CN205904998U - Carrying robot - Google Patents
Carrying robot Download PDFInfo
- Publication number
- CN205904998U CN205904998U CN201620415471.3U CN201620415471U CN205904998U CN 205904998 U CN205904998 U CN 205904998U CN 201620415471 U CN201620415471 U CN 201620415471U CN 205904998 U CN205904998 U CN 205904998U
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- CN
- China
- Prior art keywords
- photoelectric sensor
- walking chassis
- sensor
- driving motor
- controller
- Prior art date
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- Expired - Fee Related
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Abstract
The utility model relates to a carrying robot has solved traditional artifical transport method, and single -chip computer control module (34) in copy control system module (14) make walking chassis (5) carry out automation walking and seek the destination according to the route of certain requirement, and rethread single -chip computer control module (14) make that manipulators (20) can pick the goods carries out loading and discharge voluntarily to reach the mesh that the robot transported goods. The production technology of transport has been simplified to this method, has reduced transport manufacturing cost, has avoided the danger of artifical transport, and transport does not at any time receive the influence of environmental change. Device fabrication simultaneously is easy, dependable performance, simple structure, convenient operation, production efficiency are high, can once only accomplish the ging forward of walking chassis, retreat, turn to, the tracking, keep away barrier, look for goods ground automatically and carry out automatic loading, former way and return and look for the landing place and carry out automatic unloading, multiple functional, strong adaptability, few, the long service life of trouble.
Description
[technical field]
The present invention relates to a kind of Transport Machinery of storage automatic transporting is that is to say, that the goods of storage is carried from first
To a kind of automatic transportation machinery on second ground, a kind of precisely transfer robot.
[background technology]
It is known that cargo transport be the indispensable process of industry-by-industry, a dead lift goods with economic fast development,
The demand in market can not be fully met.Particularly present warehouse logisticses, engineering shop's blank are processed into part
Carrying action is very frequent, and very high using a dead lift goods production cost, labor intensity is very big.There are some local
Because temperature height, high humidity, corrosivity are strong, dangerous big object adopts a dead lift goods, easily there is safe thing
Therefore；Also have that some production and processing speed are fast, palikinesia frequency is high, tailing is again sharp, using a dead lift more
It is not all right.
Therefore, people are highly desirable has one kind both economical, can carry at any time again, and production efficiency is high, structure is simple, behaviour
Make easy to control, use safety, easy maintenance, multiple functional, strong adaptability, fault is few, long service life from
Dynamic handling machinery.
A kind of transfer robot, solves traditional a dead lift method, using the single-chip microcomputer control in control system module
System
Module makes walking chassis carry out automatically walk according to necessarily required travel route and find destination, then passes through single-chip microcomputer
Control module enables mechanical hand automatically to capture goods to carry out entrucking and unloading, thus reaching the mesh that robot transports goods
's.
This method simplifies the production technology of carrying, reduce carrying production cost, it is to avoid the danger of a dead lift,
Carrying at any time is not affected by environmental change.Device fabrication simultaneously is easy, dependable performance, structure are simple and convenient to operate,
Production efficiency height, the advance that can disposably complete walking chassis, retrogressing, steering, tracking, avoidance, Automatic-searching goods
Automatically freighted thing, backtracking and find goods place and carry out automatic goods, multiple functional, strong adaptability,
Fault is few, long service life.
[content of the invention]
This utility model technical issues that need to address are: overcome the shortcomings of existing carrying, provide a kind of energy automatic transporting
Goods
The machinery of thing.
