CN205839659U - A kind of amphibious rubbish robot for picking up - Google Patents

A kind of amphibious rubbish robot for picking up Download PDF

Info

Publication number
CN205839659U
CN205839659U CN201620106409.6U CN201620106409U CN205839659U CN 205839659 U CN205839659 U CN 205839659U CN 201620106409 U CN201620106409 U CN 201620106409U CN 205839659 U CN205839659 U CN 205839659U
Authority
CN
China
Prior art keywords
mechanical arm
rubbish
vehicle
rotating shaft
picking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN201620106409.6U
Other languages
Chinese (zh)
Inventor
常数数
龚智强
杨道明
梁三金
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chaohu University
Original Assignee
Chaohu University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chaohu University filed Critical Chaohu University
Priority to CN201620106409.6U priority Critical patent/CN205839659U/en
Application granted granted Critical
Publication of CN205839659U publication Critical patent/CN205839659U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

This utility model relates to a kind of amphibious rubbish robot for picking up, including: vehicle body, walking mechanism and grasping mechanism etc..Body forward structure is provided with high accuracy photographic head;Its two ends are provided with walking mechanism;The inside of vehicle body is divided into upper and lower two parts with dividing plate, and controller, balance sensor, driving motor two are laid in dividing plate top;The lower partition installs balanced controls;Body tail offers refuse bin;Vehicle body is arranged above grasping mechanism.When working on land, four built-in drivings front and back drive drivewheel to rotate through crawler belt and contact advance with ground;When underwater work, driving motor reversion, blade is pushed out from drivewheel and drying moves ahead.Adjustment and Multi-freedom-degreemanipulator manipulator by mechanical arm attitude can pick up rubbish accurately.This utility model has automaticity height, garbage-cleaning efficiency is high, pick up the features such as accurate, reduces the complicated processes of artificial participation garbage-cleaning.

