CN207632434U - Intelligent mounting-dismounting device for warehouse freezer - Google Patents
Intelligent mounting-dismounting device for warehouse freezer Download PDFInfo
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- CN207632434U CN207632434U CN201721494039.9U CN201721494039U CN207632434U CN 207632434 U CN207632434 U CN 207632434U CN 201721494039 U CN201721494039 U CN 201721494039U CN 207632434 U CN207632434 U CN 207632434U
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- plate
- fixed
- shaped beam
- holder
- freezer
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Abstract
The utility model discloses a kind of intelligent mounting-dismounting devices for warehouse freezer, including omni-directional moving platform, hoistable platform and mechanical arm；Wherein, omni-directional moving platform includes rack, driving motor, Mecanum wheel and damper；Hoistable platform includes upper mounted plate, middle support plate, bottom plate, screw pair and stepper motor, it is connected with conveyer mechanism in middle support plate, conveyer mechanism is made of bearing plate and two electric telescopic rods, and electric telescopic rod one end is fixed on nut, and the other end is fixed on bearing plate lower end；Mechanical arm is sixdegree-of-freedom simulation.It the utility model is limited suitable for apron space, channel is narrow warehouse, freezer, can both change motion track without rotation, avoid and repeatedly start and the transformation of emergency stop posture, transition is more smooth, and movement is more steady；Small lot cargo can be realized using hoistable platform and be fetched and delivered on the shelf of different height, provided a convenient for the different size of article of placement and possible.
Description
Technical field
The utility model is related to a kind of storage robots, and in particular to a kind of intelligent mounting-dismounting device for warehouse freezer.
Background technology
With the appearance of electric business platform, the development of warehouse logistics is more and swifter and more violent, the electricity such as Alibaba, Jingdone district store
Quotient establishes nationwide intelligent storage logistics center one after another.And intelligent warehousing system is mainly by stereo storage rack, rail roadway heap
Stack machine, go out to be put in storage transport system, information identification system, automatic control system, computer supervisory control system, computer management system with
And other ancillary equipments composition, system pass through advanced control, bus, communication using first-class Integrated Logistics theory design
And information technology application, coordinate various kinds of equipment action realization and goes out input work automatically.
Important one of link is the stacking and carrying to cargo in intelligent warehousing system, is applied in existing warehousing system
Most it is Kiva storages robot extensively, this robot disadvantage is that the cooperation of automatic shelf can not be needed from primary access cargo
It could realize the carrying of cargo；Needed when changing the direction of motion around own axes rotate, when be moved to narrow space or
In person corner, the phenomenon that this robot is easy for blocking.
Invention content
To solve the above problems, the utility model provides a kind of intelligent mounting-dismounting device for warehouse freezer, it is suitable for fortune
Turn that space is limited, in the narrow warehouse in channel, freezer, coordinates without other systems, can independently, accurately realize depositing for cargo
It takes, carry.
A kind of intelligent mounting-dismounting device for warehouse freezer of the utility model, including omni-directional moving platform, hoistable platform
And mechanical arm；Wherein, omni-directional moving platform includes rack, driving motor, Mecanum wheel and damper, rack by upper plate,
It lower plate and is connected between upper and lower plate and positioned at the support beam group of upper and lower plate quadrangle at rack both ends are equipped with damper installation branch
Frame, Mecanum wheel and driving motor are mounted on U-shaped beam, and damper one end is fixed on mounting bracket of shock absorber, the other end
It is fixed on U-shaped beam；
Hoistable platform includes upper mounted plate, middle support plate, bottom plate, screw pair and stepper motor, bottom plate
It is fixed on upper plate, leading screw passes through bottom plate, stepper motor to be arranged in upper plate lower end, and stepper motor passes through shaft coupling and leading screw
Bottom be connected, leading screw upper end is sleeved on upper mounted plate, and middle support plate is connected on nut, is connected with and is fetched and delivered in middle support plate
Mechanism, conveyer mechanism are made of bearing plate and two electric telescopic rods, and electric telescopic rod one end is fixed on nut, and the other end is solid
It is scheduled on bearing plate lower end；
Mechanical arm includes fixing bracket, rotating basis, large arm, forearm, ancon rotating mechanism, wrist and grabs and seize device, fixed
Holder is connected on upper plate, and mechanical arm is fixed on upper plate by fixing bracket, and rotating basis bottom is connected on fixing bracket, greatly
Arm is hinged with rotating basis, and large arm includes four-bar mechanism and the first driving mechanism, and the first driving mechanism drives four-bar mechanism
It swings up and down and stretches or be bent, the connecting seat handing-over of ancon rotating mechanism is in the four-bar mechanism epimere of large arm, ancon rotation
The output end of rotation mechanism is connected with forearm, and the end of forearm connects wrist, and the wrist is free style steering wheel, the output end of wrist
It seizes device with grabbing and is connected.
