CN209999173U - rectangular coordinate type self-sorting intelligent logistics trolley - Google Patents
rectangular coordinate type self-sorting intelligent logistics trolley Download PDFInfo
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- CN209999173U CN209999173U CN201920359579.9U CN201920359579U CN209999173U CN 209999173 U CN209999173 U CN 209999173U CN 201920359579 U CN201920359579 U CN 201920359579U CN 209999173 U CN209999173 U CN 209999173U
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- 239000000463 material Substances 0.000 claims abstract description 21
- 238000010408 sweeping Methods 0.000 claims abstract description 13
- 230000003028 elevating effect Effects 0.000 claims abstract description 7
- 230000002567 autonomic effect Effects 0.000 claims abstract description 6
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000037805 labour Diseases 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
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Abstract
right angle coordinate formula is from sorting intelligence commodity circulation dolly, including advancing device, automatic sorting device, the vertical elevating gear of arm, the horizontal translation device of arm and material grabbing device, automatic sorting device, the vertical elevating gear of arm are installed on advancing device, material grabbing device installs on the vertical elevating gear of arm through the horizontal translation device of arm, the horizontal translation device of arm is located automatic sorting device's top, through single chip microcomputer control, eight ways grayscale sensor carries out autonomic tracking, and material grabbing device can go up and down through the vertical elevating gear of arm, can carry out the translation through the horizontal translation device of arm, and six year thing boxes of automatic sorting device rotate through the control of letter sorting motor, and simultaneously, realize sweeping the sign indicating number of thing piece through sweeping the sign indicating number rifle, and then realize getting of material and put the utility model provides a right angle coordinate formula is from sorting intelligence commodity circulation dolly, its autonomic tracking, the single can carry out many goods transportation.
Description
Technical Field
The utility model belongs to the technical field of the commodity circulation dolly technique and specifically relates to relate to kind of rectangular coordinate formula are from sorting intelligent commodity circulation dolly.
Background
At present, along with the continuous development of electronic commerce, express delivery transportation volume is also bigger and bigger, and express delivery piece needs a large amount of labours to participate in the transportation increasingly, but the manual efficiency is lower, and the human cost is also increasing constantly, and application machine equipment can reduce cost by a wide margin, raises the efficiency.
Most of the existing intelligent logistics trolleys on the market can only carry out the transportation of a single express item at a single time, and the efficiency needs to be improved.
Disclosure of Invention
In order to overcome there is the lower defect of work efficiency in current commodity circulation dolly, the utility model provides an kind of rectangular coordinate formula are from sorting intelligent commodity circulation dolly, its autonomic tracking, and many cargo transportation can be carried out to the single.
The utility model provides a technical scheme that its technical problem adopted is:
rectangular coordinate type self-sorting intelligent logistics trolleys comprise a travelling device, an automatic sorting device, a mechanical arm longitudinal lifting device, a mechanical arm transverse translation device and a material grabbing device, wherein the automatic sorting device and the mechanical arm longitudinal lifting device are installed on the travelling device, the material grabbing device is installed on the mechanical arm longitudinal lifting device through the mechanical arm transverse translation device, and the mechanical arm transverse translation device is located above the automatic sorting device;
the traveling device comprises a chassis, four tires, four direct current speed reducing motors, eight-way gray scale sensors for tracking and infrared sensors for detecting obstacles, wherein the four direct current speed reducing motors are respectively installed at four corners of the bottom surface of the chassis through motor supports, the four tires are respectively connected with output shafts of the four direct current speed reducing motors through couplings, the eight-way gray scale sensors are installed on the bottom surface of the front part of the chassis through copper columns, the infrared sensors are installed on the top surface of the front part of the chassis through installation supports, and the direct current speed reducing motors are in driving connection with the motors through direct current voltage stabilizing modules;