Technical solution of the present utility model is: provides a kind of transfer robot with following structure, comprising: OK
Walk chassis, vehicle frame, left driving motor, right driving motor, control system module, accumulator, controller, mechanical hand,
It also includes photoelectric sensor, vision sensor, described walking chassis are sequentially installed with vehicle frame, left driving motor,
Right driving motor, control system module, controller, mechanical hand；Left driving motor screw is arranged in walking chassis
Vehicle frame on the left of left front lifting eye on, hang before the right side that right driving motor screw is arranged on the right side of the vehicle frame in walking chassis
On ear；Circuit board screw in control system module is arranged on the front end in the middle part of the vehicle frame in walking chassis, electric power storage
Pond is arranged on the rear end in the middle part of the vehicle frame in walking chassis；Mechanical hand is arranged on the upper of the vehicle frame front end in walking chassis
Face；In the uniform rods arranged in horizontal line of horizontal spacing below the vehicle frame front end in walking chassis, vision passes photoelectric sensor
Sensor is arranged on the two sides of the carriage side plate front end in walking chassis；The color of one fixed width in control system module
Tracking line, is coated on the road below photoelectric sensor centre.
During work, connect the circuit of motor, make walking chassis under the driving of motor along the tracking of black
Line
Walk on road, walking chassis are judged by the reflected light received by the photoelectric sensor in control system module
The direction of walking, when on certain photoelectric sensor tracking line in the road, reflected light is received by the tracking line of color,
The transmitting tube cut-off generation high level signal of photoelectric sensor is made to be conveyed to single chip control module, single chip control module
After signal processing, to control the rotation direction of left and right driving motor in walking chassis through traveling controller, to reach correction
The purpose of direction of travel；Send the perception to object far and near distance for the ultrasonic signal using vision sensor, by perception
Signal transmission finds the destination of shipping to single chip control module, single chip control module according to signal instruction.When arriving
When reaching shipping purpose, single chip control module sends instruction and is transferred to traveling controller, and left and right is driven by traveling controller
Motor shuts down and loading of stopping.Meanwhile, single chip control module sends instruction again and is transferred to Manipulator Controller, by
Manipulator Controller control machinery hand completes the crawl of goods, entrucking；After goods fills car, single chip control module
Send instruction makes walking chassis reverse end for end to be back to goods ground by the tracking line of former road color again.When arrival goods destination
When, single chip control module sends instruction and is transferred to traveling controller, traveling controller motor is shut down and
Parking goods.Single chip control module transmits instructions to Manipulator Controller again, and Manipulator Controller control machinery hand is complete
Become crawl and the goods of goods.So circulation carries out goods carrying, thus realizing the purpose that robot transports goods.
After above structure, this utility model is transported goods using machine automatization, has following remarkable advantage and beneficial
Effect
Really: transfer robot can disposably complete the advance of walking chassis, retrogressing, steering, tracking, avoidance, find loading
Destination is borrowed in destination, backtracking, searching；Using single chip control module and supporting mechanical hand, can be once
Property completes crawl, entrucking and the goods of goods；Operation is concentrated, production efficiency is high, structure is simple, convenient operation and control,
Working service is easy, multiple functional, strong adaptability, fault are few, long service life.
[brief description]
Fig. 1 is a kind of main sectional view schematic diagram of transfer robot of this utility model, and Fig. 2 removes for this utility model one kind
Fortune
Top view schematic diagram in robot Fig. 1, Fig. 3 is that the a-a in a kind of this utility model transfer robot Fig. 1 cuts open
View schematic diagram, Fig. 4 is the circuit diagram in a kind of this utility model transfer robot Fig. 1.
Accompanying drawing primary symbols explanation
Shown in Fig. 1,2,3,4: 1. hanger behind the right side, 2. hind axle, 3. rear right wheel, 4. power supply, 5. walk
Chassis,
6. screw, 7. hanger before the right side, 8. off-front wheel, 9. tracking line, 10. photoelectrical coupler, 11. right driving motors, 12.
One
Aperture, 13 screws, 14. control system modules, 15. second orifices, 16. wire harness, 17. First look sensors,
18.
Second vision sensor, 19. header boards, 20. mechanical hands, 21. vehicle frames, 22. right carriage side plates, 23. the near front wheels, 24.