The driving wheel of omni-directional moving platform is all made of Mecanum wheel, diagonally distributes and is permitted on the wheel rim of Mecanum wheel
Mostly small roller, these angled periphery wheel shafts are transformed into the wheel steering force of a part above one wheel method phase power, and
Direction by respective wheel and speed, synthesize resultant force vector on the direction of any requirement, therefore Mecanum wheel can be with
Ensure that band mobile robot is moved to any position under the premise of not changing wheel from upper direction, exactly because without passing through rotation
Change direction, therefore can arbitrarily be moved in, warehouse that road is narrow limited in space, freezer, even if in right angle turn, is relied on
The kinetic characteristic of itself can also be not necessarily to rotation and realize that right angle is excessively curved；Damper can prevent in mobile platform moving process by
Transported goods shaking is caused in vibrations, improves the stationarity in present apparatus handling process；Stepper motor on hoistable platform
Realize that lift nut, the conveyer mechanism in nut drive in support plate are lifted to different height by driving leading screw rotation,
Conveyer mechanism drives bearing plate to realize the taking-up to the cargo of shelf or place goods onto on shelf by electric telescopic rod, from
And it realizes and the cargo of different classifications is more accurately carried or loaded and unloaded；Manipulator space can be realized using sixdegree-of-freedom simulation
Accurate operation, to different size of cargo pick up, mechanical arm device be fully loaded in walking process can adjust posture ensure dress
The Equilibrium set, to ensure the steady of cargo in hoistable platform escalation process, mechanical arm can also be lived by gripper
Shelf securely fix device.
Further, lower plate lower end centre position is fixed with bearing block one, and U-shaped beam lower end centre position is fixed with bearing block
Two, it is connected by main shaft between two bearing blocks.
It is connected by main shaft between the U-shaped beam of front end and the U-shaped beam of rear end and rack, the front end in platform moving process
U-shaped beam and the U-shaped beam of rear end can surround spindle swing with compensate both sides Mecanum wheel in installation, manufacturing process occur it is inclined
Difference makes Mecanum wheel remain and is contacted with ground, while also for Uneven road or can jolt and play cushioning effect.
Further, damper includes pneumatic bumper and spring damper, and mounting bracket of shock absorber includes one He of holder
Holder two, holder one are supported in lower plate, and the both ends of holder one have connection otic placode, and pivoting support is fixed on U-shaped beam, described
Pneumatic bumper is hinged between connection otic placode and pivoting support；Two one end of holder is fixed on the upper end of holder one, and the other end prolongs
The surface of U-shaped beam is extended to, connecting spring damper between holder two and U-shaped beam, spring damper is by spring, stud and nut
Composition, stud bottom are fixed on U-shaped beam, and upper end passes through the through-hole on holder two and fixed by nut, and spring pocket is mounted in holder
On stud between two and U-shaped beam.
Spring damper can filter the vibrations on road surface, but lead to vehicle body meeting since spring itself also has reciprocating motion
There is vertical bounce, therefore pneumatic bumper, which is arranged, can inhibit this spring to jump, and pass through pneumatic bumper and spring damper
The present apparatus can be eliminated in the vibrations occurred in the process of transporting goods, to make it in carrying moving process by being collocated with each other use
It is more steady.
In order to play guiding role to the execution unit in hoistable platform lifting process, hoistable platform further includes being located at leading screw
The guide post and guide sleeve of both sides, guide sleeve are fixed in the pilot hole of middle support plate, and guide post bottom is fixed on bottom plate,
Upper end sequentially passes through middle support plate and upper mounted plate.
