CN117945074A - Anti-drop's automatic transfer robot - Google Patents
Anti-drop's automatic transfer robot Download PDFInfo
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- CN117945074A CN117945074A CN202410273707.3A CN202410273707A CN117945074A CN 117945074 A CN117945074 A CN 117945074A CN 202410273707 A CN202410273707 A CN 202410273707A CN 117945074 A CN117945074 A CN 117945074A
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Abstract
The invention relates to the technical field of automatic carrying, in particular to an anti-falling automatic carrying robot, which comprises the following components: the moving part comprises a first moving component and a supporting plate, and the first moving component is arranged on the lower surface of the supporting plate and used for driving the supporting plate to move; a carrying part arranged on the upper surface of the supporting plate, wherein the carrying part is used for placing articles to be carried; and a controller disposed on top of the carrying section, the controller being configured to control the moving section and the carrying section. The moving part is a moving assembly of the robot and consists of a first moving assembly and a supporting plate, and is used for placing articles to be carried. The carrying part is a carrying assembly of the robot and comprises a storage rack body and a second moving assembly and is used for storing articles. The controller is a control portion of the robot for controlling operations of the moving portion and the carrying portion. In the carrying process, the bearing plates are placed in the storage frame body from top to bottom, so that the falling of the articles to be carried is avoided, and the carrying efficiency and safety are improved.
Description
Technical Field
The invention relates to the technical field of automatic conveying, in particular to an anti-falling automatic conveying robot.
Background
A transfer robot is an automated device specifically designed for transferring objects or goods. They are commonly used in factories, warehouses, logistics centers, etc. to improve production efficiency and reduce labor costs. These robots can perform various tasks such as handling heavy objects, transporting materials, loading and unloading goods, etc., according to a predetermined program or sensing the environment in real time through sensors.
In the process of carrying, the objects to be carried cannot be accurately placed in the carrying and storing box completely and automatically. This increases the risk of the transfer process to some extent, which is prone to dropping the article, which may result in damage to the article.
Therefore, how to design an anti-drop automatic transfer robot to solve the problem of easy drop damage in the transfer and transfer process after clamping the articles in the prior art is a new trend of technical development.
Disclosure of Invention
In view of this, the invention provides an anti-drop automatic transfer robot, which mainly aims to solve the problem that articles are easy to drop and damage in the transfer and transfer process after being clamped.
In one aspect, the present invention provides an anti-drop automated handling robot, comprising:
The moving part comprises a first moving component and a supporting plate, wherein the first moving component is arranged on the lower surface of the supporting plate and used for driving the supporting plate to move;
a carrying part arranged on the upper surface of the supporting plate, wherein the carrying part is used for placing articles to be carried;
and a controller provided on top of the carrying section, the controller being configured to control the moving section and the carrying section.
In some embodiments of the application, the first mobile component comprises:
The first moving parts comprise four moving parts, and the first moving parts are fixedly arranged on the lower surface of the supporting plate;
The first driving motor is arranged on one side of the first moving part, the driving end of the first driving motor is connected with the axis of the first moving part, and the first driving motor is in wireless connection with the controller.
In some embodiments of the application, the handling portion comprises:
The storage frame body is arranged on the upper surface of the supporting plate and is of a cube structure;
The second moving assembly is arranged in the storage frame body and used for moving the articles to be carried.
In some embodiments of the present application, a side wall of the storage rack body is provided with a conveying opening near one end of the supporting plate, and one end of the supporting plate extends out of the conveying opening.
In some embodiments of the application, the second moving assembly comprises:
the sliding rail comprises two symmetrically arranged sliding rails, and the sliding rails are arranged on the upper surface of the supporting plate;
The first sliding blocks comprise two sliding blocks which are arranged on the sliding rail in a sliding way;
The stepping motor is arranged on the inner sides of the two sliding rails opposite to each other, the stepping motor is positioned at one end of the supporting plate in the storage frame body, and the controller is in wireless connection with the stepping motor.
In some embodiments of the application, the second mobile assembly further comprises:
The ball screw is arranged on the inner sides of the two sliding rails opposite to each other, and one end of the ball screw is connected with the stepping motor;
The second sliding block is arranged on the ball screw in a sliding way;
A nut seat provided on the ball screw;
The lower surface of the bearing plate is respectively connected with the upper surfaces of the nut seat, the two first sliding blocks and the second sliding blocks;
the distance measuring sensor is arranged on the bearing plate and is in wireless connection with the controller;
The mass sensor is arranged on the lower surface of the bottom of the bearing plate and is in wireless connection with the controller;
the conveying assembly is arranged on an inner side wall of the storage frame body, which is far away from the conveying opening.