Description

A kind of amphibious rubbish robot for picking up
Technical field
This utility model belongs to robot field, is specifically related to a kind of amphibious rubbish robot for picking up.
Background technology
Along with improving constantly of people's living standard, the form that people enjoy life also gets more and more, and tourism of going out more comes The most is accepted by people, and especially some lakes or scenic spot, seabeach is that people select most places, but this also carries Having carried out substantial amounts of rubbish, presented uneven distribution due to rubbish in addition, this has just increased the weight of the amount of labour of scenic spot sanitationman, with Time also destroy ecology of scenic area environment.
The most ripe amphibious this product of rubbish robot for picking up, and some colleges and universities and Scientific research institutions are also little to the research of this respect, the most not can solve the environmental sanitation problem at scenic spot, set so necessary Count and a kind of pick up that efficiency is high, pick up the high amphibious rubbish robot for picking up of precision to solve existing issue.
Summary of the invention
This utility model is to realize picking up the accurate, thorough, high efficiency of rubbish, to solve current existing machine People picks up that efficiency is low, it is thorough to pick up, and automaticity is relatively low, needs the present situation of artificial operation.
In order to achieve the above object, the technical solution adopted in the utility model is: install walking mechanism, machinery on vehicle body Arm, Multi-freedom-degreemanipulator manipulator, balanced controls, in high precision photographic head, control system etc., operator can be by high accuracy photographic head Observe the place of rubbish, and control rubbish robot for picking up and reach the position of rubbish, by control mechanical arm and many from By degree mechanical hand, accurate capture rubbish and put into the refuse bin of body tail, it is contemplated that when underwater work due to wave The reason of effect, therefore use balanced controls that rubbish robot for picking up is carried out Real-time Balancing regulation.
Concrete scheme of the present utility model is: vehicle body is divided into upper and lower layer with dividing plate, and balance sensor is placed in the four of dividing plate At angle, it is mainly used in the monitoring of rubbish robot for picking up balance, drives motor two by fixing seat to be bolted on dividing plate, One end of driving lever is connected to drive in the rotating shaft of motor two, and one end of connecting rod is connected with the other end of driving lever by hinge, One end of follower lever is by being welded to connect on supporting leg, and the two ends of connecting rod are respectively by hinge and driving lever and one end of follower lever Connect, the symmetrical placement of driving lever, connecting rod, follower lever, by driving motor two, driving lever, connecting rod and the effect of follower lever, Supporting leg can be locked during operation on land, reduce it and swing;In entering water, reduce crawler belt by making supporting leg rotate Encroached water in height, to reduce resistance suffered in water, control system is placed on the middle part of dividing plate, it is achieved to whole rubbish The control of rubbish robot for picking up.Refuse bin is arranged on the rear portion of vehicle body, it is possible to achieve the storage of rubbish, wherein the stretching of movable panel Go out end and form moving sets with hydraulic cylinder three, the compression to rubbish can be realized, improve the persistent period of work.Refuse bin side cover and car Hold the notch offered to form moving sets after one's death, facilitate the taking-up of rubbish.Balanced controls are placed in the bottom of dividing plate, can regulate rubbish The rubbish robot for picking up stability when underwater work, meets the requirement accurately picked up, and wherein balancing motor quantity is two, Moving sets is formed respectively with horizontal guide groove and vertical guide groove.One end of guide rod one is connected to the rotating shaft of balancing motor by shaft coupling Above and with counterweight forming screw pair, the other end forms revolute pair with support, and one end of guide rod two is connected to by shaft coupling Forming screw pair in the rotating shaft of balancing motor and with counterweight, the other end forms revolute pair with support.Walking mechanism is arranged on The left and right sides of vehicle body, is mainly used in land and water promoting rubbish robot for picking up to advance, wherein before and after four drivewheels and Middle two driven pulleys are connected with supporting leg by bolt, and connecting rod quantity is two, form revolute pair with left and right three