Further, camera head installation rack is fixed on one of them U-shaped beam, camera is mounted on camera head installation rack
On.It can intuitively understand cargo by camera and carry situation, and vision signal is delivered to master control system.
Further, battery and master board are equipped among rack.The battery can be rechargeable battery, and battery is this dress
Motor and master board in setting provide electric energy.
U-shaped beam below camera is equipped with tracking module.It can be made comprehensive by writing input motion track in advance
Mobile platform is moved to required position according to setting track.
The utility model is limited suitable for apron space, channel is narrow warehouse, freezer, can both it change without rotation
Motion track avoids the transformation repeatedly started with emergency stop posture, and transition is more smooth, and movement is more steady；It is flat using lifting
Platform can realize small lot cargo and be fetched and delivered on the shelf of different height, to place the different size of article side of providing
It just and may；The accurate operation in manipulator space can be realized using sixdegree-of-freedom simulation, while can be in fully loaded walking process
In by adjusting posture ensure the Equilibrium of device.
Description of the drawings
Fig. 1 is the utility model front view；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the vertical view of Fig. 1；
Fig. 4 is the front view of mechanical arm in Fig. 1；
Fig. 5 is the left view of Fig. 4；Structural schematic diagram；
In figure：1, rack；1.1, upper plate；1.2, lower plate；1.3 supporting beam；2, driving motor；3, Mecanum wheel；4, subtract
Shake device；4.1, pneumatic bumper；4.2, spring damper；5, mounting bracket of shock absorber；5.1, holder one；5.2, holder two；
5.3, connection otic placode；5.4, pivoting support；6, U-shaped beam；7, upper mounted plate；8, middle support plate；9, bottom plate；10, leading screw spiral shell
It is female secondary；10.1, leading screw；10.2, nut；11, stepper motor；12, shaft coupling；13, conveyer mechanism；13.1, bearing plate；13.2、
Electric telescopic rod；14, fixing bracket；15, rotating basis；16, large arm；17, forearm；18, ancon rotating mechanism；19, wrist；
20, it grabs and seizes device；21, bearing block one；22, bearing block two；23, main shaft；24, guide post；25, guide sleeve；26, camera head installation rack；
27, camera；28, battery；29, master board；30, tracking module.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Fig. 1 to 5, a kind of intelligent mounting-dismounting device for warehouse freezer, including omni-directional moving platform, lifting are put down
Platform and mechanical arm；Wherein, omni-directional moving platform includes rack 1, driving motor 2, Mecanum wheel 3 and damper 4, rack 1
By upper plate 1.1, lower plate 1.2 and it is connected between upper and lower plate and supporting beam 1.3 positioned at upper and lower plate quadrangle forms, 1 liang of rack
End is equipped with mounting bracket of shock absorber 5, and Mecanum wheel 3 and driving motor 2 are mounted on U-shaped beam 6, and 4 one end of damper is fixed on
On mounting bracket of shock absorber 5, the other end is fixed on U-shaped beam 6；
Hoistable platform includes upper mounted plate 7, middle support plate 8, bottom plate 9, screw pair 10 and stepper motor 11, under
Fixed plate 9 is fixed on upper plate 1.1, and leading screw 10.1 passes through bottom plate 9, stepper motor 11 to be arranged in 1.1 lower end of upper plate, stepping
Motor 11 is connected by shaft coupling 12 with the bottom of leading screw 10.1, and 10.1 upper end of leading screw is sleeved on upper mounted plate 7, middle support plate
8 are connected on nut 10.2, and conveyer mechanism 13 is connected in middle support plate 8, and conveyer mechanism is electronic by bearing plate 13.1 and two
Telescopic rod 13.2 forms, and 13.2 one end of electric telescopic rod is fixed on nut 10.2, and the other end is fixed on 13.1 lower end of bearing plate；
Mechanical arm includes fixing bracket 14, rotating basis 15, large arm 16, forearm 17, ancon rotating mechanism 18,19 and of wrist
It grabs and seizes device 20, fixing bracket 14 is connected on upper plate 1.1, and mechanical arm is fixed on upper plate by fixing bracket, 15 bottom of rotating basis
Portion is connected on fixing bracket 14, and large arm 16 is hinged with rotating basis 15, and large arm 16 includes four-bar mechanism and the first driving machine
Structure, the first driving mechanism drive four-bar mechanism to swing up and down and stretch or be bent, and the connecting seat of ancon rotating mechanism 14 is handed over
It is connected on the four-bar mechanism epimere of large arm, the output end of ancon rotating mechanism 18 is connected with forearm 17, the end connection of forearm 17
Wrist 2, the wrist are free style steering wheel, and the output end of wrist seizes device 20 and is connected with grabbing.