In some embodiments of the application, the transfer assembly comprises:
The second driving motors are sequentially arranged on one inner side wall of the storage frame body along the vertical direction of the supporting plate, and are in wireless connection with the controller;
The conveying wheels comprise two conveying wheels which are arranged at the driving end of the second driving motor;
the conveying belt is sleeved on the two conveying wheels;
the first clamping pieces comprise a plurality of first clamping piece openings which are downwards arranged on the conveyor belt;
The pressure sensor comprises a plurality of pressure sensors, wherein the pressure sensors are arranged on the lower surface of the first clamping piece and are in wireless connection with the controller.
In some embodiments of the present application, the supporting plate has a cube structure with an opening at the upper side, and a second clamping piece with an upward opening is arranged at one side of the supporting plate, which is close to the conveying port, and the inside of the supporting plate is used for placing the articles to be carried.
Compared with the prior art, the invention has the following beneficial effects:
The moving part is a moving assembly of the robot and consists of a first moving assembly and a supporting plate, and a carrying part is arranged above the supporting plate and used for placing articles to be carried. The transport portion is the transport subassembly of robot, is located the backup pad upper surface, including storing support body and second removal subassembly for deposit article. The controller is a control part of the robot, is positioned at the top of the carrying part, and is used for controlling the operation of the moving part and the carrying part.
Further, after the clamping mechanism clamps the articles to be conveyed, the supporting plate can be used for placing the articles to be conveyed, and the supporting plate is positioned on the supporting plate on the outer side of the storage frame body in the initial state, so that the articles to be conveyed can be placed by the related clamping mechanism, the placing difficulty of the clamping mechanism is reduced, and the conveying efficiency of transferring and conveying the articles to be conveyed is improved.
Further, the controller determines whether an article to be carried exists on the support plate according to the real-time quality change of the support plate, when the controller detects that the real-time quality of the support plate is not equal to 0, the controller controls the stepping motor to drive the support plate to move towards the storage frame body, and the support plate is clamped on the conveyor belt by matching the second clamping piece with the upward opening of the support plate with the first clamping piece with the downward opening of the conveyor belt.
Further, the controller receives pressure data monitored by the pressure sensor in real time, when the pressure data is not equal to 0, the second driving motor is controlled to drive the conveying belt and the supporting plate to move upwards, then the article to be carried in the supporting plate is moved to the upper part inside the storage frame body, the controller also receives distance data monitored by the distance measuring sensor in real time, when the monitored distance is smaller than the preset distance, the controller controls the second driving motor to stop running, and the supporting plate is prevented from being extruded mutually at the inner top of the storage frame body, so that the article to be carried is prevented from being damaged.
Further, the bearing plate can comprise a plurality of bearing plates which are of a cube structure with an opening at the upper part, and the bearing plates sequentially move into the storage frame body, and the bearing plates are placed from top to bottom in the storage frame body, so that the falling of articles to be carried is avoided, and the carrying efficiency and safety are improved.
Further, when the controller transfers the articles to be carried, the first driving motor can be controlled to operate according to actual conditions, and then the moving part is driven to move, so that the robot can move to a destination, and the flexibility and adaptability of carrying the articles are improved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. In the drawings:
Fig. 1 is a side view of an anti-drop automated handling robot according to an embodiment of the present invention;
Fig. 2 is a top view of an anti-drop automated handling robot according to an embodiment of the present invention.
In the figure: 1. a controller; 2. a first moving member; 3. a first driving motor; 4. a support plate; 5. a storage rack; 6. a transfer port; 7. a slide rail; 8. a first slider; 9. a second slider; 10. a stepping motor; 11. a nut seat; 12. a ball screw; 13. a bearing plate; 14. a second driving motor; 15. a transfer wheel; 16. a conveyor belt; 17. a first clamping piece; 18. and the second clamping piece.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1-2, the present embodiment provides an anti-falling automated handling robot, including:
A moving part including a first moving assembly and a support plate 4, the first moving assembly being provided at a lower surface of the support plate 4 for driving movement of the support plate 4;
A carrying section provided on the upper surface of the support plate 4, the carrying section being configured to hold an article to be carried;
And a controller 1 provided on top of the carrying section, the controller 1 being configured to control the moving section and the carrying section.
