CN208663812U - Manage part mechanical arm, Li Jian robot - Google Patents
Manage part mechanical arm, Li Jian robot Download PDFInfo
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- CN208663812U CN208663812U CN201820452924.9U CN201820452924U CN208663812U CN 208663812 U CN208663812 U CN 208663812U CN 201820452924 U CN201820452924 U CN 201820452924U CN 208663812 U CN208663812 U CN 208663812U
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- 238000012384 transportation and delivery Methods 0.000 claims abstract description 57
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 239000003463 adsorbent Substances 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 14
- 210000000707 wrist Anatomy 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 210000003857 wrist joint Anatomy 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
This application discloses a kind of reason part mechanical arm, Li Jian robot and its control methods, including symmetrical reason part mechanical arm, the mechanical arm is made of three right angle mobile units and wrist mechanism, and the control method includes mobile single armed and rotation control, both arms overturning Cooperation controlling, multi-robotic task distribution and dispatching method.According to technical solution provided by the embodiments of the present application, one or more groups of Li Jian robots are arranged by gantry mechanism above transmission belt, the express delivery in transmission belt is rotated, is translated and the operation such as the overturning of certain surface.This patent spaces compact, motion control decoupling, and with the fitnesss such as transmission belt it is higher, can rapid deployment Li Jian robot and control method.
Description
Technical field
The present disclosure relates generally to field of express delivery, more particularly to reason part mechanical arm, Li Jian robot.
Background technique
In logistics sorting field, by artificial or robot by express mail overturn so that it is specific up, be sequentially placed in biography
It is defeated to take, then pass through high speed barcode scanning and automated sorting equipment.Part operation is managed in robot assisted express delivery, specifically includes express mail
It is horizontal carry, rotation process in horizontal plane, the turning operation in certain surface etc..
In the prior art, the operation of reason part mostly uses industrial machine arm, and not only space is big, and situ configuration is complicated；Theoretically work
Industry robotic arm can adapt to express mail carrying, rotation and the turning operation perpendicular to gripping surface, but can not achieve and be parallel to crawl
The turning operation in face；Tandem type mechanical arm is more sensitive for loading, and different business scene need to configure different shaped according to load section
Number mechanical arm, Presence Extensions and adaptability are inadequate；The rotation of industrial machinery arm and translational motion coupling, objectively increase control
Difficulty.
Utility model content
In view of drawbacks described above in the prior art or deficiency, be intended to provide a kind of reason part mechanical arm, Li Jian robot and its
Control method.
In a first aspect, a kind of reason part mechanical arm, including first movement unit are provided, the company of sliding on the first movement unit
It is connected to the second mobile unit, the glide direction of second mobile unit is vertical with the glide direction of the first movement unit,
Third mobile unit is connected in second mobile unit, the third mobile unit is scalable slide bar, and the third is moved
The direction of motion of moving cell and the glide direction of second mobile unit and the first movement unit are vertical；
The sliding end of the third mobile unit is connected with the first rotary unit, the rotary shaft of first rotary unit with
The third mobile unit is overlapped, and the second rotary unit is rotatably connected on first rotary unit, and second rotation is single
The rotary shaft of member is vertical with the rotary shaft of first rotary unit, and third rotation is rotatably connected on second rotary unit
Unit, the rotary shaft of the third rotary unit are vertical with the rotary shaft of second rotary unit.
Second aspect provides a kind of Li Jian robot, including two above-mentioned reason part mechanical arms, machinery described in two reason parts
The third mobile unit of arm is arranged in parallel.
The third aspect provides a kind of reason part robot control method, comprising steps of
Express delivery on scan transfer band determines that the current state of the express delivery, the current state are St1=[Rt1,pt1,
dt1, s], wherein Rt1Spin matrix for express mail relative to reference coordinate, pt1It is express mail geometric center relative to reference frame
Position it is appropriate, dt1For the offset vector for describing express mail length, width, height, s is express mail classification；
The task sequence of Li Jian robot is determined according to the mapping relations of the dbjective state of the express delivery and current state.