Left carriage side plate, 25. left rear wheels, 26. right driving motor axles, 27. screws, 28. right wire harness, 29. left wire harness, 30. is left
Motor, 31. left front lifting eyes, 32. screws, 33. left driving motor axles, 34. single chip control module, 35. first light
Electric transducer, 36. second photoelectric sensors, 37. the 3rd photoelectric sensors, 38. the 4th photoelectric sensors, 39. regard
Feel sensor, 40. traveling controllers, 41. on and off switch, 42. controllers, 43. Manipulator Controllers.
[specific embodiment]
With reference to the accompanying drawings and detailed description this utility model is described in further detail.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of transfer robot of the present utility model, including walking chassis
5, it is used for completing walking, parking, reversing, steering and the work freighted of transfer robot during work；Walking chassis 5
By hanger 7, header board 19, vehicle frame 21, right carriage side plate 22, left railway carriage side before hanger behind the right side 1, hind axle 2, the right side
Plate 24, left front lifting eye 31, off-front wheel 8, off hind wheel 3, the near front wheel 23, left rear wheel 25, right driving motor 11,
Left driving motor 30 forms, and the hind axle 2 in walking chassis 5 is contained in hanger 1 behind the right side of vehicle frame 21 lower right side
In the left back hanger of vehicle frame 21 left lower, left rear wheel 25 is contained on the bearing of hind axle 2 left end, behind the right side
Wheel 3 is contained on the bearing of hind axle 2 right-hand end；Right driving motor 11 in walking chassis 5 uses screw 27 solid
It is scheduled on hanger 7 before the right side of vehicle frame 21 lower right side, off-front wheel 8 is packed on right driving motor axle 26；Walking bottom
Left driving motor 30 in disk 5 screw 32 is fixed on the left front lifting eye 31 of vehicle frame 21 left lower, the near front wheel
23 are packed on left driving motor axle 33；Accumulator 4 is arranged on the rear end at vehicle frame 21 middle part in walking chassis 5；
Mechanical hand 20 is fixed on the upper position of vehicle frame 21 front end in walking chassis 5.
Control system module 14 is by single chip control module 34, photoelectrical coupler 10, tracking line 9, vision sensor
39
Composition, control system module 14 is used for controlling the walking of walking chassis 5 and mechanical hand 20 to complete the crawl of goods, dress
Car and the action of goods.Single chip control module 34 and controller 42 are packed in the circuit in control system module 14
On plate, before the circuit board screw 6 in control system module 14 is fixed on vehicle frame 21 middle part in walking chassis 5
On end；Photoelectric sensor 10 is in vehicle frame 21 front end in walking chassis 5 for the uniform rods arranged in horizontal line of horizontal spacing
Below；The tracking line 9 of the color of one fixed width, be coated in the second photoelectric sensor 36 and the 3rd photoelectric sensor 37 it
Between on following road；First look sensor 17 in vision sensor 39 is arranged on left carriage side plate 24 front end
Left surface, the second vision sensor 18 is arranged on the right flank of right carriage side plate 22 front end.During work, by control it is
The cargo storage ground of the tracing signal of photoelectrical coupler 10 collection in system module 14 and vision sensor 39 collection
Signal, after single chip control module 34 process, goes to control the walking of walking chassis 5 and control machinery hand 20 to complete goods
The action of the crawl of thing, entrucking and goods.
