CN208054208U - Transportation equipment, conveying system and robot - Google Patents
Transportation equipment, conveying system and robot Download PDFInfo
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- CN208054208U CN208054208U CN201820022265.5U CN201820022265U CN208054208U CN 208054208 U CN208054208 U CN 208054208U CN 201820022265 U CN201820022265 U CN 201820022265U CN 208054208 U CN208054208 U CN 208054208U
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Abstract
The utility model provides a transportation equipment, conveying system and robot, wherein the transportation equipment includes: the displacement mechanism, the shell and the transmission mechanism arranged in the shell; the transmission mechanism includes: the chain assembly comprises a transmission assembly, an outer side chain assembly and an inner side chain assembly which are connected with the transmission assembly, and a plurality of supporting plates which are connected with the outer side chain assembly and the inner side chain assembly and are arranged at intervals. The embodiment of the utility model provides an in, transportation equipment can acquire a plurality of goods at the workstation to carry each goods to corresponding collection and dress point. The goods are not required to be returned to the work station to obtain the next goods when one goods is carried, so that the time for returning the transportation equipment to the work station is reduced, the cost is saved, and the sorting efficiency is improved.
Description
Technical field
The utility model is related to robotic technology fields, more particularly to a kind of transporting equipment, conveyer system and robot.
Background technology
At present in delivery industry, the sorting task of package is increasingly completed by automation, AGV (Automated
Guided Vehicle, Intelligent navigation robot) play the role of substituting manual sorting in terms of packages.
Existing AGV Intelligent navigation robots can only once transport a package, and transport just needs when wrapping up next time from collection
It decorates and returns to work station and be lined up dock again, for big warehouse, AGV Intelligent navigation robots are decorateeed in collection between work station
The time run back and forth occupies the most working time, not only bad for the promotion of sorting efficiency, and to the one of the energy
Kind waste.
Utility model content
In view of the above problems, it is proposed that the utility model overcoming the above problem in order to provide one kind or solves at least partly
Certainly a kind of transporting equipment, conveyer system and the robot of the above problem.
To solve the above-mentioned problems, the utility model discloses a kind of transporting equipments, including：Displacement mechanism, shell, setting
Transmission mechanism within the shell；The transmission mechanism includes：Transmission component, the outside chain being connect with the transmission component
Bar assembly and inside chain assemblies, and connect with the outside chain assemblies and the inside chain assemblies and spaced
Multiple supporting plates.
Preferably, the outside chain assemblies include：First outside chain and the second outside chain；The inside chain group
Part includes：First inside chain and the second inside chain.
Preferably, four angles of the supporting plate have connector；
Four connectors of the supporting plate respectively with first outside chain, the second outside chain, the first inside chain
It is connected with the second inside chain.
Preferably, the supporting plate is flexible supporting plate.
Preferably, the multiple supporting plate forms multiple storage layer.
Preferably, the outside chain assemblies and the inside chain assemblies, drive the multiple supporting plate in vertical direction
It is mobile.
Preferably, the transmission component includes：
Be fixed at the first duplex chain wheel of the shell lower end, the second duplex chain wheel, third duplex chain wheel, the 4th pair
Row chain wheel, the first simple chainwheel and the second simple chainwheel；Be fixed at the shell upper end the 5th duplex chain wheel, the 6th pair
Row chain wheel, third simple chainwheel and the 4th simple chainwheel；
First duplex chain wheel, the third duplex chain wheel, the 5th duplex chain wheel and the third simple chainwheel
It is located at four apex angles in the first rectangular vertical face；
First simple chainwheel is located at first rectangular vertical face and is arranged close to first duplex chain wheel；
Second duplex chain wheel, the 4th duplex chain wheel, the 6th duplex chain wheel and the 4th simple chainwheel
It is located at four apex angles in the second rectangular vertical face；
Second simple chainwheel is located at second rectangular vertical face and is arranged close to second duplex chain wheel.