According to technical solution provided by the embodiments of the present application, the straight of three directions is set by managing at one on part mechanical arm
The wrist joint in angle joint and three angles, and can the collaboration of two reason part mechanical arms operated, to fast in transmission belt
The operations such as progressive row rotation, translation and the overturning of certain surface are operated specifically for express delivery reason part, compact-sized and right
It is more in the operational motion of express delivery；The further state by scanning express delivery determines the operation for needing to carry out, according to express delivery
State carries out mission planning, judges that the quantity of reason part mechanical arm and Li Jian robot needed, dynamic adjust Li Jian robot
State with meet express delivery adjustment the needs of, to express delivery adjustment it is more adaptable.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that part mechanical arm structural schematic diagram is managed in the utility model embodiment；
Fig. 2 is that part robot architecture schematic diagram is managed in the utility model embodiment；
Fig. 3 is individually to manage part robot control method flow chart in the utility model embodiment；
Fig. 4 is to be operated front and back state diagram to a kind of express delivery in the utility model embodiment；
Fig. 5 is to be operated front and back state diagram to another kind of express delivery in the utility model embodiment；
Fig. 6 is multiple Li Jian robots work structure diagram in the utility model embodiment；
Fig. 7 is multiple Li Jian robots control block diagram in the utility model embodiment；
Fig. 8 is multiple reason part robot control method flow charts in the utility model embodiment.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining relevant utility model, rather than the restriction to the utility model.It further needs exist for illustrating
, part relevant to utility model is illustrated only for ease of description, in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to FIG. 1, the utility model embodiment provides a kind of reason part mechanical arm, including first movement unit 11, it is described
Slidably connect the second mobile unit 12 on first movement unit 11, the glide direction of second mobile unit 12 and described the
The glide direction of one mobile unit 11 is vertical, and third mobile unit 13, the third are connected in second mobile unit 12
Mobile unit 13 is scalable slide bar, the direction of motion of the third mobile unit 13 and second mobile unit 12 and described
The glide direction of first movement unit 11 is vertical；
The sliding end of the third mobile unit 13 is connected with the first rotary unit 14, the rotation of first rotary unit 14
Shaft is overlapped with the third mobile unit 13, and the second rotary unit 15, institute are rotatably connected on first rotary unit 14
The rotary shaft for stating the second rotary unit 15 is vertical with the rotary shaft of first rotary unit 14, on second rotary unit 15
It is rotatably connected to third rotary unit 16, the rotation of the rotary shaft of the third rotary unit 16 and second rotary unit 15
Axis is vertical.
The right angle joint in three directions is provided on the reason part mechanical arm provided in the present embodiment, by the way that first movement is arranged
Unit, the second mobile unit and third mobile unit realize the operation for being parallel to gripping surface, rotate list additionally by setting first
The wrist joint of member, the second rotary unit and third rotary unit these three angles, and gone here and there with the right angle joint in three directions
Connection, is in addition also able to achieve the turning operation with gripping surface in parallel.
Further, adsorbent equipment 18 is installed, the adsorbent equipment 18 and described the on the third rotary unit 16
Pressure sensor 19 is equipped between three rotary units 16.Adsorbent equipment is mounted in third rotary unit one end in the present embodiment,
It can be realized the absorption to express delivery, so that express delivery will not be easily when controlling express delivery and carrying out the operation such as overturning for reason part mechanical arm
It falls and causes operation error, adsorbent equipment can be the structure of sucker class, while the reason part mechanical arm passes through
Sucker, which is arranged, easily to carry out turning operation to express delivery of light and thin type such as envelope, soft package article etc..In addition, in third
It is additionally provided with pressure sensor between rotary unit and adsorbent equipment, part mechanical arm synergistic effect is managed when two and carries out turning over for express delivery
When turning to wait operation, the detection that reason part mechanical arm is applied to the power of express delivery is carried out by the pressure sensor of setting, and pass through ratio
It is detected compared with the pressure size that pressure sensor detects to whether the position of express delivery generates offset, in order to be adjusted；
In addition, detecting by pressure sensor to pressure size for the ease of reason part mechanical arm, while being also prevented from adsorbent equipment pair
Pressure sensor impacts, and substrate 17 is arranged between adsorbent equipment and pressure sensor, and adsorbent equipment is arranged in the base
On plate 17, so that interaction will not have an impact between each unit.