Photoelectrical coupler 10 by the first photoelectric sensor 35, the second photoelectric sensor 36, the 3rd photoelectric sensor 37,
The
Four photoelectric sensors 38 form, and the input a of the first photoelectric sensor 35 in photoelectrical coupler 10 is attempted by line
On bundle 16, the input circuit end g of the first photoelectric sensor 35 is attempted by cold end k, the first photoelectric sensor 35
Outfan q be connected with the p1.0 interface of single chip control module 34, the output of the first photoelectric sensor 35 is returned
Terminal l is attempted by cold end k；The input b of the second photoelectric sensor 36 in photoelectrical coupler 10 is attempted by
On wire harness 16, the input circuit end h of the second photoelectric sensor 36 is attempted by cold end k, the second photoelectric sensor
36 outfan r is connected with the p1.1 interface of single chip control module 34, the output of the second photoelectric sensor 36
Loop end m is attempted by cold end k；The input c of the 3rd photoelectric sensor 37 in photoelectrical coupler 10 simultaneously connects
On wire harness 16, the input circuit end i of the 3rd photoelectric sensor 37 is attempted by cold end k, the 3rd photoelectric sensor
37 outfan s is connected with the p1.2 interface of single chip control module 34, the output of the 3rd photoelectric sensor 37
Loop end n is attempted by cold end k；The input d of the 4th photoelectric sensor 38 in photoelectrical coupler 10 simultaneously connects
On wire harness 16, the input circuit end j of the 4th photoelectric sensor 38 is attempted by cold end k, the 4th photoelectric sensing
The outfan t of device 38 is connected with the p1.3 interface of single chip control module 34, the 4th photoelectric sensor 38 defeated
Go out loop end p and be attempted by cold end k；One end of wire harness 16 is connected with the rst interface of single chip control module 34
Connect, the other end of wire harness 16 is connected with one end w of on and off switch 41, the other end of on and off switch 41 and power supply e1
Positive pole be connected, the another of power supply e1 terminates at cold end x；The input of photoelectrical coupler 10 is by power supply e1
Electric energy is provided, is controlled by and off switch 41；When photoelectrical coupler 10 is used for along painting coloured tracking line 9 road driving,
There is provided different level signals to single chip control module 34, go to control walking chassis 5 by single chip control module 34
Tracking line 9 direction of travel along color.
Vision sensor 39 is made up of First look sensor 17, the second vision sensor 18, vision sensor 39
In
The input e of the second vision sensor 18 be attempted by wire harness 16, the outfan u of the second vision sensor 18 with
The p1.4 interface of single chip control module 34 is connected；First look sensor 17 in vision sensor 39 defeated
Enter to hold f to be attempted by wire harness 16, the outfan v of the First look sensor 17 and p1.5 of single chip control module 34
Interface is connected, and vision sensor 39 provides electric energy by power supply e1, is controlled by and off switch 41；Vision sensor 39
For transmitting search goods and goods destination signal, the signal of search is passed to single chip control module 34
With judging whether arrival goods with goods ground.
Controller 42 is made up of traveling controller 40 and Manipulator Controller 43, and traveling controller 40 and machinery are manual
System
Device 43 is packed on the circuit board in control system module (14), the input of the traveling controller 40 in controller 42
Ini is connected with output end p 0.0 interface of single chip control module 34, the input in2 in traveling controller 40
Interface is connected with output end p 0.1 interface of single chip control module 34, the outfan out1 of traveling controller 40
Interface is connected with the input of right driving motor 11 through right wire harness 28；The outfan of right driving motor 11 is through right line
Bundle 28 is connected with the outfan out2 interface of traveling controller 40, the input in3 interface of traveling controller 40
It is connected with output end p 0.2 interface of single chip control module 34；The input in4 interface of traveling controller 40
It is connected with output end p 0.3 interface of single chip control module 34, the input in5 interface of traveling controller 40
It is connected with output end p 0.4 interface of single chip control module 34；The outfan out3 interface of traveling controller 40
It is connected with the input of left driving motor 30 through right wire harness 29, the outfan of left driving motor 30 is through right wire harness 29
It is connected with the outfan out4 interface of traveling controller 40；The power input enb interface of traveling controller 40
With one end w of on and off switch 41 and couple, the power input vss interface of traveling controller 40 and on and off switch
41 one end y is connected in parallel, and the gnd interface of traveling controller 40 and the gnd interface of single chip control module 34 are simultaneously
It is connected on cold end z；Traveling controller 40 is used for controlling the operating of left driving motor 30 and right driving motor 11 and stops
Turn；Each input of the Manipulator Controller 43 in controller 42 and the corresponding outfan of single chip control module 34
Interface is connected, each output end interface in Manipulator Controller 43 and each corresponding motor interface phase in mechanical hand 20
Connect；Manipulator Controller 43 is used for control machinery hand 20 to the crawl of goods, entrucking and goods.