the automatic sorting device comprises a sorting motor, an internal gear, an th gear, a thrust bearing, a carrying plate and six carrying boxes, wherein the sorting motor is positioned in the internal gear and is arranged on a chassis through a sorting motor support, the th gear is arranged on an output shaft of the sorting motor and is meshed with the internal gear, the internal gear is rotatably arranged on the chassis through the thrust bearing, the carrying plate is annular and is fixed on the internal gear, the six carrying boxes are uniformly distributed on the carrying plate, and each carrying box is of an open structure with an upward opening;
the mechanical arm longitudinal lifting device comprises an upright post, a vertical guide rail, an th direct-current planetary speed reduction coding motor, a driving pulley, a synchronous belt, a driven pulley, a th sliding block and an E-shaped connecting piece, wherein the upright post is positioned at the center of the internal gear and is installed on a chassis, the vertical guide rail is fixed on the upright post, the th direct-current planetary speed reduction coding motor is installed on the lower part of the upright post through a motor support, the driven pulley is rotatably installed on the upper end of the upright post, the driving pulley is installed on an output shaft of the th direct-current planetary speed reduction coding motor, the driven pulley is connected with the driving pulley through the synchronous belt, the upper part of the E-shaped connecting piece is simultaneously fixed on the th sliding block and the synchronous belt, and the th sliding;
the material grabbing device comprises a manipulator, an th digital steering engine, a second digital steering engine, a third digital steering engine, a th steering engine support, a second steering engine support, a third steering engine support and a code sweeping gun, wherein the th digital steering engine is installed on the manipulator and used for driving the manipulator to open and close, a steering wheel on an output shaft of the second digital steering engine is connected with the manipulator, the second digital steering engine is installed on the second steering engine support through a th steering engine support, the steering wheel on the output shaft of the third digital steering engine is connected with the second steering engine support, the third digital steering engine is fixedly installed on a mechanical arm transverse translation device through the third steering engine support, and the code sweeping gun is installed on the th digital steering engine;
the eight-path gray level sensor and the infrared sensor are connected with a single chip microcomputer, and the single chip microcomputer is respectively connected with a motor drive, an th direct current planetary speed reduction coding motor, a mechanical arm transverse translation device, a th digital steering engine, a second digital steering engine and a third digital steering engine;
through single chip microcomputer control, eight ways grayscale sensor carry out autonomic tracking, and material grabbing device can go up and down through the vertical elevating gear of arm, can carry out the translation through the horizontal translation device of arm, and six year thing boxes of automatic sorting device rotate through the control of letter sorting motor, simultaneously, through sweeping yard rifle and realizing sweeping yard of thing piece, and then realize getting of material and put.
, the mechanical arm transverse translation device comprises a transverse rod, a transverse guide rail, a second sliding block, a second direct current planetary speed reduction coding motor, a second gear and a rack, the transverse guide rail and the vertical guide rail are arranged in a crossed mode and fixed on the lower portion of the E-shaped connecting piece, the rack is fixedly installed on the transverse rod, the transverse rod is installed on the transverse guide rail through the second sliding block, the second direct current planetary speed reduction coding motor is installed on the transverse guide rail through a motor support, the second gear is installed on an output shaft of the second direct current planetary speed reduction coding motor, the second gear is meshed with the rack, a third digital steering engine is fixedly installed on the transverse rod through a third steering engine support, and the second direct current planetary speed reduction coding motor is connected with the single chip microcomputer.
The beneficial effects of the utility model are that:
1) the speed-adjustable motor is adopted for driving and belt transmission, so that the structure of a speed reduction part and a transmission part of the motor is simplified, the structure is compact, the transmission is stable, the cost is reduced, the shock absorption is buffered, and the assembly is simple and convenient;
2) the direct-current planetary speed reduction coding motor is adopted, the position of the mechanical arm can be accurately controlled, and the mechanical arm can have larger load due to larger speed reduction ratio, so that more requirements are met;
3) the rectangular coordinate type mechanical arm structure is adopted, the structure is simple and stable, the control is easy, and the maintenance cost is low;
4) a rotary disc type automatic sorting device is designed, the working efficiency is improved, and the mechanical arm structure and the control system are simplified.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the traveling device of the present invention.