It can be understood that, through setting up first moving component and backup pad 4 in this embodiment, realized the removal function of backup pad 4 for transfer robot can independently remove, has improved transfer robot's flexibility and convenience, and transport portion sets up in the upper surface of backup pad 4, makes to treat that the transport article can conveniently place in transport portion, and realize the transport of article through transport portion, has simplified step and the process of article transport, and controller 1 sets up in the top of transport portion, makes controller 1 can conveniently control moving portion and transport portion, has improved transfer robot's controllability and intelligent degree.
In a specific embodiment of the present application, the first moving assembly includes:
A first moving member 2 including four, wherein the first moving member 2 is fixedly arranged on the lower surface of the supporting plate 4;
The first driving motor 3 is arranged on one side of the first moving member 2, the driving end of the first driving motor 3 is connected with the axis of the first moving member 2, and the first driving motor 3 is in wireless connection with the controller 1.
It will be appreciated that the first moving assembly in this embodiment includes four first moving members 2, and these first moving members 2 are fixedly disposed on the lower surface of the support plate 4. This design allows smooth and efficient movement of the support plate 4 in four directions. Both translation on a plane and adjustment of position or orientation can be achieved by means of the four first displacement members 2, which greatly improves the mobility and flexibility of the device.
Specifically, each first moving member 2 is provided with a first driving motor 3, and these first driving motors 3 are disposed on one side of the first moving member 2 and connected with the axis of the first moving member 2, and by precisely controlling the rotation of each first driving motor 3, precise control of the robot position can be achieved, and the robot is suitable for a scene requiring high-precision positioning and operation. The first driving motor 3 and the controller 1 are connected in a wireless mode, so that the device structure is simplified, wiring complexity is reduced, and maintainability and expandability of the device are improved. Meanwhile, the wireless connection enables the equipment to realize remote control, monitoring and data analysis, and the intelligent level of the equipment is further improved.
In a specific embodiment of the present application, the carrying section includes:
The storage frame body 5 is arranged on the upper surface of the supporting plate 4, and the storage frame body 5 has a cube structure;
And the second moving assembly is arranged in the storage frame body 5 and is used for moving the articles to be carried.
It will be appreciated that the design of the storage shelves 5 in this embodiment allows items to be neatly placed and stored, thereby improving space utilization. The cube structure also makes the article compacter when storing, has reduced extravagant. Meanwhile, the second moving assembly is arranged to enable the articles to be carried to conveniently move in the storage frame body 5, so that carrying speed is increased. Because of the existence of the second moving component, the articles do not need to be carried by manpower or other external tools, but move in an automatic mode, so that the carrying flexibility is greatly improved. Through automatic handling mode, can reduce the dependence to manpower resources to reduce the operation cost of enterprise. Meanwhile, due to the improvement of the conveying efficiency, errors and losses caused by manual conveying can be reduced.
In one embodiment of the present application, a side wall of the storage rack 5 is provided with a conveying opening 6 near one end of the support plate 4, and one end of the support plate 4 extends out of the conveying opening 6.
In a specific embodiment of the present application, the second moving assembly includes:
the sliding rail 7 comprises two symmetrically arranged sliding rails 7, and the sliding rail 7 is arranged on the upper surface of the supporting plate 4;
the first sliding blocks 8 comprise two sliding blocks and are arranged on the sliding rail 7 in a sliding way;
The stepper motor 10 is disposed on the inner sides of the two sliding rails 7, and the stepper motor 10 is disposed at one end of the supporting plate 4 in the storage rack 5, and the controller 1 is wirelessly connected with the stepper motor 10.
In a specific embodiment of the present application, the second moving assembly further includes:
The ball screw is arranged on the inner sides opposite to the two sliding rails 7, and one end of the ball screw is connected with the stepping motor 10;
a second slider 9 slidably provided on the ball screw;
A nut seat 11 provided on the ball screw;
The lower surfaces of the bearing plates are respectively connected with the upper surfaces of the nut seat 11 and the two first sliding blocks 8 and the second sliding blocks 9;
the distance measuring sensor is arranged on the bearing plate and is in wireless connection with the controller 1;
a mass sensor provided on a lower surface of the bottom of the support plate, the mass sensor being wirelessly connected with the controller 1;
The conveying component is arranged on an inner side wall of the storage frame body 5, which is far away from the conveying opening 6.