Preferably, first outside chain is around the outside sprocket wheel of the first duplex chain wheel, the third duplex chain wheel
Outside sprocket wheel, the outside sprocket wheel of the 5th duplex chain wheel and the rectangular setting of third simple chainwheel；
Second outside chain is around the outside sprocket wheel of the second duplex chain wheel, the outside chain of the 4th duplex chain wheel
Wheel, the outside sprocket wheel of the 6th duplex chain wheel and the rectangular setting of the 4th simple chainwheel；
First inside chain is around the inner sprocket of first duplex chain wheel, the inside of the third duplex chain wheel
The inner sprocket of sprocket wheel, the 5th duplex chain wheel, and the L-shaped setting after first simple chainwheel；
Second inside chain is around the inner sprocket of second duplex chain wheel, the inside of the 4th duplex chain wheel
The inner sprocket of sprocket wheel, the 6th duplex chain wheel, and the L-shaped setting after second simple chainwheel.
Preferably, the transmission component further includes：It is connect with first duplex chain wheel and second duplex chain wheel
First transmission shaft, the second driving shaft being connect with the third duplex chain wheel and the 4th duplex chain wheel and described 5th pair
Row chain wheel and the 6th duplex chain wheel connection third transmission shaft, connect with first simple chainwheel the 4th transmission shaft,
The 5th transmission shaft that is connect with second simple chainwheel, the 6th transmission shaft being connect with the third simple chainwheel, with it is described
7th transmission shaft of the 4th simple chainwheel connection.
Preferably, the transporting equipment further includes：First servo motor with the 5th simple chainwheel；
One end of first transmission shaft also has the 6th simple chainwheel；
6th simple chainwheel of first transmission shaft passes through third with the 5th simple chainwheel of the first servo motor
Chain connects.
Preferably, the upper end of the shell one side wall has an opening；
The bottom end of the opening is corresponding with the top of the transmission mechanism.
Preferably, institute's displacement mechanism includes：Second servo motor of several wheels and driving several wheels.
Preferably, one in several described wheels is driving wheel；The driving wheel has synchronizing wheel；
The synchronizing wheel passes through synchronous belt and second servo motor transmission.
The utility model embodiment also discloses a kind of conveyer system, including transporting equipment as described above.
The utility model embodiment also discloses a kind of robot, including transporting equipment as described above.
The utility model includes following advantages：
In the utility model embodiment, transporting equipment can obtain multiple kinds of goods in work station, and each kinds of goods are removed
Corresponding collection is transported to decorate.A kinds of goods need not often be carried and be returned to the next kinds of goods of work station acquisition, to reduce transport
Equipment returns to the time of work station, saves cost and improves sorting efficiency.
On the other hand, transporting equipment can export kinds of goods from the supporting plate at top, increase the height of break bulk point.It therefore can
It is placed on ground with that will collect to decorate, to save the laying of steel platform, greatly reduces cost.
Description of the drawings
Fig. 1 is a kind of structure chart of transporting equipment of the utility model；
Fig. 2 is the structure chart of transmission mechanism in the utility model embodiment；
Fig. 3 is the partial enlarged view of transmission mechanism in the utility model embodiment；
Fig. 4 is the partial enlarged view of transmission mechanism in the utility model embodiment；
Fig. 5 is the left view of transmission mechanism in the utility model embodiment；
Fig. 6 is the right view of transmission mechanism in the utility model embodiment；
Fig. 7 is the structure chart of displacement mechanism in the utility model embodiment.
Specific implementation mode
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, below in conjunction with the accompanying drawings and have
Body embodiment is described in further detail the utility model.
Referring to Fig.1, the structure chart for showing a kind of transporting equipment of the utility model, can specifically include：
Displacement mechanism 10, the shell 11 for being set to 10 top of institute's displacement mechanism, the driver in the shell 11
Structure 12 (is not drawn into) in shell；
The structure chart of transmission mechanism in the utility model embodiment is shown with reference to Fig. 2, the transmission mechanism 12 includes：It passes
Dynamic component 121, the outside chain assemblies 122 being connect with the transmission component 121 and inside chain assemblies 123, and with it is described
Outside chain assemblies 122 and the inside chain assemblies 123 connection and spaced multiple supporting plates 124；
The multiple supporting plate 124 forms multiple storage layer；
The outside chain assemblies 122 and the inside chain assemblies 123, drive the multiple supporting plate 124 in Vertical Square
To movement.
