CN203254410U - Mobile object-fetching robot - Google Patents

Mobile object-fetching robot Download PDF

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Publication number
CN203254410U
CN203254410U CN 201320237072 CN201320237072U CN203254410U CN 203254410 U CN203254410 U CN 203254410U CN 201320237072 CN201320237072 CN 201320237072 CN 201320237072 U CN201320237072 U CN 201320237072U CN 203254410 U CN203254410 U CN 203254410U
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CN
China
Prior art keywords
motor
fixed
movement
swing
telescoping
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 201320237072
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Chinese (zh)
Inventor
赵博通
方选皓
江健峰
王景夏
辛绍杰
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Shanghai Dianji University
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Shanghai Dianji University
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Publication date
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Priority to CN 201320237072 priority Critical patent/CN203254410U/en
Application granted granted Critical
Publication of CN203254410U publication Critical patent/CN203254410U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a mobile object-fetching robot. The mobile object-fetching robot comprises a travel mechanism, a lifting mechanism, a swing mechanism, a telescoping mechanism and a grabbing mechanism. The lifting mechanism is fixed above the travel mechanism and moves vertically relative to the travel mechanism. The swing mechanism is fixed above the lifting mechanism and rotates in the horizontal plane relative to the swing mechanism. One end of the telescoping mechanism is fixed on the swing mechanism and moves rectilinearly in the horizontal plane relative to the swing mechanism. The other end of the telescoping mechanism is fixedly connected with the grabbing mechanism. According to the mobile object-fetching robot, the grabbing mechanism is controlled by the travel mechanism to move at will in the horizontal plane; the grabbing mechanism is driven by the lifting mechanism to ascend and descend in the vertical direction so that the grabbing mechanism can get close to an object to be grabbed; then, by means of the 120-degree swing of the swing mechanism in the horizontal plane and the telescoping function of the telescoping mechanism, accurate positioning is realized at last; finally, the grabbing mechanism is used for grabbing the object to be grabbed, and therefore the function of fetching an object in a mobile mode is achieved.