supporting legs, Crawler belt is arranged on wheel, wherein built-in driving motor one in drivewheel, and rotating shaft is by shaft coupling and the rotating shaft driving motor one Connecting, flywheel and gear one are by bonded in rotating shaft, and gear two and gear one are formed in external toothing, internal gear and gear two Engagement.Together with blade is bolted with slide block, slide block forms screw pair with rotating shaft, and one end of spring is connected in rigid wheel The upper other end is connected on slide block.Top panel is bolted on vehicle body.The front end of vehicle body and telescopic arm is provided with high-precision Degree photographic head, is mainly used in surrounding imaging and is accurately positioned rubbish, and rotation motor is arranged in turning platform, permissible Making mechanical arm 360 ° rotation, mechanical arm one is connected in the rotating shaft of rotation motor, and mechanical arm two is connected with mechanical arm one by hinge, Mechanical arm three is connected with mechanical arm two by hinge, and one end of hydraulic cylinder one is connected through the hinge on mechanical arm three, the other end Being connected through the hinge at mechanical arm two, one end of hydraulic cylinder two is connected through the hinge on mechanical arm two, and the other end passes through hinge Being connected on mechanical arm one, telescopic arm forms moving sets with hydraulic cylinder, and the radius of clean-up of mechanical arm can be made further to lengthen, machinery Being manually placed at the front end of telescopic arm, wherein three fingers of mechanical hand form revolute pair with telescopic arm respectively, are mainly used in salvaging With crawl rubbish.
The beneficial effects of the utility model are: power source of the present utility model, walking mechanism, grasping mechanism, balanced controls, Built-in refuse bins etc. are all arranged on vehicle body, and a people just can handle rubbish robot for picking up and complete picking up of rubbish; When underwater work, wheel and crawler belt can carry out the lifting of certain altitude under driving the effect of motor two and linkage, Reduce suffered resistance;This rubbish robot for picking up have employed balance adjustment mechanism, can be picked up with monitoring rubbish by balance sensor Pick up the attitude of robot, control balanced controls and make rubbish robot for picking up keep balance, to solve due to the effect of water Wave Rubbish robot for picking up up-down vibration can be made, it is impossible to the situation accurately rubbish captured;This utility model have employed can Compression dustbin, after rubbish reaches some, rubbish can be compressed by movable panel, improves the filling rate of refuse bin, with This improves rubbish robot for picking up continuous working period;Accumulator is arranged on the upside of dividing plate by bolt, to rubbish collecting machine Device people provides corresponding power;In addition the mechanical arm of grasping mechanism uses hydraulic control, has bigger weight capacity, and its Mechanical hand is made up of three fingers, and finger is divided into cradle head and clamping joint, and cradle head can rotate relative to telescopic arm, Clamping joint can complete to pick up dissimilar, difformity rubbish.
Accompanying drawing explanation
Fig. 1 is the main sectional view of a kind of amphibious rubbish robot for picking up;
Fig. 2 is the sectional view of bowing of a kind of amphibious rubbish robot for picking up;
Fig. 3 is the main sectional view of drivewheel;
Fig. 4 is the top view of balanced controls;
Fig. 5 is A-A view;
Fig. 6 is the structure diagram of mechanical finger.
Detailed description of the invention
For the technological means making this utility model be realized, creation characteristic, reach purpose and be easy to understand with effect, Below in conjunction with specific embodiment and diagram, this utility model is expanded on further.
Device is arranged and is referred to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5.Work process: rubbish robot for picking up operation on land Time, operator observes the position of rubbish in surrounding by the high accuracy photographic head 10 of rubbish robot for picking up vehicle body 8 front end Put, make the driving motor 1 of four drivewheels 30 in walking mechanism 1 rotate by controlling device, drive and be arranged in rotating shaft 39 Flywheel 40 rotate, thus drive drivewheel 30 to rotate, crawler belt 4 is arranged on drivewheel 30 and driven pulley 3, turning of drivewheel 30 Dynamic drive crawler belt 4 contacts with ground, makes rubbish robot for picking up move to the position of rubbish, when behind the position arriving rubbish, drives Dynamic motor 1 stops operating, rubbish robot for picking up drivewheel 30 stop motion.Operator's high accuracy by vehicle body 8 front end The high accuracy photographic