Outside chain assemblies 122 and inside chain assemblies 123 drive multiple supporting plates 124 under the driving of transmission component 121
It is moved in vertical direction.
In the present invention, there are multiple storage layer formed by supporting plate 124, kinds of goods can store inside transporting equipment
In transporting equipment internal reservoir layer.The control of transmission component 121 outside chain assemblies 122 and inside chain assemblies 123 can bands
Dynamic each supporting plate 124 is moved up or is moved down in vertical direction, to drive kinds of goods to be moved in vertical direction.
When outside chain assemblies 122 and inside chain assemblies 123 drive some supporting plate 124 to move up, and it is moved to outer
Behind the top of side chain bar assembly 122 and inside chain assemblies 123, which is simultaneously driven to outside chain group
123 bottom of part 122 and inside chain assemblies, and remaining supporting plate 124 then up moves successively.
When outside chain assemblies 122 and inside chain assemblies 123 drive some supporting plate 124 to move down, and it is moved to outer
Behind the bottom of side chain bar assembly 122 and inside chain assemblies 123, which is driven to outside chain assemblies 122 and inside
123 top of chain assemblies, and remaining supporting plate 124 can move down successively.
When needing to put kinds of goods inside transporting equipment into, kinds of goods can be put on the supporting plate 124 at top；Then it controls
Outside chain assemblies 122 and inside chain assemblies 123 drive the supporting plate 124 to move down, and will be positioned at the supporting plate 124 of bottom
It is moved to top, so as to which next kinds of goods are put into new top bracket 124；This process is repeated, by multiple kinds of goods
It is input to each supporting plate 124.
When needing kinds of goods exporting transporting equipment, outside chain assemblies 122 and 123 band of inside chain assemblies can be controlled
Dynamic supporting plate 124 moves up.After supporting plate 124 is moved to top, kinds of goods on supporting plate are defeated with the transverse shifting of supporting plate 124
Go out to outside.
In the utility model embodiment, transporting equipment can obtain multiple kinds of goods in work station, and each kinds of goods are removed
Corresponding collection is transported to decorate.A kinds of goods need not often be carried and be returned to the next kinds of goods of work station acquisition, to reduce transport
Equipment returns to the time of work station, saves cost and improves sorting efficiency.
On the other hand, transporting equipment can export kinds of goods from the supporting plate at top, increase the height of break bulk point.It therefore can
It is placed on ground with that will collect to decorate, to save the laying of steel platform, greatly reduces cost.
In the utility model embodiment, the upper end of 11 one side wall of the shell has an opening；The bottom end of the opening
It is corresponding with the top of the transmission mechanism 12.Kinds of goods can enter the supporting plate 124 at top from the opening, or be located at top bracket
124 kinds of goods are exported by the opening.
In the utility model embodiment, the supporting plate 124 is flexible supporting plate, and flexible supporting plate has good deformation energy
Power can also can quickly be reverted to planar with deformation bending.
It is as shown in Figure 3 and Figure 4 the partial enlarged view of transmission mechanism in the utility model embodiment, the transmission component
121 may include：
It is fixed at the first duplex chain wheel 12101, the second duplex chain wheel, the third duplex chain wheel of 11 lower end of the shell
12103, the 4th duplex chain wheel 12104, the first simple chainwheel 12105 and the second simple chainwheel 12106；It is fixed at the shell
The 5th duplex chain wheel 12107, the 6th duplex chain wheel 12108, third simple chainwheel 12109 and the 4th simple chainwheel of 11 upper end of body
12110。
It is illustrated in figure 5 the left view of transmission mechanism in the utility model embodiment.If Fig. 6 is the utility model embodiment
The right view of middle transmission mechanism.
First duplex chain wheel 12101, the third duplex chain wheel 12103, the 5th duplex chain wheel 12107, with
The third simple chainwheel 12109 is located at four apex angles in the first rectangular vertical face；
First simple chainwheel 12105 is located at first rectangular vertical face and close to first duplex chain wheel
12101 settings；
Second duplex chain wheel 12102, the 4th duplex chain wheel 12104, the 6th duplex chain wheel 12108, with
4th simple chainwheel 12110 is located at four apex angles in the second rectangular vertical face；
Second simple chainwheel 12106 is located at second rectangular vertical face and close to second duplex chain wheel
12102 settings.