Further, the direction of motion of the direction of motion of second mobile unit 12 and the first movement unit 11
It is parallel with express delivery operation plane.By the way that the tune to express delivery state is realized in right angle joint and the series connection of wrist joint in the present embodiment
Section, wherein specific first movement unit motion direction is to be parallel to transmission belt, and be arranged along transmission belt traffic direction, second is moved
The moving cell direction of motion is parallel to transmission belt, is vertically arranged with transmission belt traffic direction, third mobile unit and above-mentioned two shifting
Moving cell is vertical, i.e., is vertically arranged with transmission belt, and third mobile unit is arranged between the second mobile unit and transmission belt, and
And third mobile unit is set as retractable structure, not connected one end can carry out operation realization close to or far from conveyer belt
Operating position moves up and down.In addition, the first rotary unit in the present embodiment drives the second rotary unit and third rotation single
Member is rotated around third mobile unit, and the second rotary unit drives third rotary unit to revolve around the axis for being parallel to first movement unit
Turn, third rotary unit is rotated around the axis for being parallel to the second mobile unit, is realized three angular adjustments, is met for express delivery tune
The demand of section.
As shown in Fig. 2, the utility model embodiment additionally provides a kind of Li Jian robot, including two above-mentioned reason part machines
The third mobile unit of tool arm 1,2, two reason part mechanical arms is arranged in parallel.Li Jian robot provided in this embodiment
Including there are two reason part mechanical arms to need when the express delivery encountered has more than two operating surfaces and needs to carry out turning operation
Two reason part mechanical arm collaborations are operated；Third unit is arranged in parallel, the opposite overturning etc. for realizing express delivery in two wrist joints
Operation.
It further, further include portal frame, the portal frame includes the first frame body 3 and that 5 two sides of transmission belt are arranged in
Second mobile unit of two frame bodies 4, two reason part mechanical arms is arranged at first frame body 3 and second frame body 4
Between.Two reason part mechanical arms are mounted on the portal frame of transmission belt two sides in the present embodiment and realize fixation, mounted two
A reason part mechanical arm is respectively positioned on the operation realized right above conveyer belt to express delivery, while being also able to achieve the control to express delivery path,
So that express delivery is moved along certain path on a moving belt, convenient for control.
Further, the second mobile unit integrally connected of two reason part mechanical arms.Two are managed in the present embodiment
Second mobile unit integrally connected of part mechanical arm is configured, such as the first movement unit and third of two reason part mechanical arms
Mobile unit is mounted in same second mobile unit, is configured using a crossbeam, is on the one hand economized on resources, on the other hand
Running track in second mobile unit of two reason part mechanical arms is identical, so that two reason part mechanical arms translate express delivery
Or it is more stable when the operation such as overturning.
The step that different express delivery structures carries out needed for reason part is adjusted is given below and provides two as shown in Figure 4 and Figure 5
The rigid packages express mails such as kind express delivery object, such as carton shown in Fig. 4, have three pairs of operating surfaces, can be denoted as1.2.
3. opposite face serial number is identical, it is abbreviated as A class；Envelope shown in fig. 5, flexible package class package only there are two operating surfaces, can remember
For1. being abbreviated as B class.For A class express delivery object, the turning operation of arbitrary face at least needs rotation process twice, (a)
For original state, make sideIt is needed upward by turning operation twice, the first reason part mechanical arm is by facePick up express mail, second
Rotary unit arrives state (b) after being rotated by 90 °, for the second reason part mechanical arm by 3. contacting the express mail, active force and the first reason part are mechanical
Arm is equal in magnitude, contrary, and so latter two reason part mechanical arm third rotary unit is rotated by 90 ° makes simultaneouslyIt reaches upward most
Whole state (c).It is (d) original state of B class express mail for B class express delivery object,Upward, the first reason part unlike
Mechanical arm locks express mail state (e) by 1. face, and then the second rotary unit of the reason part mechanical arm rotates 90 degree and makes 1. upward, until
This B class express mail turning operation is completed to reach end-state (f).