Description

The thing robot is got in a kind of movement
Technical field
The utility model relates to a kind of movement and gets the thing robot.
Background technology
In some big and medium-sized cities, because rhythm of life is very fast, cause " empty nest old man " better to be supported, big city servant expense is high in addition, and old man or handicapped person's self-care problem are difficult to solve; In addition, for some small-sized goods in the company warehouse, usually it need to be transported on a certain ad-hoc location height of automatic assembly line, at present large more options manpower transport mode, however there are a lot of drawbacks in a dead lift, at first the workload of carrying is larger, if need cooperating equipment to move continuously, then need at set intervals other manpowers to take over, secondly the cost along with human resources increases gradually, trucking expenses is also more and more higher, has increased production cost.
Also have at present some industrial robots to be used to substitute artificial, can enhance productivity, reduce human resources consumption, but existing industrial robot or be the robot arm of fixing is poor for applicability; Though can move but the free degree is few, flexibility is not high in actual applications.
Therefore, how to provide a kind of practical, flexibility ratio is higher, can replace the movement of manpower to get the thing robot is the technical problem that those skilled in the art needs to be resolved hurrily.
The utility model content
The utility model provides a kind of movement to get the thing robot, moves the problem that thing robot applicability is low, flexibility is low of getting in the prior art to solve.
For solving the problems of the technologies described above, the utility model provides a kind of movement to get the thing robot, comprise travel mechanism, elevating mechanism, swing mechanism, telescoping mechanism and grasping mechanism, described elevating mechanism is fixed in the relatively described travel mechanism in top of described travel mechanism and moves both vertically, described swing mechanism is fixed in the relatively described elevating mechanism in described elevating mechanism top and rotates at horizontal plane, one end of described telescoping mechanism is fixed on the described swing mechanism relatively described swing mechanism does rectilinear motion at horizontal plane, and the other end of described telescoping mechanism is fixedly connected with described grasping mechanism.
Preferably, described travel mechanism comprises chassis, universal wheel and two groups of rotating mechanisms, and described universal wheel is fixedly installed in described tray bottom front end, and described two groups of rotating mechanisms are relatively arranged on the rear end of described tray bottom.
Preferably, described rotating mechanism comprises the first motor, decelerator, two the first synchronous pulleys, the first Timing Belt, power transmission shaft and driving wheels, first synchronous pulley links to each other with the output of described the first motor by described decelerator, another first synchronous pulley links to each other with described driving wheel by described power transmission shaft, and described Timing Belt is sheathed on described two the first synchronous pulleys outside.
Preferably, described elevating mechanism comprises middle level dividing plate, the some sleeve between described middle level dividing plate and the described chassis, flexible optical axis and the second motors in the described sleeve of insertion of being fixed in, described the second motor is fixed on the described chassis, and the telescopic end of described the second motor is fixed on the dividing plate of described middle level.
Preferably, described sleeve is three, and described the second motor is fixed in the middle part on described chassis, three sleeves be distributed in described the second motor around.
Preferably, described swing mechanism comprises bearing block, the 3rd motor, crank and swivel plate, the stiff end of bearing block is fixed on the dividing plate of described middle level, movable end is fixed on the described swivel plate, described the 3rd motor is fixed on the dividing plate of described middle level, the output of described the 3rd motor is fixedly connected with an end of described crank, and the other end of described crank inserts in the stroke groove corresponding on the described swivel plate.
Preferably, described crank is L-type, and an end of described crank is fixed on described the 3rd motor by holding screw, and the part cover that the other end of described crank inserts in the described stroke groove has the circular shaft bearing sleeve.
Preferably, described stroke groove is open-minded away from a side of described bearing block, and a side of close described bearing block is provided with limit switch.
Preferably, described telescoping mechanism comprises two the second synchronous pulleys, the second Timing Belt, the 4th motor and slide block, described the 4th motor is fixed on the described swivel plate, the output of described the 4th motor is fixedly connected with second synchronous pulley, described the second Timing Belt is sheathed on described two the second synchronous pulleys outside, and described slide block is fixed on described the second Timing Belt.
Preferably, be provided with the guide rail that is complementary with the slide block lower surface below the described slide block.
Preferably, described grasping mechanism comprises frame, the 5th motor, gear and two claws that are oppositely arranged, described frame is fixed on the described slide block, a claw is fixed on the described frame, another claw is corresponding with the position of described gear, and which is provided with the tooth bar that is complementary with described gear, described the 5th motor is fixed on the described frame, and the output of described the 5th motor is fixedly connected with described gear.
Be respectively equipped with zigzag structure on the surface of the side that preferably, described two claws are relative.