head 10 of photographic head 10 and telescopic arm 13 front end determines the position of rubbish, by controlling hydraulic cylinder 1 and hydraulic pressure Cylinder 2 17 is flexible realizes ejecting and bouncing back of mechanical arm 2 16 and mechanical arm 3 14, arrives the top of rubbish.Class according to rubbish The cradle head 52 of type mechanical finger 12 and clamping joint 53 in the different Grasp Modes of human assistance down conversion, for block, Shaft-like etc. the combination of two mechanical fingers 12 can be used to pick up rubbish, three machineries can be used for columned etc. Finger 12 captures.If rubbish robot for picking up surrounding also has rubbish, by the rotation of the rotation motor 19 in turning platform 20 Thus driving mechanical arm 1 rotates, and just can realize rubbish and pick up the crawl to robot surrounding rubbish, it is not necessary to rubbish again Pick up mobile robot.In addition when in the range of rubbish distance rubbish robot for picking up certain distance being in is picked up, by stretching The elongation of contracting arm 13, it is possible to so that mechanical hand 11 grabs rubbish.After gripper of manipulator gets rubbish, rotation motor 19 rotates, Control mechanical arm 2 16 and mechanical arm 3 14 makes mechanical hand 11 move to above the refuse bin upper cover 27 at vehicle body 8 rear portion, crawled Rubbish mechanical hand 11 act under put in refuse bin 29, when the rubbish in refuse bin 29 reaches some, all-moving surface Plate 26 moves along with the movement of the hydraulic cylinder 3 24 being fixed on dividing plate 7, is compressed the rubbish picked up, and improves refuse bin The utilization rate of 29, extends the continuous working period of rubbish robot for picking up.
When underwater work, after rubbish robot for picking up enters in water, control device and be arranged on dividing plate 7 by control Fixing seat 9 in driving motor 26 rotate, drive driving lever 21, connecting rod 22 and the follower lever 23 to move, wherein driving lever 21 One end links together with the rotating shaft driving motor 26, and connecting rod 22 forms revolute pair, follower lever with driving lever 21 and follower lever 23 One end of 23 is connected with supporting leg 31, and one end of connecting rod 2 and three supporting legs 31 form revolute pair, when follower lever 23 moves to the limit During position, making supporting leg 31 increase and reach maximum height, rotation motor 6 stops operating.Driving lever 23, connecting rod 22, follower lever 23 And the four-bar mechanism of vehicle body 8 composition, it is in dead-centre position and makes supporting leg 31 not fall.Spring 45 one end is fixed on slide block 44, The other end is fixed on rigid wheel 41, drives motor 1 antiport to drive rotating shaft 39 to rotate, and slide block 44 is formed with rotating shaft 39 Screw pair, together with slide block 44 is connected by screw with blade 42, slide block 44 and blade 42 are displaced outwardly slowly, when slide block 44 When moving to the polished rod part of rotating shaft 39, its external part engages with the internal gear 35 in the fixed shaft gear train being arranged in rotating shaft 39, Band moving vane 42 drying makes robot move ahead, it is contemplated that the effect of water Wave and the weight of collection rubbish can make rubbish pick up Robot is in unbalanced state, by the attitude of balance sensor 32 monitoring rubbish robot for picking up, when rubbish collecting machine Device people is when a direction deflects, and in balanced controls 5, the balancing motor 46 in horizontal guide groove 51 and vertical guide groove 52 drives Guide rod 1 and guide rod 2 50 rotate, and order about counterweight 48 and move to the opposite direction of deflection, make rubbish robot for picking up be in Poised state, and start rubbish around is picked up, it picks up process, and holding is consistent with picking up rubbish on land.Work as rubbish Robot for picking up completes to pick up when returning on the bank, drives motor 1 antiport to drive rotating shaft 39 to rotate, at the work of spring 45 Under with, slide block 44 and the thread contact in rotating shaft 39, make slide block 44 move inward, the external part of slide block 44 be arranged on rotating shaft 39 On fixed shaft gear train in internal gear 35 depart from, no longer keep engagement, make blade 42 not be rotated further by, and with to slide block 44 1 Rising and move inward, when slide block 44 moves at the polished rod in rotating shaft 39, now blade 42 is not moving and is being moved fully to rigidity The inside of wheel 41, crawler belt touches ground makes rubbish robot for picking up return on the bank.Return when rubbish robot for picking up returns to rubbish Time at receipts, staff only need to make refuse bin side cover 28 move up, and just can be taken off the rubbish in refuse bin 29, completes rubbish Reclaim.