As shown in figure 3, the utility model embodiment also provides a kind of reason part robot control method, comprising steps of scanning
Express delivery in transmission belt determines that the current state of the express delivery, the current state are St1=[Rt1,pt1,dt1, s], wherein Rt1For
Spin matrix of the express mail relative to reference coordinate, pt1For express mail geometric center relative to the position of reference frame appropriate, dt1
For the offset vector for describing express mail length, width, height, s is express mail classification；
The task sequence of Li Jian robot is determined according to the mapping relations of the dbjective state of the express delivery and current state.
Control method in the present embodiment passes through the state that scanning means scans current express delivery first, according to current state
Operation needed for reaching dbjective state i.e. task sequence is calculated, Li Jian robot is operated according to task sequence, until fast
It is delivered to up to dbjective state, dbjective state St2=[Rt2,pt2,dt1, s], relative to reference coordinate after being adjusted including express mail
Spin matrix, express mail geometric center is appropriate relative to the position of reference frame after adjustment, behind two parameters remain unchanged.
Task sequence indicates with parameter sequence, sequence=[action1:k], actionk∈ Action, wherein
N=1 in above-mentioned formula, 2, indicate different reason part mechanical arms,
WhereinFor do-nothing operation；
Trans (n, DIR, d), n-th of reason part mechanical arm is along direction DIR translation distance d；
Rot (n, DIR, θ), n-th of reason part mechanical arm rotate angle, θ around direction DIR；
Dual_trans (DIR, d), two reason part mechanical arms keep tool to sit along direction DIR synchronizing moving distance d
Mark system is opposing stationary；
Dual_rot (DIR, θ), two reason part mechanical arm tool coordinates systems are protected simultaneously around direction DIR synchronous rotary angle θ
It is opposing stationary to hold tool coordinates system；
Dual_exchange (n1, n2, POS, DIR) manages part mechanical arm n1Article is turned in position POS, along direction DIR
Give reason part mechanical arm n2。
Wherein express delivery is moved forward in transmission belt with certain rate, therefore installs two reason part machines on the gantry
Tool arm is also moved forward with identical rate along first movement unit, is guaranteed reason part mechanical arm and is needed to protect between the express delivery adjusted
Opposing stationary state is held, the adjustment of express delivery state is convenient for.
Further, it determines that the task sequence of Li Jian robot specifically includes: determining that the express delivery reaches needed for dbjective state
Reason part mechanical arm quantity；
If required reason part mechanical arm quantity is 1, it is determined that an each mobile unit of reason part mechanical arm and rotary unit
Motion profile；
If required reason part mechanical arm quantity is 2, it is determined that two reason part mechanical arms in a Ge Lijian robot are each
The motion profile of mobile unit and rotary unit.The operating procedure to reason part mechanical arm is needed to plan in the present embodiment, it is first
First it needs to be determined that the reason part mechanical arm quantity needed, different express deliveries, the reason part that the different operation of the express delivery of same type needs
Mechanical arm quantity is different from, and then determines the motion profile i.e. concrete operations of each unit in different reason part mechanical arms again,
Operation needed for including at least the required quantity for managing part mechanical arm and each reason part mechanical arm in the task sequence of generation, often
Operation needed for a reason part mechanical arm includes at least six parameters, i.e. first movement unit, the second mobile unit, third is mobile single
The moving distance of member and the rotation angle of the first rotary unit, the second rotary unit, third rotary unit.