The thing robot is got in the movement that the utility model provides, comprise travel mechanism, elevating mechanism, swing mechanism, telescoping mechanism and grasping mechanism, described elevating mechanism is fixed in the relatively described travel mechanism in top of described travel mechanism and moves both vertically, described swing mechanism is fixed in the relatively described elevating mechanism in described elevating mechanism top and rotates at horizontal plane, one end of described telescoping mechanism is fixed on the described swing mechanism relatively described swing mechanism does rectilinear motion at horizontal plane, and the other end of described telescoping mechanism is fixedly connected with described grasping mechanism.In the utility model, described travel mechanism control grasping mechanism moves freely at horizontal plane, described elevating mechanism drives the lifting of described grasping mechanism in the vertical direction, make grasping mechanism near thing to be grasped, the again swings by described swing mechanism 120 degree in horizontal plane, and the telescopic action of telescoping mechanism, final accurately location, grasp thing to be grasped by grasping mechanism at last, thereby realize the mobile thing function of getting.
Description of drawings
Fig. 1 is the perspective view (overlooking) that the thing robot is got in the movement of the utility model one specific embodiment;
Fig. 2 is the perspective view (looking up) that the thing robot is got in the movement of the utility model one specific embodiment;
Fig. 3 is the structural representation that swing mechanism in the thing robot is got in the movement of the utility model one specific embodiment;
Fig. 4 is the structural representation that telescoping mechanism and grasping mechanism in the thing robot are got in the movement of the utility model one specific embodiment.
Among the figure: 100-travel mechanism, the 110-chassis, the 120-universal wheel, the 130-rotating mechanism, 131-the first motor, the 132-decelerator, 133-the first synchronous pulley, 134-the first Timing Belt, the 135-power transmission shaft, the 136-driving wheel, the 200-elevating mechanism, 210-middle level dividing plate, the 220-sleeve, the 230-optical axis that stretches, 240-the second motor, the 250-controller, the 300-swing mechanism, the 310-bearing block, 320-the 3rd motor, the 330-crank, the 340-swivel plate, 341-stroke groove, the 400-telescoping mechanism, 410-the second synchronous pulley, 420-the second Timing Belt, 430-the 4th motor, the 440-slide block, the 500-grasping mechanism, the 510-frame, 520-the 5th motor, the 530-gear, the 540-claw, the 541-tooth bar.
The specific embodiment
For the technical scheme of the more detailed above-mentioned utility model of statement, below list specific embodiment and come the Proof Technology effect; It is emphasized that these embodiment are used for the utility model being described and being not limited to limit scope of the present utility model.
The thing robot is got in the movement that the utility model provides, as shown in Figures 1 to 4, comprise travel mechanism 100, elevating mechanism 200, swing mechanism 300, telescoping mechanism 400 and grasping mechanism 500, described elevating mechanism 200 is fixed in the relatively described travel mechanism 100 in 100 tops of described travel mechanism and moves both vertically, described swing mechanism 300 is fixed in the relatively described elevating mechanism in described elevating mechanism 200 tops 200 and rotates at horizontal plane, one end of described telescoping mechanism 400 is fixed on the described swing mechanism 300 relatively described swing mechanism 300 does rectilinear motion at horizontal plane, and the other end of described telescoping mechanism 400 is fixedly connected with described grasping mechanism 500.The utility model is by travel mechanism 100, elevating mechanism 200, swing mechanism 300 and the described grasping mechanism 500 of telescoping mechanism 400 controls advances, retreats, turns to and rising, the action of lower degradation, finally grasps thing to be grasped.
Preferably, please emphasis with reference to figure 2, and in conjunction with Fig. 1, described travel mechanism 100 comprises chassis 110, universal wheel 120 and two groups of rotating mechanisms 130, described universal wheel 120 is fixedly installed in described chassis 100 bottom front, and described two groups of rotating mechanisms 130 are relatively arranged on the rear end of 110 bottoms, described chassis.Particularly, described rotating mechanism 130 comprises the first motor 131, decelerator 132, two the first synchronous pulleys 133, the first Timing Belt 134, power transmission shaft 135 and driving wheels 136, first synchronous pulley 133 links to each other with the output of described the first motor 131 by described decelerator 132, another first synchronous pulley 133 links to each other with described driving wheel 136 by described power transmission shaft 135, and described Timing Belt 134 is sheathed on described two the first synchronous pulley 133 outsides.After described the first motor 131 slows down by decelerator 132, by described the first Timing Belt 134 with transmission of power to described power transmission shaft 135, thereby drive described driving wheel 136 rotations.The first motor 131 in two groups of rotating mechanisms 130 is forward simultaneously, and rotating speed is when identical, mobilely gets the thing robot and advances; When simultaneously counter-rotating, and rotating speed was identical, movement was got the thing robot and is retreated; When two group of first motor 131 rotating speed not simultaneously, then described movement is got the thing robot and is turned to.
Preferably, please emphasis referring to figs. 1 to Fig. 3, described elevating mechanism 200 comprises flexible optical axis 230, the second motor 240 and the controller 250 in middle level dividing plate 210, the some described sleeves 220 of sleeve 220, insertion that is fixed between described middle level dividing plate 210 and the described chassis 110, preferably, the sliding straight bearing (not shown) of described sleeve 220 in-built limited locations, and the internal diameter of described sliding straight bearing and described flexible optical axis 230 matched in clearance guarantee that described flexible optical axis 230 can freely move up and down in that described sleeve 220 is interior.Described the second motor 240 comprises stiff end and telescopic end, and the stiff end of described the second motor 240 is fixed on the described chassis 110, and the telescopic end of described the second motor 240 is fixed on the described middle level dividing plate 210.Described controller 250 is controlled the flexible of described the second motor 240, thereby realizes rising, decline and the time-out of described middle level dividing plate 210, and then drives described grasping mechanism 500 motions.Preferably, described sleeve 220 is three, and described the second motor 240 is fixed in the middle part on described chassis 110, three sleeves 220 be distributed in described the second motor 240 around, described sleeve 220 provides guiding for the motion of described the second motor 240 and supports.