The driving wheel of omni-directional moving platform is all made of Mecanum wheel 3, diagonally distributes on the wheel rim of Mecanum wheel
Many small rollers, these angled periphery wheel shafts are transformed into the wheel steering force of a part above one wheel method phase power,
And by the direction of respective wheel and speed, the resultant force vector on the direction of any requirement is synthesized, therefore Mecanum wheel can
To ensure that band mobile robot is moved to any position under the premise of not changing wheel from upper direction, exactly because without passing through rotation
Turn to change direction, therefore can arbitrarily be moved in, warehouse that road is narrow limited in space, freezer, even if in right angle turn, with
By means of the kinetic characteristic of itself, it can also be not necessarily to rotation and realize that right angle is excessively curved；Damper 4 can prevent in mobile platform moving process
Since vibrations cause transported goods shaking, the stationarity in present apparatus handling process is improved；Stepping electricity on hoistable platform
Machine 11 fetches and delivers machine during nut 10.2 drives by driving the rotation of leading screw 10.1 to realize that nut 10.2 lifts in support plate 8
The lifting of structure 13 to different height, conveyer mechanism drives bearing plate 13.1 to realize to the cargo of shelf by electric telescopic rod 13.2
It takes out or places goods onto on shelf, the cargo of different classifications is more accurately carried or loaded and unloaded to realize；Using six
Degree-of-freedom manipulator can realize the accurate operation in manipulator space, be picked up to different size of cargo, and mechanical arm is fully loaded in device
The Equilibrium that posture ensures device can be adjusted in walking process, be the flat of guarantee cargo in hoistable platform escalation process
Surely, mechanical arm can also live shelf by gripper and securely fix device.
As depicted in figs. 1 and 2,1.2 lower end centre position of lower plate is fixed with bearing block 1,6 lower end centre position of U-shaped beam
It is fixed with bearing block 2 22, is connected by main shaft 23 between two bearing blocks.
Be connected by main shaft 23 between the U-shaped beam of front end and the U-shaped beam of rear end and rack 1, in platform moving process before
The U-shaped beam at end and the U-shaped beam of rear end can surround spindle swing to be occurred to compensate both sides Mecanum wheel in installation, manufacturing process
Deviation makes Mecanum wheel remain and is contacted with ground, while also for Uneven road or can jolt and play cushioning effect.
As shown in Figures 1 to 3, damper 4 includes pneumatic bumper 4.1 and spring damper 4.2, mounting bracket of shock absorber 5
Including holder 1 and holder 2 5.2, holder 1 is supported in lower plate 1.2, and the both ends of holder 1 have connection otic placode
5.3, pivoting support 5.4 is fixed on U-shaped beam 6, and the pneumatic bumper 4.1 is hinged on connection otic placode 5.3 and pivoting support 5.4
Between；2 5.2 one end of holder is fixed on the upper end of holder 1, and the other end extends to the surface of U-shaped beam 6, holder 2 5.2
The connecting spring damper 4.2 between U-shaped beam 6, spring damper 4.2 are made of spring, stud and nut, and stud bottom is fixed
On U-shaped beam 6, upper end passes through the through-hole on holder 2 5.2 and is fixed by nut, and spring pocket is mounted in holder 2 5.2 and U-shaped beam 6
Between stud on.
Spring damper can filter the vibrations on road surface, but lead to vehicle body meeting since spring itself also has reciprocating motion
There is vertical bounce, therefore pneumatic bumper, which is arranged, can inhibit this spring to jump, and pass through pneumatic bumper and spring damper
The present apparatus can be eliminated in the vibrations occurred in the process of transporting goods, to make it in carrying moving process by being collocated with each other use
It is more steady.