In the utility model embodiment, the outside chain assemblies 122 include：Outside first outside chain 1221 and second
Side chain item 1222；The inside chain assemblies 123 include：First inside chain 1231 and the second inside chain 1232；
As shown in figure 5, first outside chain 1221 around the first duplex chain wheel 12101 outside sprocket wheel, described the
The outside sprocket wheel of three duplex chain wheels 12103, the outside sprocket wheel of the 5th duplex chain wheel 12107 and the third simple chainwheel
12109 rectangular settings；
First inside chain 1231 is double around the inner sprocket of first duplex chain wheel 12101, the third
The inner sprocket of the inner sprocket of sprocket wheel 12103, the 5th duplex chain wheel 12107, and pass through first simple chainwheel
L-shaped setting after 12105.
Second outside as shown in Figure 6 chain 1222 surrounds the outside sprocket wheel of the second duplex chain wheel 12102, the described 4th
The outside sprocket wheel of duplex chain wheel 12104, the outside sprocket wheel of the 6th duplex chain wheel 12108 and the 4th simple chainwheel
12110 rectangular settings；
Inner sprocket, described fourth double of second inside chain 1232 around second duplex chain wheel 12102
The inner sprocket of the inner sprocket of sprocket wheel 12104, the 6th duplex chain wheel 12108, and pass through second simple chainwheel
L-shaped setting after 12106.
In the utility model embodiment, the transmission component 121 can also include：
The first transmission shaft 12111 for being connect with first duplex chain wheel 12101 and second duplex chain wheel 12102,
The second driving shaft 12112 that is connect with the third duplex chain wheel 12103 and the 4th duplex chain wheel 12104, with described the
The third transmission shaft 12113 and first single-row chain of five duplex chain wheels 12107 and the 6th duplex chain wheel 12108 connection
4th transmission shaft (not shown) of 12105 connection of wheel, the 5th transmission shaft being connect with second simple chainwheel 12106
(not shown), the 6th transmission shaft (not shown) being connect with the third simple chainwheel 12109 and the 4th list
The 7th transmission shaft (not shown) that row chain wheel 12110 connects.
First transmission shaft 12111 is fixed in the shell, the first duplex chain wheel 12101 and the second duplex chain wheel 12102 difference
It is set to 12111 both ends of the first transmission shaft.
Second driving shaft 12112 is fixed in the shell, third duplex chain wheel 12103 and the 4th duplex chain wheel 12104 difference
It is set to 12112 both ends of second driving shaft.
Third transmission shaft 12113 is fixed in the shell, the 5th duplex chain wheel 12107 and the 6th duplex chain wheel 12108 difference
It is set to 12113 both ends of third transmission shaft.
4th transmission shaft is fixed on the shell, and the first simple chainwheel 12105 is fixed on one end of the 4th transmission shaft, and the 4th passes
Moving axis length is shorter, does not interfere with the movement of supporting plate.
5th transmission shaft is fixed on the shell, and the second simple chainwheel 12106 is fixed on one end of the 5th transmission shaft, and the 5th passes
Moving axis length is shorter, does not interfere with the movement of supporting plate.
6th transmission shaft is fixed on the shell, and third simple chainwheel 12109 is fixed on one end of the 6th transmission shaft, and the 6th passes
Moving axis length is shorter, does not interfere with the movement of supporting plate.
7th transmission shaft is fixed on the shell, and the 4th simple chainwheel 12110 is fixed on one end of the 7th transmission shaft, and the 7th passes
Moving axis length is shorter, does not interfere with the movement of supporting plate.
In the utility model embodiment, four angles of the supporting plate 124 have connector 1241；
Four connectors 1241 of the supporting plate respectively with first outside chain 1221, the second outside chain 1222,
First inside chain 1231 and the connection of the second inside chain 1232.