Preferably, please continue with reference to figure 1 and Fig. 3, described swing mechanism 300 comprises bearing block 310, the 3rd motor 320, crank 330 and swivel plate 340, preferably, described bearing block 310 comprises stiff end and movable end, the stiff end of described bearing block 310 is fixed on the described middle level dividing plate 210, described movable end is fixed on the described swivel plate 340 by the shaft end ring (not shown), described stiff end is connected by the power transmission shaft of being furnished with angular contact bearing with described movable end, so that described movable end can rotate freely after stressed, in addition, described power transmission shaft and angular contact bearing internal diameter, angular contact bearing external diameter and bearing block 310 all are interference fit, and the coaxiality error of control power transmission shaft and bearing block 310, the roughness equal error, guarantee that its driving axle center line can not be offset, and rotate relatively free.Described the 3rd motor 320 is fixed on the described middle level dividing plate 210, the output of described the 3rd motor 320 is fixedly connected with an end of described crank 330, the other end of described crank 330 inserts in the stroke groove 341 corresponding on the described swivel plate 340, when described the 3rd motor 320 drives described crank 330 rotations, described round bearing is enclosed within the described stroke groove 341 and does rectilinear motion, thereby 120 degree of realizing swivel plate 340 swing, preferably, described crank 330 is L-type, one end of described crank 330 is fixed on described the 3rd motor 320 by the holding screw (not shown), the part cover that the other end of described crank 330 inserts in the described stroke groove 341 has circular shaft bearing sleeve (not shown), avoid traditional rectangle slide block when stroke groove 341 interior rectilinear motion, if pressure angle is excessive, be prone to the problem at motion dead point.
Preferably, ask emphasis with reference to figure 1, described stroke groove 341 is open-minded away from a side of described bearing block 310, and a side of close described bearing block 310 is provided with the limit switch (not shown).When described limit switch contacts described circular shaft bearing sleeve, automatically stop, avoiding colliding the mechanism collapse of initiation, even motor damage.
Preferably, please emphasis with reference to figure 3 and Fig. 4, described telescoping mechanism 400 comprises two the second synchronous pulleys 410, the second Timing Belt 420, the 4th motor 430 and slide block 440, described the 4th motor 430 is fixed on the described swivel plate 340, the output of described the 4th motor 430 is fixedly connected with second synchronous pulley 410, described the second Timing Belt 420 is sheathed on described two the second synchronous pulley 410 outsides, and described slide block 440 is fixed on described the second Timing Belt 420.Described the 4th motor 430 drives 410 rotations of described the second synchronous pulley, thereby drive 420 motions of the second Timing Belt, and then band movable slider 440 moves, preferably, described slide block 440 belows are provided with the guide rail (not shown) that is complementary with slide block 440 lower surfaces, to reduce frictional resistance, play a supporting role simultaneously.
Preferably, please emphasis with reference to figure 4, described grasping mechanism 500 comprises frame 510, the 5th motor 520, gear 530 and two claws that are oppositely arranged 540, described frame 510 is fixed on the described slide block 440, a claw 540 is fixed on the described frame 510, another claw 540 is corresponding with the position of described gear 530, and which is provided with the tooth bar 541 that is complementary with described gear 530, described the 5th motor 520 is fixed on the described frame 510, and the output of described the 5th motor 520 is fixedly connected with described gear 530.Described the 5th motor 520 drives described gear 530 rotations, and then drives claw 540 moving linearlies that are provided with tooth bar 541, to another one claw 540 away from or close, thereby realize the crawl function.Present embodiment is taked pinion and rack, and transmission efficiency is higher; Structure requisite space size is less, and compact conformation meets the needs of grasping mechanism 500 compact volume and convenience, reliable operation; Transmission is stable, as long as guarantee the precision of gear 530, just can maximize and improve transmission movement accuracy, stationarity; Reduce noise, vibrations, improve load and be evenly distributed.
Preferably, please continue with reference to figure 4, be respectively equipped with the zigzag structure (not shown) on the surface of the side that described two claws 540 are relative, in the present embodiment, described zigzag structure is changeable type, with the shape of the outer surface that adapts to different things to be grasped.
In sum, the thing robot is got in the movement that the utility model provides, comprise travel mechanism 100, elevating mechanism 200, swing mechanism 300, telescoping mechanism 400 and grasping mechanism 500, described elevating mechanism 200 is fixed in the relatively described travel mechanism 100 in 100 tops of described travel mechanism and moves both vertically, described swing mechanism 300 is fixed in the relatively described swing mechanism in described elevating mechanism 200 tops 300 and rotates at horizontal plane, one end of described telescoping mechanism 400 is fixed on the described swing mechanism 300 relatively described swing mechanism 300 does rectilinear motion at horizontal plane, and the other end of described telescoping mechanism 400 is fixedly connected with described grasping mechanism 500.In the utility model, described travel mechanism 100 control grasping mechanisms 500 move freely at horizontal plane, described elevating mechanism 200 drives described grasping mechanism 500 in the vertical direction liftings, make grasping mechanism 500 near thing to be grasped, the again swings by described swing mechanism 300 120 degree in horizontal plane, and the telescopic action of telescoping mechanism 400, final accurately location, grasp thing to be grasped by grasping mechanism 500 at last, thereby realize the mobile thing function of getting.
Obviously, those skilled in the art can carry out various changes and modification to utility model and not break away from spirit and scope of the present utility model.Like this, if of the present utility model these revise and modification belongs within the scope of the utility model claim and equivalent technologies thereof, then the utility model also is intended to comprise these change and modification.

