in another direction of the present application.
Fig. 4 is a schematic structural view of a buffering mechanism of the present application.
Reference numerals: 1-moving a carrier; 2-a support platform; 21-a linear guide rail; 22-empty slots; 23-side plates; 24-slideway; 3-a carrying platform; 31-a first rack; 32-a sliding seat; 33-a conveying module; 34-a buffer mechanism; 341-a mount; 342-elastic member; 343-a buffer plate; 35-a slider; 36-a sensor chip; 4-a driving mechanism; 41-a drive gear; 42-a power module; 5-an anti-toppling mechanism; 51-driven gear; 52-a second rack; 53-a walking module; 531-mounting rack; 532—road wheels; and 6-limiting sensor.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In this application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the application discloses automatic handling device of robot, its structure is as shown in figures 1-4, including setting up the removal carrier 1 on the working face, set up supporting platform 2 on removing carrier 1, sliding fit in supporting platform 2 on the transport platform 3, be used for driving the actuating mechanism 4 that transport platform 3 removed and sliding fit on supporting platform 2, follow the anti-toppling mechanism 5 of transport platform 3 synchronous motion.
Specifically, as shown in fig. 2 and 3, one side of the supporting surface of the supporting platform 2 is provided with a linear guide rail 21, and the other side is provided with a hollow groove 22.
The driving mechanism 4 is disposed in the hollow 22 and has a driving gear 41 and a power module 42 for driving the driving gear 41 to rotate. Wherein the driving gear 41 is rotatably installed in the hollow groove 22 and at least partially penetrates through the hollow groove 22; the power module 42 is in transmission connection with the driving gear 41 to drive the driving gear 41 to rotate in the forward or reverse direction.
The bottom of the carrying platform 3 is provided with a first rack 31 parallel to the linear guide rail 21 and a sliding seat 32 in sliding fit with the linear guide rail 21; wherein the first rack 31 is engaged with the driving gear 41. Thereby driving the driving gear 41 to rotate forward or backward through the power module 42, so that the carrying platform 3 moves back and forth along the linear guide rail 21.
The anti-toppling mechanism 5 includes a driven gear 51, a second rack 52, and a traveling module 53. Wherein the driven gear 51 is rotatably installed in the hollow 22 and engaged with the driving gear 41; the second rack 52 is slidably assembled on the support platform 2 and meshed with the driven gear 51, and the second rack 52 moves back and forth along the length direction of the linear guide rail 21 under the action of the driven gear 51; the walking module 53 is connected with the second rack 52 and moves on the working surface along with the second rack 52.
In the actual working process, firstly, the whole device is moved to the front of the unloading platform by moving the carrier 1; then, the power module 42 is controlled to act to drive the driving gear 41 to rotate, so that the carrying platform 3 outwards extends out to be directly above the unloading platform to unload, at the moment, the driven gear 51 reversely rotates under the drive of the driving gear 41, so that the second rack 52 is driven to move along with the carrying platform 3 in the same direction, and the walking module 53 is driven to move forwards to be directly below the carrying platform 3, so that the stress point of the whole device is changed, the dumping risk is reduced, and the stability of the whole device is improved.
In this embodiment, the mobile carrier 1 is an AGV intelligent vehicle, which is equipped with a navigation system, and can achieve accurate positioning, so as to move to a set position, which is the prior art, and will not be described in detail here; it should be understood that, for those skilled in the art, it is easy to understand that the moving carrier 1 may be other movable mechanisms, and the embodiment is not limited thereto.
The linear guide 21 is an i-shaped guide, and the purpose thereof is to avoid the separation of the conveyance platform 3 and the linear guide 21.
The power module 42 is a servo motor or other mechanical power structure, which is not difficult for those skilled in the art, and only needs to drive the driving gear 41 to rotate.
As shown in fig. 1, the traveling module 53 includes a mounting frame 531 and traveling wheels 532 provided on the mounting frame 531 and contacting the working surface. It should be understood that there may be a plurality of travelling wheels 532, and the travelling wheels 532 are uniformly distributed on the mounting frame 531, so long as the travelling wheels 532 are uniformly stressed, and the embodiment is not limited thereto.