In the utility model embodiment, the transporting equipment can also include：With the 5th simple chainwheel 1251
One servo motor 125；
One end of first transmission shaft 12111 also has the 6th simple chainwheel 12114；
6th simple chainwheel 12114 of first transmission shaft 12111 and the 5th of the first servo motor 125 the single
Sprocket wheel 1251 is connected by third chain 126.
When first servo motor 125 drives the 5th simple chainwheel 1251 to rotate clockwise, 1251 band of the 5th simple chainwheel
Dynamic 6th simple chainwheel 12114 rotates clockwise, to drive the first transmission shaft 12111 to rotate clockwise；First transmission shaft
12111 the first duplex chain wheels 12101 of drive and the second duplex chain wheel 12102 rotate clockwise, to drive the first outside chain
1221, the second outside chain 1222, the first inside chain 1231 and the second inside chain 1232 rotate clockwise.During this,
Supporting plate 124 moves down.
When first servo motor 125 drives the 5th simple chainwheel 1251 to rotate counterclockwise, 1251 band of the 5th simple chainwheel
Dynamic 6th simple chainwheel 12114 rotates counterclockwise, to drive the first transmission shaft 12111 to rotate counterclockwise；First transmission shaft
12111 the first duplex chain wheels 12101 of drive and the second duplex chain wheel 12102 rotate counterclockwise, to drive the first outside chain
1221, the second outside chain 1222, the first inside chain 1231 and the second inside chain 1232 rotate counterclockwise.During this,
Supporting plate 124 moves up.
The structure chart of displacement mechanism in the utility model embodiment is shown with reference to Fig. 7.
In the utility model embodiment, institute's displacement mechanism 10 includes：Several wheels 101 and driving it is described several
Second servo motor 102 of wheel 101.
Wherein, one in several described wheels 101 is driving wheel；The driving wheel has synchronizing wheel 1011；
The synchronizing wheel 1011 is driven by synchronous belt 1012 by second servo motor 102.
The utility model embodiment also discloses a kind of conveyer system, including transporting equipment as described above.
The utility model embodiment also discloses a kind of robot, including transporting equipment as described above, communication module with
And control module；Communication module can receive the control instruction of console transmission；Control module can be controlled according to control instruction
Displacement mechanism is mobile and control transmission mechanism drives supporting plate movement.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also include other elements that are not explicitly listed, or further include for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device including the element.
Above to a kind of transporting equipment provided by the utility model, conveyer system and robot, it is described in detail,
Specific case used herein is expounded the principles of the present invention and embodiment, and the explanation of above example is only
It is to be used to help understand the method and its core concept of the utility model；Meanwhile for those of ordinary skill in the art, foundation
The thought of the utility model, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as a limitation of the present invention.
Claims (15)
1. a kind of transporting equipment, which is characterized in that including：Displacement mechanism, shell, the driver being set within the shell
Structure；The transmission mechanism includes：Transmission component, the outside chain assemblies being connect with the transmission component and inside chain assemblies,
And it is connect with the outside chain assemblies and the inside chain assemblies and spaced multiple supporting plates.
2. transporting equipment according to claim 1, which is characterized in that the outside chain assemblies include：First outside chain
Item and the second outside chain；The inside chain assemblies include：First inside chain and the second inside chain.
3. transporting equipment according to claim 2, which is characterized in that four angles of the supporting plate have connector；
Four connectors of the supporting plate respectively with first outside chain, the second outside chain, the first inside chain and
Two inside chain connections.
4. transporting equipment according to claim 1, which is characterized in that the supporting plate is flexible supporting plate.
5. transporting equipment according to claim 1, which is characterized in that the multiple supporting plate forms multiple storage layer.
6. transporting equipment according to claim 1, which is characterized in that the outside chain assemblies and the inside chain group
Part drives the multiple supporting plate to be moved in vertical direction.