It will be appreciated that in this embodiment flexible movement of the carrier plate on the support plate 4 is achieved by the second movement assembly. The stepper motor 10 drives the ball screw to rotate so that the nut seat 11 and the bearing plate can move smoothly along the slide rail 7, and the design allows a user to easily move an article from one position to another, so that the efficiency of storing and taking the article is greatly improved. The distance measuring sensor is arranged on the supporting plate and is in wireless connection with the controller 1, so that the accurate position of the supporting plate and articles on the supporting plate can be monitored in real time. The quality sensor is arranged at the bottom of the bearing plate and can monitor the quality of articles on the bearing plate in real time. The conveying subassembly is set up in storing the one side of keeping away from transfer port 6 in the support body 5, can convey the carrier board to the inside eminence of storing the support body 5, and the top open-ended cube structure of the structure of carrier board has avoided dropping the risk simultaneously, and then has reduced article damage rate and has improved article transport efficiency.
In a specific embodiment of the present application, the transfer assembly includes:
The second driving motors are sequentially arranged on one inner side wall of the storage frame body 5 along the direction perpendicular to the supporting plate 4, and are in wireless connection with the controller 1;
The conveying wheels comprise two conveying wheels which are arranged at the driving end of the second driving motor;
the conveying belt is sleeved on the two conveying wheels;
the first clamping pieces 17 comprise a plurality of first clamping pieces 17, and the openings of the first clamping pieces 17 are downwards arranged on the conveyor belt;
The pressure sensor comprises a plurality of pressure sensors, wherein the pressure sensors are arranged on the lower surface of the first clamping piece 17 and are in wireless connection with the controller 1.
It will be appreciated that by providing two second drive motors and having them disposed in sequence on the inner side walls of the storage frame 5 in a direction perpendicular to the support plate 4 in this embodiment, continuous and stable operation of the conveyor belt is achieved. When the second driving motors are started, the second driving motors can drive the conveying wheels to rotate, and then the conveying belt is driven to perform circulating motion. The design ensures that the articles can be automatically and continuously conveyed on the conveyor belt, thereby greatly improving the working efficiency. By providing a plurality of first clips 17 with openings downwards on the conveyor belt, the carrier plate can be stably fixed during the conveying of the articles, preventing the articles from sliding or moving during the conveying. By providing a plurality of pressure sensors on the lower surface of the first clamping member 17, the weight or pressure change of the article can be monitored in real time. The pressure sensors are connected with the controller 1 in a wireless way, and can transmit monitored data to the controller 1, so that the controller 1 can intelligently control the transmission assembly according to real-time data, such as adjusting the transmission speed, starting or stopping transmission, and the like.
In one embodiment of the present application, the supporting plate has a cubic structure with an upper opening, and a second clamping piece 18 with an upward opening is arranged on one side of the supporting plate, which is close to the conveying opening 6, and the inside of the supporting plate is used for placing the articles to be conveyed.
It can be understood that the structure of the supporting plate in this embodiment is a cube with an opening at the upper part, and this design ensures that the articles can be easily placed and prevented from falling, and also ensures that the articles are stably supported inside the supporting plate. Particularly, the second clamping piece 18 with an upward opening is arranged on one side, close to the conveying opening 6, of the supporting plate, and the supporting plate can be stably clamped on the conveying belt through the mutual matching of the second clamping piece 18 and the first clamping piece 17, so that the supporting plate moves to the high position inside the storage frame body 5 through the movement of the conveying belt, the falling risk of articles is further reduced, and the article conveying efficiency is improved.
Specifically, the specific workflow of the anti-drop automated handling robot in this embodiment is as follows:
After the clamping mechanism clamps the articles to be conveyed, the supporting plate can be used for placing the articles to be conveyed, and the supporting plate is positioned on the supporting plate 4 on the outer side of the storage frame body 5 in the initial state, so that the articles to be conveyed can be placed by the related clamping mechanism, the placing difficulty of the clamping mechanism is reduced, and the conveying efficiency of transferring and conveying the articles to be conveyed is improved.
The controller 1 determines whether an article to be carried exists on the supporting plate according to the real-time quality change of the supporting plate, when the controller 1 detects that the real-time quality of the supporting plate is not equal to 0, the stepping motor 10 is controlled to drive the supporting plate to move towards the storage frame body 5, and the supporting plate is clamped on the conveyor belt by matching the second clamping piece 18 with the upward opening of the supporting plate with the first clamping piece 17 with the downward opening of the conveyor belt.
The controller 1 receives pressure data monitored by the pressure sensor in real time, when the pressure data is not equal to 0, the second driving motor is controlled to drive the conveyor belt and the bearing plate to move upwards, then the article to be carried in the bearing plate is moved to the upper part inside the storage frame body 5, the controller 1 also receives distance data monitored by the distance measuring sensor in real time, when the monitored distance is smaller than the preset distance, the controller 1 controls the second driving motor to stop running, and the phenomenon that the top of the bearing plate in the storage frame body 5 is mutually extruded to damage the article to be carried is avoided.