Claims (12)

1. the thing robot is got in a movement, it is characterized in that, comprise travel mechanism, elevating mechanism, swing mechanism, telescoping mechanism and grasping mechanism, described elevating mechanism is fixed in the relatively described travel mechanism in top of described travel mechanism and moves both vertically, described swing mechanism is fixed in the relatively described elevating mechanism in described elevating mechanism top and rotates at horizontal plane, one end of described telescoping mechanism is fixed on the described swing mechanism relatively described swing mechanism does rectilinear motion at horizontal plane, and the other end of described telescoping mechanism is fixedly connected with described grasping mechanism.
2. the thing robot is got in movement as claimed in claim 1, it is characterized in that, described travel mechanism comprises chassis, universal wheel and two groups of rotating mechanisms, and described universal wheel is fixedly installed in described tray bottom front end, and described two groups of rotating mechanisms are relatively arranged on the rear end of described tray bottom.
3. the thing robot is got in movement as claimed in claim 2, it is characterized in that, described rotating mechanism comprises the first motor, decelerator, two the first synchronous pulleys, the first Timing Belt, power transmission shaft and driving wheels, first synchronous pulley links to each other with the output of described the first motor by described decelerator, another first synchronous pulley links to each other with described driving wheel by described power transmission shaft, and described Timing Belt is sheathed on described two the first synchronous pulleys outside.
4. the thing robot is got in movement as claimed in claim 2, it is characterized in that, described elevating mechanism comprises middle level dividing plate, the some sleeve between described middle level dividing plate and the described chassis, flexible optical axis and the second motors in the described sleeve of insertion of being fixed in, described the second motor is fixed on the described chassis, and the telescopic end of described the second motor is fixed on the dividing plate of described middle level.
5. the thing robot is got in movement as claimed in claim 4, it is characterized in that, described sleeve is three, and described the second motor is fixed in the middle part on described chassis, three sleeves be distributed in described the second motor around.
6. the thing robot is got in movement as claimed in claim 4, it is characterized in that, described swing mechanism comprises bearing block, the 3rd motor, crank and swivel plate, the stiff end of bearing block is fixed on the dividing plate of described middle level, movable end is fixed on the described swivel plate, described the 3rd motor is fixed on the dividing plate of described middle level, and the output of described the 3rd motor is fixedly connected with an end of described crank, and the other end of described crank inserts in the stroke groove corresponding on the described swivel plate.
7. the thing robot is got in movement as claimed in claim 6, it is characterized in that, described crank is L-type, and an end of described crank is fixed on described the 3rd motor by holding screw, and the part cover that the other end of described crank inserts in the described stroke groove has the circular shaft bearing sleeve.
8. the thing robot is got in movement as claimed in claim 6, it is characterized in that, described stroke groove is open-minded away from a side of described bearing block, and a side of close described bearing block is provided with limit switch.
9. the thing robot is got in movement as claimed in claim 6, it is characterized in that, described telescoping mechanism comprises two the second synchronous pulleys, the second Timing Belt, the 4th motor and slide block, described the 4th motor is fixed on the described swivel plate, the output of described the 4th motor is fixedly connected with second synchronous pulley, described the second Timing Belt is sheathed on described two the second synchronous pulleys outside, and described slide block is fixed on described the second Timing Belt.
10. the thing robot is got in movement as claimed in claim 9, it is characterized in that, described slide block below is provided with the guide rail that is complementary with the slide block lower surface.
11. the thing robot is got in movement as claimed in claim 9, it is characterized in that, described grasping mechanism comprises frame, the 5th motor, gear and two claws that are oppositely arranged, described frame is fixed on the described slide block, a claw is fixed on the described frame, and another claw is corresponding with the position of described gear, and which is provided with the tooth bar that is complementary with described gear, described the 5th motor is fixed on the described frame, and the output of described the 5th motor is fixedly connected with described gear.
12. the thing robot is got in movement as claimed in claim 11, it is characterized in that, is respectively equipped with zigzag structure on the surface of the side that described two claws are relative.
CN 201320237072 2013-05-03 2013-05-03 Mobile object-fetching robot Expired - Fee Related CN203254410U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320237072 CN203254410U (en) 2013-05-03 2013-05-03 Mobile object-fetching robot