Claims (4)

1. an amphibious rubbish robot for picking up, it is characterised in that include walking mechanism (1), connecting rod (2), driven pulley (3), crawler belt (4), balanced controls (5), driving motor two (6), dividing plate (7), vehicle body (8), fixing seat (9), in high precision photographic head (10), mechanical hand (11), mechanical finger (12), telescopic arm (13), mechanical arm three (14), hydraulic cylinder one (15), mechanical arm two (16), hydraulic cylinder two (17), mechanical arm one (18), rotation motor (19), turning platform (20), driving lever (21), connecting rod (22), from Lever (23), hydraulic cylinder two (17), top panel (25), movable panel (26), refuse bin upper cover (27), refuse bin side cover (28), Refuse bin (29), drivewheel (30), supporting leg (31), balance sensor (32), control system (33), accumulator (34);Described car Body (8) is internal is divided into upper and lower two-layer with dividing plate (7);Described balance sensor (32) is fixed by screws in the corner of dividing plate (7) Place;Described driving motor two (6) by fixing seat (9) to be bolted on dividing plate (7);One end of described driving lever (21) leads to Cross bonded in the rotating shaft driving motor two (6);One end of described follower lever (23) is by being welded to connect on supporting leg (31);Institute The two ends stating connecting rod (22) are connected with driving lever (21) and follower lever (23) by hinge respectively;Described control system (33) is passed through Front end and the front end of telescopic arm (13) be connected by screw high accuracy photographic head (10);Described rotation motor (19) is arranged on In turning platform (20);Described mechanical arm one (18) is connected in rotation motor screw and is connected to the middle part of dividing plate (7);Described hydraulic cylinder Three (24) are bolted on dividing plate (7);Described refuse bin (29) is arranged on the rear portion of vehicle body (8);Described balanced controls (5) downside of dividing plate (7) it is placed in;Described walking mechanism (1) is arranged on vehicle body (8) both sides;Described top panel (25) passes through spiral shell Tether and be connected on vehicle body (8);Described accumulator (34) is mounted above on plate (25) by bolt;Described turning platform (20) passes through It is welded to connect on top panel (25);In the rotating shaft of described vehicle body (8);Described mechanical arm two (16) is by hinge and mechanical arm one (18) connect;Described mechanical arm three (14) is connected with mechanical arm two (16) by hinge;The hydraulic stem of described hydraulic cylinder one (15) Outer end is connected with mechanical arm three (14) by hinge, and its cylinder body is connected with mechanical arm two (16) by hinge;Described hydraulic cylinder two (17) hydraulic stem outer end is connected with mechanical arm two (16) by hinge, and its cylinder body is connected with mechanical arm one (18) by hinge; Described telescopic arm (13) forms moving sets with mechanical arm three (14);Described mechanical hand (11) includes that three mechanical fingers (12) are respectively Revolute pair is formed with telescopic arm (13).
One the most according to claim 1 amphibious rubbish robot for picking up, it is characterised in that drivewheel (30) includes Internal gear (35), gear two (36), gear one (37), drive motor one (38), rotating shaft (39), flywheel (40), rigid wheel (41), Blade (42), ring for fixing (43), slide block (44), spring (45);Described driving motor one (38) is connected in the interior of rigid wheel (41) Portion;Described rotating shaft (39) is passed through bonded on the output shaft driving motor one (38);Described flywheel (40) by bonded In rotating shaft (39);Described gear one (37) by bonded in rotating shaft (39);Described gear two (36) is by bonded just Property wheel (41) fixing axle on and with gear one (37) formed external toothing;Described internal gear (35) is nibbled in being formed with gear two (36) Close;Described blade (42) is fixed together with slide block (44);Described slide block (44) forms screw pair with rotating shaft (39);Described fixing Circle (43) is threaded connection the one end being fixed on rotating shaft (39);Described spring (45) one end is fixed on the upper other end of slide block (44) It is fixed on rigid wheel (41).
One the most according to claim 1 amphibious rubbish robot for picking up, it is characterised in that balanced controls (5) wrap Include balancing motor (46), guide rod one (47), balanced load (48), support (49), guide rod two (50), horizontal guide groove (51), vertically Guide groove (52);Offer horizontal guide groove (51) and vertical guide groove (52) on the base plate of described vehicle body (8) and be respectively arranged with two;Described flat Weighing apparatus motor (46) is two, forms moving sets with horizontal guide groove (51) and vertical guide groove (52) respectively;Described support (49) is two Individual, form moving sets with horizontal guide groove (51) and vertical guide groove (52) respectively;One end of described guide rod one (47) and balancing motor (46) rotating shaft is fixedly connected with and forms screw pair with balanced load (48), and the other end forms revolute pair with support (49);Described lead One end of bar two (50) and balancing motor (46) are fixedly connected with and form screw pair, the other end and support (49) with balanced load (48) Form revolute pair.
One the most according to claim 1 amphibious rubbish robot for picking up, it is characterised in that refuse bin (29) includes Refuse bin upper cover (27), refuse bin side cover (28), movable panel (26);Described refuse bin (29) upper cover is bolted at car On body (8), its refuse bin upper cover (27) offers port;The external part of described movable panel (26) is formed with hydraulic cylinder three (24) and moves Dynamic pair;The guide groove that the rear portion of described refuse bin side cover (28) and vehicle body (8) is offered forms moving sets.
CN201620106409.6U 2016-01-29 2016-01-29 A kind of amphibious rubbish robot for picking up Withdrawn - After Issue CN205839659U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620106409.6U CN205839659U (en) 2016-01-29 2016-01-29 A kind of amphibious rubbish robot for picking up