In order to play guiding role to the execution unit in hoistable platform lifting process, hoistable platform further includes being located at leading screw
The guide post 24 and guide sleeve 25 of 10.1 both sides, guide sleeve 25 are fixed in the pilot hole of middle support plate 8, and 24 bottom of guide post is fixed on
On bottom plate 9, the upper end sequentially passes through middle support plate 8 and upper mounted plate 7.
As shown in Figure 1, being fixed with camera head installation rack 26 on one of them U-shaped beam 6, camera 27 is pacified mounted on camera
It shelves on 26.It can intuitively understand cargo by camera and carry situation, and vision signal is delivered to master control system.
Further, battery 28 and master board 29 are equipped among rack 1.The battery can be rechargeable battery, battery
For in the present apparatus motor and master board electric energy is provided.
The U-shaped beam 6 of 27 lower section of camera is equipped with tracking module 30.It can be made by writing input motion track in advance
Omni-directional moving platform is moved to required position according to setting track.
Claims (7)
1. a kind of intelligent mounting-dismounting device for warehouse freezer, which is characterized in that including omni-directional moving platform, hoistable platform and
Mechanical arm；Wherein,
Omni-directional moving platform includes rack (1), driving motor (2), Mecanum wheel (3) and damper (4), rack (1) by
Upper plate (1.1), lower plate (1.2) and supporting beam (1.3) composition for being connected between upper and lower plate and being located at upper and lower plate quadrangle, rack
(1) both ends are equipped with mounting bracket of shock absorber (5), and Mecanum wheel (3) and driving motor (2) are mounted on U-shaped beam (6), damping
Device (4) one end is fixed on mounting bracket of shock absorber (5), and the other end is fixed on U-shaped beam (6)；
Hoistable platform includes upper mounted plate (7), middle support plate (8), bottom plate (9), screw pair (10) and stepper motor
(11), bottom plate (9) is fixed on upper plate (1.1), and leading screw (10.1) passes through bottom plate (9), stepper motor (11) setting
In upper plate (1.1) lower end, stepper motor (11) is connected by shaft coupling (12) with the bottom of leading screw (10.1), on leading screw (10.1)
On upper mounted plate (7), middle support plate (8) is connected on nut (10.2) end cap, and the machine of fetching and delivering is connected on middle support plate (8)
Structure (13), conveyer mechanism are made of bearing plate (13.1) and two electric telescopic rods (13.2), electric telescopic rod (13.2) one end
It is fixed on nut (10.2), the other end is fixed on bearing plate (13.1) lower end；
Mechanical arm includes fixing bracket (14), rotating basis (15), large arm (16), forearm (17), ancon rotating mechanism (18), wrist
It portion (19) and grabs and seizes device (20), fixing bracket (14) is connected on upper plate (1.1), and mechanical arm is fixed on upper plate by fixing bracket
On, rotating basis (15) bottom is connected on fixing bracket (14), and large arm (16) is hinged with rotating basis (15), large arm (16) packet
Four-bar mechanism and the first driving mechanism are included, the first driving mechanism drives four-bar mechanism to swing up and down and stretch or be bent,
Ancon rotating mechanism (14) connecting seat handing-over large arm four-bar mechanism epimere, the output end of ancon rotating mechanism (18) with
Forearm (17) is connected, the end of forearm (17) connection wrist (2), and the wrist is free style steering wheel, the output end of wrist with grab
Device (20) is seized to be connected.
2. being used for the intelligent mounting-dismounting device of warehouse freezer as described in claim 1, which is characterized in that in lower plate (1.2) lower end
Between position be fixed with bearing block one (21), U-shaped beam (6) lower end centre position is fixed with bearing block two (22), two bearing blocks it
Between by main shaft (23) be connected.