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Application Number Priority Date Filing Date Title
CN 201320237072 CN203254410U (en) 2013-05-03 2013-05-03 Mobile object-fetching robot

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104084786A (en) * 2014-07-10 2014-10-08 国家电网公司 Current transformer mounting device
CN105082103A (en) * 2015-09-16 2015-11-25 彭倍 Indoor movable robot
CN107140431A (en) * 2016-03-01 2017-09-08 沈阳新松机器人自动化股份有限公司 The automatic transshipment acitivity of materials vehicle
CN107697184A (en) * 2017-09-27 2018-02-16 深圳市行者机器人技术有限公司 A kind of leg structure of legged type robot
CN108946119A (en) * 2018-07-27 2018-12-07 黄萍 A kind of filling machine handling equipment

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104084786A (en) * 2014-07-10 2014-10-08 国家电网公司 Current transformer mounting device
CN105082103A (en) * 2015-09-16 2015-11-25 彭倍 Indoor movable robot
CN107140431A (en) * 2016-03-01 2017-09-08 沈阳新松机器人自动化股份有限公司 The automatic transshipment acitivity of materials vehicle
CN107140431B (en) * 2016-03-01 2018-12-07 沈阳新松机器人自动化股份有限公司 The automatic transshipment acitivity of materials vehicle
CN107697184A (en) * 2017-09-27 2018-02-16 深圳市行者机器人技术有限公司 A kind of leg structure of legged type robot
CN107697184B (en) * 2017-09-27 2020-03-13 深圳市行者机器人技术有限公司 Leg structure of foot type robot
CN108946119A (en) * 2018-07-27 2018-12-07 黄萍 A kind of filling machine handling equipment

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20131030

Termination date: 20160503