Further, however, it is determined that required reason part mechanical arm quantity is 2, then the pressure sensor difference of two reason part mechanical arms
Pressure detecting is carried out, if the pressure value of detection is different, two reason part mechanical arms carry out position tune to express delivery according to pressure difference value
It is whole.When two reason part mechanical arm collaborations being needed to be operated during part is managed in express delivery, the pressure on two reason part mechanical arms is passed
Sensor carries out the detection of pressure respectively, judges by comparing the numerical value of two pressure sensors the position of express delivery, if fastly
It passs position to shift, is then compensated by the adjustment that corresponding reason part mechanical arm carries out position.
By carrying out the calculating of judgement and required operation to the original state of express delivery in the present embodiment, reason can be dynamically adjusted
The state of part robot meets required condition, realizes the quick reason part to express delivery.
Further, further includes: it is small to detect unit in the reason part rate and transmission belt of single Li Jian robot unit hour
When arrive part rate, if single Li Jian robot reason part rate, which is greater than the transmission, takes part rate to, improve transmission belt operation
Rate is to match the Li Jian robot reason part rate；
It drives transmission to take part rate to if the single Li Jian robot reason part rate is less than, reduces the transmission belt operation
Rate is to match the Li Jian robot reason part rate, or multiple reason part machines that control is arranged along the transmission belt traffic direction
Device people, which cooperates, manages part.The rate of rate and robot reason part in the present embodiment also to express delivery conveying is monitored and detects progress
The control of flow, so that the two speed matches, so that the load of Li Jian robot more balances, the control for Li Jian robot
It makes more reasonable.Both if the reason part rate of single Li Jian robot is very fast, the operating rate by improving transmission belt makes
Speed matched, opposite situation can by reduce transmission belt operating rate or increase Li Jian robot quantity into
The matching of both rows speed, multiple Li Jian robots operation schematic diagram is as shown in fig. 6, multiple reason part Robot transmission belts are run
Direction serial arrangement has stronger scalability, and the selection mission planning of quantity is carried out according to on-site actual situations, can be more preferable
Adaptation transmission belt on different workload, control block diagram as shown in fig. 7, the Li Jian robot being wherein arranged in transmission belt number
Amount can determine that the Li Jian robot of different number is arranged in different application scenarios according to the actual situation, if individual machine people is single
Position hour processing express mail M, transmission belt unit hour piece uploading amount are P, then N number of machine can be arranged along transmission belt traffic direction
People, by carrying out task distribution and whole flow control to N number of robot, so that N*M >=P, while also adjustable transmission
The transmission rate of band, so that piece uploading rate P '≤N*M after regulation.
Above-mentioned A class express delivery carries out the calculating of task sequence and is operated by Li Jian robot, the task sequence of formation
Be classified as sequence_A=[trans (1, x, d1), rot (1, z, 90), dual_rot (y, 90), dual_exchange (1,2,
POS, y), trans (2, x, d2)] it needs to be operated by two reason part mechanical arm collaborations；What above-mentioned B class express delivery was formed appoints
Business sequence is sequence_B=[trans (1, x, d1), rot (1, z, 90), dual_exchange (1,2, POS, y), rot
(2, z, 90), trans (2, x, d2)].
When the transmission belt two sides multiple Li Jian robots of setting carry out reason part operation, need multiple Li Jian robot
Operation carry out reason part mission planning so that multiple robot cooperated reason parts of reason part, as shown in figure 8, giving a kind of multiple reasons
The flow chart of the robot cooperated control of part, wherein multiplicity there are many methods and mode that are controlled multiple Li Jian robots,
Fig. 8 only gives one way in which, after detecting to the state of express delivery in transmission belt, appoints to multiple Li Jian robots
N-th of Li Jian robot current task remaining time t is inquired in business planning Task [k]n, next task ready time tnp；
Work as tn<tnp, robot n is added toward reason part machine human sequence List can be distributed；
Work as tnp>tn, robot n is deleted from reason part machine human sequence List can be distributed；
When List is empty, piece uploading rate is adjusted, so that P ' < N*M；
When List non-empty, task task [k] is distributed into Li Jian robot corresponding to List [0], and delete current
Element.