The working method of this transfer robot is as follows:
During work, power turn-on switch 41, walking chassis 5 travel along on coloured tracking line 9 road of painting, light
Electricity
Infrared light constantly can earthward be launched by bonder 10.When the infrared light of the second photoelectric sensor 36 transmitting is by black
When tracking line 9 absorbs, the closed tube of the second photoelectric sensor 36 connects and is cut off, make the r of the second photoelectric sensor 36 with
The input p1.1 of single chip control module 34 is the signal of high level；By single chip control module 34 by signal
After process, export one by the output end p 0.3 of single chip control module 34 with in4 and p0.4 and in5 and instruct to row
Walk controller 40.Traveling controller 40 drives electricity by outfan out3 and out4 by left for the electric energy supply of accumulator e2
Machine 30, makes right driving motor 30 continue to drive walking chassis 5 to walk；Meanwhile, single chip control module 34 is by exporting
End p0.1 and in2 and p0.2 and in3 export one and instruct to traveling controller 40, and traveling controller 40 is by exporting
Interface out1 and out2, by anti-phase for right driving motor 11 rotation, makes the little turning of walking chassis 5 right direction, when to
After right direction correction is turned, the tracking line 9 that the second photoelectric sensor 36 leaves color recovers straight-line travelling.
When the infrared light of the first photoelectric sensor 35 transmitting is absorbed by the tracking line 9 of black, the first photoelectric sensor
35
Reception pipe be cut off, make the outfan t of the first photoelectric sensor 35 and the input of single chip control module 34
p1.0
For the signal of high level, after single chip control module 34 is by signal processing, single chip control module 34 is by outfan
P0.3 and in4 and p0.4 and in5 exports one and instructs to traveling controller 40.The output of traveling controller 40 connects
The electric energy of accumulator e2 is supplied left driving motor 30 by mouth out3 and out4, makes right driving motor 30 continue to drive row
Walk chassis 5 to walk；Meanwhile, exported by the output end p 0.1 and in2 and p0.2 and in3 of single chip control module 34
One instructs to traveling controller 40, and output interface out1 and out2 of traveling controller 40 is by the electricity of accumulator e2
Anti-phase can supply right driving motor 11, make right driving motor 11 produce anti-phase rotation, make walking chassis 5 right direction
Big turn, recover straight when the first photoelectric sensor 35 and the second photoelectric sensor 36 leave the tracking line 9 of color
Line travels.
When the infrared light of the 3rd photoelectric sensor 37 transmitting is absorbed by the tracking line 9 of black, the 3rd photoelectric sensor
37
Reception pipe be cut off, make the outfan s and single chip control module 34 input p1.2 of the 3rd photoelectric sensor 37
For high level signal, after single chip control module 34 is by signal processing, single chip control module 34 is by outfan
P0.1 and in2 and output end p 0.2 export one with in3 and instruct to traveling controller 40.Traveling controller 40
The electric energy of accumulator e2 is supplied right driving motor 11 by output interface out1 and out2, so that right driving motor 11 is continued
Walking chassis 5 are driven to walk；Meanwhile, single chip control module 34 is by output end p 0.3 and in4 and output end p 0.4
Export one with in5 to instruct to traveling controller 40, so that output interface out3 and out4 of traveling controller 40 is incited somebody to action
The electric energy of accumulator e2 is anti-phase to pass to left driving motor 30, so that left driving motor 30 is rotated backward, realizes walking chassis
The little turning of 5 left directions, after left direction correction is turned, the 3rd photoelectric sensor 37 leaves the tracking line 9 of color
Shi Huifu straight-line travelling.