3. being used for the intelligent mounting-dismounting device of warehouse freezer as claimed in claim 2, which is characterized in that damper (4) includes gas
Press damper (4.1) and spring damper (4.2), mounting bracket of shock absorber (5) includes holder one (5.1) and holder two (5.2),
Holder one (5.1) is supported in lower plate (1.2), and the both ends of holder one (5.1) have connection otic placode (5.3), consolidate on U-shaped beam (6)
There are pivoting support (5.4), the pneumatic bumper (4.1) to be hinged between connection otic placode (5.3) and pivoting support (5.4) surely；
Holder two (5.2) one end is fixed on the upper end of holder one (5.1), and the other end extends to the surface of U-shaped beam (6), holder two
(5.2) the connecting spring damper (4.2) between U-shaped beam (6), spring damper (4.2) are made of spring, stud and nut,
Stud bottom is fixed on U-shaped beam (6), and upper end passes through the through-hole on holder two (5.2) and fixed by nut, and spring pocket is mounted in branch
On stud between frame two (5.2) and U-shaped beam (6).
4. being used for the intelligent mounting-dismounting device of warehouse freezer as claimed in claim 3, which is characterized in that hoistable platform further includes setting
Guide post (24) and guide sleeve (25) in leading screw (10.1) both sides, guide sleeve (25) are fixed in the pilot hole of middle support plate (8),
Guide post (24) bottom is fixed on bottom plate (9), and the upper end sequentially passes through middle support plate (8) and upper mounted plate (7).
5. being used for the intelligent mounting-dismounting device of warehouse freezer as claimed in claim 4, which is characterized in that one of them U-shaped beam (6)
On be fixed with camera head installation rack (26), camera (27) is mounted on camera head installation rack (26).
6. being used for the intelligent mounting-dismounting device of warehouse freezer as claimed in claim 5, which is characterized in that be equipped among rack (1)
Battery (28) and master board (29).
7. the intelligent mounting-dismounting device for warehouse freezer as described in claim 1 to 6 any claim, which is characterized in that
U-shaped beam (6) below camera (27) is equipped with tracking module (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721494039.9U CN207632434U (en) | 2017-11-10 | 2017-11-10 | Intelligent mounting-dismounting device for warehouse freezer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721494039.9U CN207632434U (en) | 2017-11-10 | 2017-11-10 | Intelligent mounting-dismounting device for warehouse freezer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207632434U true CN207632434U (en) | 2018-07-20 |
Family
ID=62856324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721494039.9U Expired - Fee Related CN207632434U (en) | 2017-11-10 | 2017-11-10 | Intelligent mounting-dismounting device for warehouse freezer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207632434U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107758567A (en) * | 2017-11-10 | 2018-03-06 | 徐州工程学院 | A kind of intelligent mounting-dismounting device for warehouse freezer |
| CN110217524A (en) * | 2019-06-19 | 2019-09-10 | 哈尔滨工程大学 | A kind of robot for the mobile carrying of logistic storage |
| CN110304466A (en) * | 2019-06-18 | 2019-10-08 | 徐州工程学院 | Handling device is used in a kind of novel logistics delivery handling |
| WO2019245837A1 (en) * | 2018-06-22 | 2019-12-26 | Southwest Research Institute | Movement system for an omnidirectional vehicle |
| WO2020157465A1 (en) * | 2019-01-30 | 2020-08-06 | The University Of Sheffield | Vehicle |
-
2017
- 2017-11-10 CN CN201721494039.9U patent/CN207632434U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107758567A (en) * | 2017-11-10 | 2018-03-06 | 徐州工程学院 | A kind of intelligent mounting-dismounting device for warehouse freezer |
| WO2019245837A1 (en) * | 2018-06-22 | 2019-12-26 | Southwest Research Institute | Movement system for an omnidirectional vehicle |
| US10696115B2 (en) | 2018-06-22 | 2020-06-30 | Southwest Research Institute | Movement system for an omnidirectional vehicle |
| WO2020157465A1 (en) * | 2019-01-30 | 2020-08-06 | The University Of Sheffield | Vehicle |
| CN110304466A (en) * | 2019-06-18 | 2019-10-08 | 徐州工程学院 | Handling device is used in a kind of novel logistics delivery handling |
| CN110217524A (en) * | 2019-06-19 | 2019-09-10 | 哈尔滨工程大学 | A kind of robot for the mobile carrying of logistic storage |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180720 Termination date: 20191110 |