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620106409.6U CN205839659U (en) 2016-01-29 2016-01-29 A kind of amphibious rubbish robot for picking up

Publications (1)

Publication Number Publication Date
CN205839659U true CN205839659U (en) 2016-12-28

Family

ID=57628925

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620106409.6U Withdrawn - After Issue CN205839659U (en) 2016-01-29 2016-01-29 A kind of amphibious rubbish robot for picking up

Country Status (1)

Country Link
CN (1) CN205839659U (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107023069A (en) * 2017-04-14 2017-08-08 合肥市华阳工程机械有限公司 A kind of groove cleaning device
CN107100150A (en) * 2017-04-25 2017-08-29 郑九新 Rubbish removes equipment in a kind of municipal park lake
CN107212976A (en) * 2017-05-08 2017-09-29 深拓科技(深圳)有限公司 A kind of grasping body method of grasping body equipment, device and grasping body equipment
CN107624657A (en) * 2017-10-11 2018-01-26 东北农业大学 Organic fertilizer auger type, which folds, picks up conveyer
CN108999163A (en) * 2018-08-22 2018-12-14 周建成 A kind of photo-voltaic power generation station cleaning seaweed rubbish purifier waterborne
CN110172938A (en) * 2019-04-18 2019-08-27 浙江天姥建设发展有限公司 Self-propelled traveling type road sweeping machine
CN112064562A (en) * 2020-09-07 2020-12-11 杭州晋建环保科技有限公司 Loading type garbage picking equipment

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107023069A (en) * 2017-04-14 2017-08-08 合肥市华阳工程机械有限公司 A kind of groove cleaning device
CN107100150A (en) * 2017-04-25 2017-08-29 郑九新 Rubbish removes equipment in a kind of municipal park lake
CN107212976A (en) * 2017-05-08 2017-09-29 深拓科技(深圳)有限公司 A kind of grasping body method of grasping body equipment, device and grasping body equipment
CN107212976B (en) * 2017-05-08 2018-12-14 深拓科技(深圳)有限公司 A kind of the grasping body method, apparatus and grasping body equipment of grasping body equipment
CN107624657A (en) * 2017-10-11 2018-01-26 东北农业大学 Organic fertilizer auger type, which folds, picks up conveyer
CN108999163A (en) * 2018-08-22 2018-12-14 周建成 A kind of photo-voltaic power generation station cleaning seaweed rubbish purifier waterborne
CN110172938A (en) * 2019-04-18 2019-08-27 浙江天姥建设发展有限公司 Self-propelled traveling type road sweeping machine
CN112064562A (en) * 2020-09-07 2020-12-11 杭州晋建环保科技有限公司 Loading type garbage picking equipment

Similar Documents

Publication Publication Date Title
CN105940863B (en) A kind of solar energy mango picking machine
CN104257490B (en) A kind of method for folding of wearable type lower limb power-assisting robot
US9149927B2 (en) Robot arrangement
CN202953062U (en) Automatic carrier
JP2592340B2 (en) Joint structure of a legged walking robot
CN100488733C (en) Arm hanging type high voltage transmission line detecting robot
CN205914914U (en) Welding robot and welding jig complete sets
CN105059416B (en) Pole-climbing robot with stabilizing device
CN201136150Y (en) Free expanding and rotary lifting push and boosting mechanical arm
CN105500333A (en) Transfer robot based on mobile mechanical arm
CN108544521A (en) A kind of Multi-shaft mechanical hand
CN202742132U (en) Automatic workpiece charging and discharging robot
CN201338861Y (en) Full-automatic hydraulic hacking machine
CN104924318B (en) A kind of vacuum cup machinery paw
CN106112999A (en) Six degree of freedom multi-functional shipment robot
CN103029124A (en) Multi-degree-of-freedom controllable mechanism type stacking robot
CN101412216B (en) Universal fruit tree manipulator
CN201287337Y (en) Mechanical arm for assembling link lever cover
CN102631172A (en) Lifting telescopic corridor cleaning robot
CN105014661B (en) A kind of novel link type manipulator
CN106863258B (en) A kind of cable duct crusing robot
CN103802095A (en) Four-degree-of-freedom servo manipulator
CN202321641U (en) All-in-one machine for automatically loading and unloading glass
CN202934565U (en) Five-shaft double-arm multifunctional robot
CN100417498C (en) Robot for carrying and piling

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned
AV01 Patent right actively abandoned

Granted publication date: 20161228

Effective date of abandoning: 20170606