When the infrared light of the 4th photoelectric sensor 38 transmitting is absorbed by the tracking line 9 of black, the 4th photoelectric sensor
The 38 outfan t and input p1.3 of single chip control module 34 is high level signal, by Single-chip Controlling mould
Block 34 by after signal processing, by output end p 0.1 and in2 and output end p 0.2 and the in3 of single chip control module 34
Output one instructs to traveling controller 40.Output interface out1 and out2 of traveling controller 42 is by accumulator e2
Electric energy supply right driving motor 11, make right driving motor 11 continue drive walking chassis 5 walk；Meanwhile, single-chip microcomputer
Control module 34 by output end p 0.3 and in4 and output end p 0.4 with in5 output order to traveling controller 40
Output interface out3 and out4, by anti-phase for the electric energy of accumulator e2 supply left driving motor 30, makes left driving motor 30
Anti-phase rotation, realizes the big turning of walking chassis 5 left direction, until the 3rd photoelectric sensor 37 and the 4th light
Electric transducer 38 leaves recovery straight-line travelling during the tracking line 9 of color.
When the white portion on road for the infrared light emission of photoelectrical coupler 10 transmitting, four photoelectric sensors
Receive
Pipe all turns on, and the input of single chip control module 34 all produces low level signal, and single chip control module 34 exports
Instruct to traveling controller 40, the electric energy of accumulator e2 is supplied left driving motor 30 and right driving by traveling controller 40
Motor 11
Produce and drive in the same direction, make walking chassis 5 along tracking line 9 straight line moving of color.
When walking chassis 5 straight line moving, vision sensor 39 will carry out goods ground to walking chassis 5 left and right sides
Point
Receipts are searched, when the First look sensor 17 in walking chassis 5 left side receive search out goods place close when, First look senses
Device
Signal is passed to the input p1.5 of single chip control module 34 by 17 outfan v, and single chip control module 34 is by signal
After process, to traveling controller 40, traveling controller 40 makes left driving motor 30 and right driving motor 11 to output order
Stop motion.Meanwhile, single chip control module 34 output order in control system module 14 is to Manipulator Controller
43, mechanical hand 20 completes crawl and the entrucking of goods under the control of Manipulator Controller 43.When goods entrucking finishes,
Walking chassis 5 are made to reverse end for end to track return along road in the presence of control system module 14, when the of walking chassis 5 right side
Two vision sensor 18 receive search out goods place close when, signal is passed to by the second vision sensor 18 through outfan u
The input p1.4 of single chip control module 34, after processing through single chip control module 34, output order gives walking control
Device 40 processed, traveling controller 40 makes left driving motor 30 and right driving motor 11 stop motion.Meanwhile, single-chip microcomputer
, to Manipulator Controller 42, mechanical hand 20 is complete under the control of Manipulator Controller 42 for control module 34 output order
Become crawl and the car of goods.
Power cutoff switchs 40 transfer robots and quits work, and goes round and begins again thus realizing the purpose of transfer robot.
Claims (5)
1. a kind of transfer robot, comprising: walking chassis (5), left driving motor (30), right driving motor (11), control
System module (14) processed, controller (42), accumulator (4), mechanical hand (20) it is characterised in that: it also includes photoelectric transfer
Sensor (10), vision sensor (39), described walking chassis (5) are sequentially installed with left driving motor (30), right driving
Motor (11), control system module (14), controller (42), mechanical hand (20)；Left driving motor (30) screw (32)
It is arranged on the left front lifting eye (31) on the left of the vehicle frame (21) in walking chassis (5), right driving motor (11) screw (27)
It is arranged on hanger (7) before the right side on the right side of the vehicle frame (21) in walking chassis (5)；Circuit in control system module (14)
Plate screw (6) is arranged on the front end in the middle part of the vehicle frame (21) in walking chassis (5), and accumulator (4) is arranged on walking bottom
On the rear end in the middle part of vehicle frame (21) in disk (5)；Mechanical hand (20) is arranged on vehicle frame (21) front end in walking chassis (5)
Above.