Fig. 3 is a schematic view of the automatic sorting device of the present invention.
Fig. 4 is a schematic view of the vertical lifting device of the mechanical arm of the present invention.
Fig. 5 is a schematic view of the horizontal translation device of the robot arm of the present invention.
Fig. 6 is a schematic view of the material gripping device of the present invention.
Detailed Description
The present invention will now be described with reference to the accompanying drawings, in which the term "" is used.
Referring to fig. 1 to 6, rectangular coordinate type self-sorting intelligent logistics trolleys comprise a travelling device 1, an automatic sorting device 2, a mechanical arm longitudinal lifting device 3, a mechanical arm transverse translation device 4 and a material grabbing device 5, wherein the automatic sorting device 2 and the mechanical arm longitudinal lifting device 3 are installed on the travelling device 1, the material grabbing device 5 is installed on the mechanical arm longitudinal lifting device 3 through the mechanical arm transverse translation device 4, and the mechanical arm transverse translation device 4 is located above the automatic sorting device 2;
the traveling device 1 comprises a chassis 10, four tires 8, four direct current speed reducing motors 7, eight-way gray scale sensors 6 for tracking and an infrared sensor 11 for detecting obstacles, wherein the four direct current speed reducing motors 17 are respectively installed at four corners of the bottom surface of the chassis 10 through motor supports 9, the four tires 8 are respectively connected with output shafts of the four direct current speed reducing motors 17 through couplings, the eight-way gray scale sensors 6 are installed on the bottom surface of the front part of the chassis 10 through copper columns, the infrared sensor 11 is installed on the top surface of the front part of the chassis 10 through installation supports, and the direct current speed reducing motors 7 are in driving connection with the motors through direct current voltage stabilizing modules;
the automatic sorting device 2 comprises a sorting motor 19, an internal gear 16, an th gear 17, a thrust bearing 13, a carrying flat plate 14 and six carrying boxes 15, wherein the sorting motor 19 is positioned in the internal gear 16 and is installed on a chassis 10 through a sorting motor support 18, the th gear 17 is installed on an output shaft of the sorting motor 19 and is meshed with the internal gear 16, the internal gear 16 is rotatably installed on the chassis 10 through the thrust bearing 13, the carrying flat plate 14 is annular and is fixed on the internal gear 16, the six carrying boxes 15 are uniformly distributed on the carrying flat plate 14, and each carrying box 15 is of an open structure with an upward opening;
the mechanical arm longitudinal lifting device 3 comprises a vertical column 22, a vertical guide rail 20, an th direct current planetary speed reducing and coding motor 23, a driving pulley 24, a synchronous belt 25, a driven pulley 28, a th sliding block 26 and an E-shaped connecting piece 27, wherein the vertical column 22 is positioned at the center of the internal gear 16 and is installed on the chassis 10, the vertical guide rail 20 is fixed on the vertical column 22, the th direct current planetary speed reducing and coding motor 23 is installed on the lower part of the vertical column 22 through a motor bracket 21, the driven pulley 28 is rotatably installed on the upper end of the vertical column 22, the driving pulley 24 is installed on the output shaft of the th direct current planetary speed reducing and coding motor 23, the driven pulley 28 is connected with the driving pulley 24 through the synchronous belt 25, the upper part of the E-shaped connecting piece 27 is simultaneously fixed on the th sliding block 26 and the synchronous belt 25, and the th sliding block 26 is installed;
the material grabbing device 5 comprises a manipulator 36, an th digital steering engine 37, a second digital steering engine 40, a third digital steering engine 45, a th steering engine support 39, a second steering engine support 42, a third steering engine support 44 and a code scanning gun 41, wherein the th digital steering engine 37 is installed on the manipulator 36 and used for driving the manipulator 36 to open and close, a steering wheel 38 on an output shaft of the second digital steering engine 40 is connected with the manipulator 36, the second digital steering engine 40 is installed on the second steering engine support 42 through the th steering engine support 39, a steering wheel 43 on an output shaft of the third digital steering engine 45 is connected with the second steering engine support 42, the third digital steering engine 45 is fixedly installed on the mechanical arm transverse translation device 4 through the third steering engine support 44, and the code scanning gun 40 is installed on the th digital steering engine 37;
the eight-path gray level sensor 6 and the infrared sensor 11 are both connected with a single chip microcomputer, and the single chip microcomputer is respectively connected with a motor drive, an th direct-current planetary reduction coding motor 23, a mechanical arm transverse translation device 4, a th digital steering engine 37, a second digital steering engine 40 and a third digital steering engine 45;
through single chip microcomputer control, eight ways grayscale sensor 6 carry out autonomic tracking, and material grabbing device 5 can go up and down through the vertical elevating gear 3 of arm, can carry out the translation through the horizontal translation device 4 of arm, and six of automatic sorting device 2 carry thing box 15 and rotate through the control of letter sorting motor 19, simultaneously, through sweeping yard rifle 41 and realizing sweeping yard of thing piece, and then realize getting of thing piece and put.