The bearing plate can include a plurality of, and the bearing plate is top open-ended cube structure, and a plurality of bearing plates remove in proper order to store in the support body 5, and the bearing plate is by last placing down in storing the support body 5, so avoided waiting to carry dropping of article, improved the efficiency and the security of transport.
When the controller 1 transfers the articles to be carried, the first driving motor 3 can be controlled to run according to the actual conditions, and then the moving part is driven to move, so that the robot can move to a destination, and the flexibility and adaptability of carrying the articles are improved.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (8)
1. An anti-drop automated transfer robot, comprising:
The moving part comprises a first moving component and a supporting plate, wherein the first moving component is arranged on the lower surface of the supporting plate and used for driving the supporting plate to move;
a carrying part arranged on the upper surface of the supporting plate, wherein the carrying part is used for placing articles to be carried;
and a controller provided on top of the carrying section, the controller being configured to control the moving section and the carrying section.
2. The anti-drop automated handling robot of claim 1, wherein the first movement assembly comprises:
The first moving parts comprise four moving parts, and the first moving parts are fixedly arranged on the lower surface of the supporting plate;
The first driving motor is arranged on one side of the first moving part, the driving end of the first driving motor is connected with the axis of the first moving part, and the first driving motor is in wireless connection with the controller.
3. The drop-proof automated transfer robot according to claim 2, wherein the transfer section includes:
The storage frame body is arranged on the upper surface of the supporting plate and is of a cube structure;
The second moving assembly is arranged in the storage frame body and used for moving the articles to be carried.
4. The automated handling robot for preventing a drop according to claim 3, wherein a side wall of the storage rack body is provided with a transfer port at one end near the support plate, and one end of the support plate extends out of the transfer port.
5. The anti-drop automated transfer robot of claim 4, wherein the second movement assembly comprises:
the sliding rail comprises two symmetrically arranged sliding rails, and the sliding rails are arranged on the upper surface of the supporting plate;
The first sliding blocks comprise two sliding blocks which are arranged on the sliding rail in a sliding way;
The stepping motor is arranged on the inner sides of the two sliding rails opposite to each other, the stepping motor is positioned at one end of the supporting plate in the storage frame body, and the controller is in wireless connection with the stepping motor.
6. The anti-drop automated handling robot of claim 5, wherein the second movement assembly further comprises:
The ball screw is arranged on the inner sides of the two sliding rails opposite to each other, and one end of the ball screw is connected with the stepping motor;
The second sliding block is arranged on the ball screw in a sliding way;
A nut seat provided on the ball screw;
The lower surface of the bearing plate is respectively connected with the upper surfaces of the nut seat, the two first sliding blocks and the second sliding blocks;
the distance measuring sensor is arranged on the bearing plate and is in wireless connection with the controller;
The mass sensor is arranged on the lower surface of the bottom of the bearing plate and is in wireless connection with the controller;
the conveying assembly is arranged on an inner side wall of the storage frame body, which is far away from the conveying opening.
7. The automated transfer robot of claim 6, wherein the transfer assembly comprises:
The second driving motors are sequentially arranged on one inner side wall of the storage frame body along the vertical direction of the supporting plate, and are in wireless connection with the controller;
The conveying wheels comprise two conveying wheels which are arranged at the driving end of the second driving motor;
the conveying belt is sleeved on the two conveying wheels;
the first clamping pieces comprise a plurality of first clamping piece openings which are downwards arranged on the conveyor belt;
The pressure sensor comprises a plurality of pressure sensors, wherein the pressure sensors are arranged on the lower surface of the first clamping piece and are in wireless connection with the controller.
8. The automated handling robot of claim 7, wherein the carrier plate is a cube structure with an upper opening, and a second clamping member with an upward opening is disposed on a side of the carrier plate near the transfer port, and the carrier plate is used for placing the articles to be handled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410273707.3A CN117945074A (en) | 2024-03-11 | 2024-03-11 | Anti-drop's automatic transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410273707.3A CN117945074A (en) | 2024-03-11 | 2024-03-11 | Anti-drop's automatic transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117945074A true CN117945074A (en) | 2024-04-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410273707.3A Pending CN117945074A (en) | 2024-03-11 | 2024-03-11 | Anti-drop's automatic transfer robot |
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| Country | Link |
|---|---|
| CN (1) | CN117945074A (en) |
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2024
- 2024-03-11 CN CN202410273707.3A patent/CN117945074A/en active Pending
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