2. a kind of transfer robot as shown in claim 1 it is characterised in that: described control system module (14) by
Single chip control module (34), photoelectrical coupler (10), tracking line (9), vision sensor (39) composition, single-chip microcomputer control
Molding block (34) and controller (42) are packed on the circuit board in control system module (14)；Photoelectric sensor (10) is in horizontal stroke
To spacing uniform-font be arranged in vehicle frame (21) front end in walking chassis (5) below；The color of one fixed width
Tracking line (9), is coated on following road between the second photoelectric sensor (36) and the 3rd photoelectric sensor (37).
3. a kind of transfer robot as shown in claim 1 it is characterised in that: described photoelectric sensor (10) is by
One photoelectric sensor (35), the second photoelectric sensor (36), the 3rd photoelectric sensor (37), the 4th photoelectric sensor (38)
Composition, the first photoelectric sensor (35) is arranged on the right flank of the second photoelectric sensor (36), the 3rd photoelectric sensor (37)
It is arranged on the left surface of the second photoelectric sensor (36), the 4th photoelectric sensor (38) is arranged on the 3rd photoelectric sensor (37)
Left side.
4. a kind of transfer robot as shown in claim 1 it is characterised in that: described vision sensor (39) is by
One vision sensor (17), the second vision sensor (18) composition, First look sensor (17) is arranged on walking chassis (5)
In left carriage side plate (24) front end left surface；Second vision sensor (18) is arranged on the right car in walking chassis (5)
The right flank of case side plate (22) front end.
5. a kind of transfer robot as shown in claim 1 it is characterised in that: described controller (42) is controlled by walking
Device (40) processed and Manipulator Controller (43) composition, traveling controller (40) and Manipulator Controller (43) are packed in control system
On circuit board in system module (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620415471.3U CN205904998U (en) | 2016-05-03 | 2016-05-03 | Carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620415471.3U CN205904998U (en) | 2016-05-03 | 2016-05-03 | Carrying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205904998U true CN205904998U (en) | 2017-01-25 |
Family
ID=57815209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620415471.3U Expired - Fee Related CN205904998U (en) | 2016-05-03 | 2016-05-03 | Carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205904998U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107235285A (en) * | 2017-06-20 | 2017-10-10 | 合肥慧林建材有限公司 | A kind of plate conveying device |
| CN108482507A (en) * | 2018-03-31 | 2018-09-04 | 毛利英 | A kind of service robot device |
| CN108942874A (en) * | 2018-10-11 | 2018-12-07 | 泉州市联控自动化科技有限公司 | A kind of supermarket Xun Huo robot |
| CN109571449A (en) * | 2019-01-08 | 2019-04-05 | 上海应用技术大学 | Transfer robot with protection with obstacle avoidance ability |
| CN112479054A (en) * | 2020-11-05 | 2021-03-12 | 广州理工学院 | Intelligent hoisting, conveying and loading robot |
-
2016
- 2016-05-03 CN CN201620415471.3U patent/CN205904998U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107235285A (en) * | 2017-06-20 | 2017-10-10 | 合肥慧林建材有限公司 | A kind of plate conveying device |
| CN108482507A (en) * | 2018-03-31 | 2018-09-04 | 毛利英 | A kind of service robot device |
| CN108942874A (en) * | 2018-10-11 | 2018-12-07 | 泉州市联控自动化科技有限公司 | A kind of supermarket Xun Huo robot |
| CN109571449A (en) * | 2019-01-08 | 2019-04-05 | 上海应用技术大学 | Transfer robot with protection with obstacle avoidance ability |
| CN112479054A (en) * | 2020-11-05 | 2021-03-12 | 广州理工学院 | Intelligent hoisting, conveying and loading robot |
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