Reason part mechanical arm and Li Jian robot provided by the utility model rotate the express delivery in transmission belt, translate with
And the operation such as overturning of certain surface, it is operated specifically for express delivery reason part, operational motion compact-sized and for express delivery
More.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that utility model range involved in the application, however it is not limited to made of the specific combination of above-mentioned technical characteristic
Technical solution, at the same should also cover do not depart from the utility model design in the case where, by above-mentioned technical characteristic or its be equal
Feature carries out any combination and other technical solutions for being formed.Such as features described above and (but being not limited to) disclosed herein have
The technical solution for thering is the technical characteristic of similar functions to be replaced mutually and being formed.
Claims (6)
1. a kind of reason part mechanical arm, which is characterized in that including first movement unit, slidably connected on the first movement unit
Second mobile unit, the glide direction of second mobile unit is vertical with the glide direction of the first movement unit, described
Third mobile unit is connected in second mobile unit, the third mobile unit is scalable slide bar, and the third is mobile single
The direction of motion and the glide direction of second mobile unit and the first movement unit of member are vertical；
The sliding end of the third mobile unit is connected with the first rotary unit, the rotary shaft of first rotary unit with it is described
Third mobile unit is overlapped, and is rotatably connected to the second rotary unit on first rotary unit, second rotary unit
Rotary shaft is vertical with the rotary shaft of first rotary unit, and it is single that third rotation is rotatably connected on second rotary unit
Member, the rotary shaft of the third rotary unit are vertical with the rotary shaft of second rotary unit.
2. reason part mechanical arm according to claim 1, which is characterized in that be equipped with absorption dress on the third rotary unit
It sets, pressure sensor is equipped between the adsorbent equipment and the third rotary unit.
3. reason part mechanical arm according to claim 1, which is characterized in that the direction of motion of second mobile unit and institute
The direction of motion for stating first movement unit is parallel with express delivery operation plane.
4. a kind of Li Jian robot, which is characterized in that including any two reason part mechanical arms of 1-3, two reason parts
The third mobile unit of mechanical arm is arranged in parallel.
5. Li Jian robot according to claim 4, which is characterized in that further include portal frame, the portal frame includes setting
The first frame body and the second frame body in transmission belt two sides are set, the second mobile unit of two reason part mechanical arms is arranged at institute
It states between the first frame body and second frame body.
6. Li Jian robot according to claim 4, which is characterized in that the second of two reason part mechanical arms is mobile single
First integrally connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201820452924.9U CN208663812U (en) | 2018-04-02 | 2018-04-02 | Manage part mechanical arm, Li Jian robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820452924.9U CN208663812U (en) | 2018-04-02 | 2018-04-02 | Manage part mechanical arm, Li Jian robot |
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| CN208663812U true CN208663812U (en) | 2019-03-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381559A (en) * | 2018-04-02 | 2018-08-10 | 顺丰科技有限公司 | Manage part mechanical arm, Li Jian robots and its control method |
| CN110369298A (en) * | 2019-08-07 | 2019-10-25 | 中国联合网络通信集团有限公司 | Pretreatment system and method for packages |
-
2018
- 2018-04-02 CN CN201820452924.9U patent/CN208663812U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108381559A (en) * | 2018-04-02 | 2018-08-10 | 顺丰科技有限公司 | Manage part mechanical arm, Li Jian robots and its control method |
| CN108381559B (en) * | 2018-04-02 | 2024-04-16 | 顺丰科技有限公司 | Workpiece arranging mechanical arm, workpiece arranging robot and control method of workpiece arranging robot |
| CN110369298A (en) * | 2019-08-07 | 2019-10-25 | 中国联合网络通信集团有限公司 | Pretreatment system and method for packages |
| CN110369298B (en) * | 2019-08-07 | 2021-06-01 | 中国联合网络通信集团有限公司 | Preprocessing system and method for sorting packages |
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