7. transporting equipment according to claim 3, which is characterized in that the transmission component includes：
It is fixed at the first duplex chain wheel, the second duplex chain wheel, third duplex chain wheel, the 4th double strand chain of the shell lower end
Wheel, the first simple chainwheel and the second simple chainwheel；It is fixed at the 5th duplex chain wheel, the 6th double strand chain of the shell upper end
Wheel, third simple chainwheel and the 4th simple chainwheel；
First duplex chain wheel, the third duplex chain wheel, the 5th duplex chain wheel and the third simple chainwheel are distinguished
Four apex angles positioned at the first rectangular vertical face；
First simple chainwheel is located at first rectangular vertical face and is arranged close to first duplex chain wheel；
Second duplex chain wheel, the 4th duplex chain wheel, the 6th duplex chain wheel and the 4th simple chainwheel are distinguished
Four apex angles positioned at the second rectangular vertical face；
Second simple chainwheel is located at second rectangular vertical face and is arranged close to second duplex chain wheel.
8. transporting equipment according to claim 7, it is characterised in that；
First outside chain is around the outside sprocket wheel of the first duplex chain wheel, the outside sprocket wheel of the third duplex chain wheel, institute
State the outside sprocket wheel of the 5th duplex chain wheel and the rectangular setting of third simple chainwheel；
Second outside chain is around the outside sprocket wheel of the second duplex chain wheel, the outside sprocket wheel of the 4th duplex chain wheel, institute
State outside sprocket wheel and the rectangular setting of the 4th simple chainwheel of the 6th duplex chain wheel；
First inside chain is around the inner sprocket of first duplex chain wheel, the interior side chain of the third duplex chain wheel
The inner sprocket of wheel, the 5th duplex chain wheel, and the L-shaped setting after first simple chainwheel；
Second inside chain is around the inner sprocket of second duplex chain wheel, the interior side chain of the 4th duplex chain wheel
The inner sprocket of wheel, the 6th duplex chain wheel, and the L-shaped setting after second simple chainwheel.
9. transporting equipment according to claim 8, which is characterized in that the transmission component further includes：With described first pair
The first transmission shaft and the third duplex chain wheel and the 4th duplex chain wheel of row chain wheel and second duplex chain wheel connection
The second driving shaft of connection, the third transmission shaft being connect with the 5th duplex chain wheel and the 6th duplex chain wheel, with it is described
4th transmission shaft of the first simple chainwheel connection, the 5th transmission shaft being connect with second simple chainwheel and the third list
6th transmission shaft of row chain wheel connection, the 7th transmission shaft being connect with the 4th simple chainwheel.
10. transporting equipment according to claim 9, which is characterized in that further include：First with the 5th simple chainwheel watches
Take motor；
One end of first transmission shaft also has the 6th simple chainwheel；
6th simple chainwheel of first transmission shaft passes through third chain with the 5th simple chainwheel of the first servo motor
Connection.
11. transporting equipment according to claim 1, which is characterized in that the upper end of the shell one side wall has an opening；
The bottom end of the opening is corresponding with the top of the transmission mechanism.
12. transporting equipment according to claim 1, which is characterized in that institute's displacement mechanism includes：Several wheels and drive
Second servo motor of dynamic several wheels.
13. transporting equipment according to claim 12, which is characterized in that one in several described wheels is driving
Wheel；The driving wheel has synchronizing wheel；
The synchronizing wheel is by synchronous belt by second servo motor transmission.
14. conveyer system, which is characterized in that include the transporting equipment as described in any one of claim 1-13.
15. a kind of robot, which is characterized in that include the transporting equipment as described in any one of claim 1-13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820022265.5U CN208054208U (en) | 2018-01-05 | 2018-01-05 | Transportation equipment, conveying system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820022265.5U CN208054208U (en) | 2018-01-05 | 2018-01-05 | Transportation equipment, conveying system and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208054208U true CN208054208U (en) | 2018-11-06 |
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ID=63994978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820022265.5U Active CN208054208U (en) | 2018-01-05 | 2018-01-05 | Transportation equipment, conveying system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208054208U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238879A (en) * | 2019-05-22 | 2019-09-17 | 菜鸟智能物流控股有限公司 | Positioning method and device and robot |
-
2018
- 2018-01-05 CN CN201820022265.5U patent/CN208054208U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238879A (en) * | 2019-05-22 | 2019-09-17 | 菜鸟智能物流控股有限公司 | Positioning method and device and robot |
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