In some embodiments, for easy loading and unloading, the conveying module 33 is disposed on the carrying platform 3, and the articles are placed on the conveying module 33, so that when unloading, the conveying module 33 can convey the articles thereon to one side, and the articles approach to the unloading platform, thereby automatically completing unloading.
Specifically, in the present embodiment, the conveying module 33 is a roller conveying structure, and it is understood that other conveying structures, such as a conveying belt structure, are easily conceivable to those skilled in the art, and the present embodiment is not limited thereto.
Considering the problem that the articles are easily damaged when the articles leave the conveying module 33 and finally fall down onto the unloading platform from the side of the conveying module 33, the buffer mechanism 34 is disposed at the lower side of the end of the conveying module 33 in this embodiment, so that the side of the conveying module 33 finally leaves down onto the buffer mechanism 34 for buffering, and slowly falls down onto the unloading platform under the action of gravity, so as to prevent the articles from being damaged.
Specifically, as shown in fig. 4, the buffer mechanism 34 includes a mounting seat 341 fixedly disposed at an end of the conveying module 33, an elastic member 342 disposed on the mounting seat 341, and a buffer plate 343 disposed on the elastic member 342. More specifically, a protective pad is further provided on the buffer plate 343 to further counteract the impact force of the article falling.
In some embodiments, to improve the practicality of the device, so that it can meet loading and unloading platforms of various heights, the carrying platform 3 includes a lifting module (not shown in the drawings), wherein the conveying module 33 is mounted on the lifting module, that is, the conveying module 33 is supported by the lifting module, so that the height of the conveying module 33 is adjusted by the lifting module, so as to adapt to the loading and unloading platforms of various heights, thereby being beneficial to improving the practicality of the device.
Specifically, in this embodiment, the lifting module is an electric telescopic rod. It should be understood that the lifting module may be a scissor-type telescopic structure, and the embodiment is not limited thereto.
In some embodiments, the support platform 2 is provided with side plates 23 along two sides of the linear guide rail 21, and the side plates 23 are provided with slide ways 24; correspondingly, the two sides of the carrying platform 3 are provided with the sliding blocks 35 which are in sliding fit with the sliding ways 24, so that the stability of the carrying platform 3 can be improved, and meanwhile, the side plates 23 also have a certain limiting function, so that the effect of protecting objects and preventing the objects from falling is achieved.
More specifically, the slide 24 has a T-shaped cross section, so that the slide 35 is prevented from being separated from the slide 24.
In some embodiments, in order to protect the whole device and avoid the problem that the service life is affected due to the excessive deformation of the supporting platform 2 caused by the excessive movement of the carrying platform 3, as shown in fig. 1 and fig. 2, in this embodiment, two limit sensors 6 are disposed on the supporting platform 2, and correspondingly, an induction piece 36 corresponding to the limit sensors 6 is disposed on the carrying platform 3; when the sensing piece 36 moves to the limit sensor 6, the limit sensor 6 can control the driving mechanism 4 to stop working, so that the carrying platform 3 is limited.
Specifically, the sensing piece 36 is provided at the center of the side face of the carrying platform 3; two limit sensors 6 are respectively arranged at one side and the central area of the supporting platform 2. When the sensing piece 36 moves to the limit sensor on one side of the supporting platform 2, the carrying platform 3 extends outwards to a limit position, and at the moment, the driving mechanism 4 is controlled to perform limit braking, so that the supporting platform 2 can be prevented from being deformed excessively under the force; when the carrying platform 3 is reset, the sensing piece 36 moves to the limit sensor located in the central area of the supporting platform 2, and at this time, the driving mechanism 4 is controlled to limit the brake, so that the carrying platform 3 is reset to the initial working position.
Working principle:
when unloading is needed, firstly, the whole device is moved to the front of the unloading platform by moving the carrier 1, and the power module 42 is controlled to act to drive the driving gear 41 to rotate, so that the carrying platform 3 extends out of the supporting platform 2; at this time, the driven gear 51 reversely rotates under the drive of the driving gear 41, so as to drive the second rack 52 to synchronously move in the same direction along with the carrying platform 3, so that the traveling module 53 moves forwards, thereby changing the stress point of the whole device, reducing the risk of toppling, and improving the stability of the whole device; finally, according to the height of the unloading platform, the height of the conveying module 33 is adjusted through the lifting module, the conveying module 33 conveys the articles on the conveying module to one side of the unloading platform, one end of each article falls onto the unloading platform firstly, and the other end of each article falls onto the buffer plate 343 after being separated from the conveying module 33, so that impact force when the articles fall is counteracted, and damage to the articles is avoided.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present application, and are not meant to limit the scope of the invention, but to limit the scope of the invention.
Claims (10)
1. An automatic robot handling unit, comprising:
a movable carrier placed on the working surface;
the support platform is arranged on the movable carrier;
the carrying platform is assembled on the supporting platform in a sliding way and is used for loading articles; the carrying platform is provided with a first rack;
the driving gear is rotatably arranged on the supporting platform and meshed with the first rack;
the power module is in transmission connection with the driving gear so as to drive the driving gear to rotate forwards or backwards;
the driven gear is rotatably arranged on the supporting platform and meshed with the driving gear;
the second rack is meshed with the driven gear and is slidably assembled on the supporting platform; the second rack and the first rack are arranged in parallel;
the traveling module is connected with the second rack and is assembled on one side of the mobile carrier corresponding to the end part of the first rack; the walking module can walk on the working surface under the action of the second rack.
2. The robotic automatic handling device of claim 1, wherein the handling platform is provided with a transport module for transporting the article to one side.
3. The robotic automatic handling device of claim 2, wherein a buffer mechanism is disposed on a lower side of the distal end of the transport module.
4. The robotic automatic handling device of claim 3, wherein the buffer mechanism comprises:
the mounting seat is fixedly arranged at the tail end of the conveying module;
the elastic piece is arranged on the mounting seat;
the buffer plate is arranged on the elastic piece;
wherein, the buffer surface of buffer board still is equipped with the protection pad.
5. The robot handling unit of any of claims 2 to 4, wherein,
the carrying platform is also provided with a lifting module;
the lifting module is connected with the conveying module to adjust the height of the conveying module.
6. The robotic automatic handling device of claim 1, wherein,
a linear guide rail parallel to the first rack is arranged on one side of the supporting surface of the supporting platform, and a hollow groove is formed on the other side of the supporting surface of the supporting platform;
the bottom of the carrying platform is provided with a sliding seat which is in sliding fit with the linear guide rail;
the driving gear and the driven gear are both arranged in the empty groove, and the driving gear part penetrates through the empty groove to be meshed with the first rack.
7. The robotic automatic handling device of claim 6, wherein,
the support platform is provided with side plates along two sides of the length direction of the first rack;
a slideway parallel to the length direction of the first rack is arranged on the side plate;
and sliding blocks in sliding fit with the slide ways are arranged on two sides of the carrying platform.
8. The robotic automatic handling device of claim 7, wherein,
the device also comprises two limit sensors;
wherein, be equipped with on the transport platform with limit sensor complex response piece.
9. The robotic automatic handling device of claim 8, wherein,
the two limit sensors are respectively arranged at one side and the central area of the supporting platform;
the induction piece is arranged at the center of the side face of the carrying platform.
10. The robotic automatic handling device of claim 7, wherein,
the section of the slideway is T-shaped;
the linear guide rail is I-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410238656.0A CN117819154A (en) | 2024-03-04 | 2024-03-04 | Automatic handling device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410238656.0A CN117819154A (en) | 2024-03-04 | 2024-03-04 | Automatic handling device of robot |
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| Publication Number | Publication Date |
|---|---|
| CN117819154A true CN117819154A (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410238656.0A Pending CN117819154A (en) | 2024-03-04 | 2024-03-04 | Automatic handling device of robot |
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| CN (1) | CN117819154A (en) |
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2024
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