, the mechanical arm transverse translation device 4 comprises a cross bar 29, a transverse guide rail 34, a second sliding block 32, a second direct-current planetary reduction coding motor 30, a second gear 31 and a rack 33, the transverse guide rail 34 and the vertical guide rail 20 are arranged in a cross mode and fixed on the lower portion of the E-shaped connecting piece 27, the rack 33 is fixedly installed on the cross bar 29, the cross bar 29 is installed on the transverse guide rail 34 through the second sliding block 32, the second direct-current planetary reduction coding motor 30 is installed on the transverse guide rail 34 through a motor support 35, the second gear 31 is installed on an output shaft of the second direct-current planetary reduction coding motor 34, the second gear 31 is meshed with the rack 33, a third digital steering engine 45 is fixedly installed on the cross bar 29 through a third steering engine support 44, and the second direct-current planetary reduction coding motor 30 is connected with a single chip microcomputer.
In this embodiment, the vertical rail 20 and the horizontal rail 34 are both linear rails, and the column 22 is an aluminum profile.
As shown in fig. 1, the mechanical arm longitudinal lifting device 3 and the automatic sorting device 2 are installed on a chassis of the traveling device 1, the traveling device 1 is provided with a gray sensor and can perform automatic tracking, an th sliding block in the mechanical arm longitudinal lifting device 3 is connected with a transverse guide rail in the mechanical arm transverse translation device 4 through an E-shaped connecting piece, a second sliding block in the mechanical arm transverse translation device 4 is connected with the material grabbing device 5 through a cross rod, and the whole vehicle is controlled through a single chip microcomputer.
As shown in fig. 2, for the traveling device, four direct current speed reducing motors 7 are respectively installed on four sides of a chassis 10 through four motor supports 9, and related single-chip microcomputers, direct current voltage stabilizing modules and motor drives are all installed on the chassis 10; the gray sensor 11 detects the black and white lines planned on the ground in advance, the rotating speeds of the four direct current speed reducing motors 7 are adjusted, and autonomous tracking is achieved.
As shown in fig. 3, in order to select the device 2, the carrier plate 14, the internal gear 16, the thrust bearing 13, and the pad 12 are sequentially installed on the top surface of the chassis 10 from top to bottom, and the six carrier boxes 15 are installed on the upper surface of the carrier plate 14 according to the arrangement, the sorting motor 19 is installed on the top surface of the chassis 10 inside the internal gear 16, the th gear 17 on the output shaft thereof is engaged with the internal gear 16, and the position of the goods loaded on the automatic sorting device 2 is intelligently adjusted by controlling the sorting motor 19 through the single chip microcomputer.
As shown in fig. 4, for the longitudinal lifting device 3 of the mechanical arm, the vertical guide rail 20 is vertically installed on the front surface of the upright post 22, the th direct current planetary speed reducing and coding motor 23 is horizontally installed on the motor support 21 on the side surface of the upright post 22, when the th direct current planetary speed reducing and coding motor 23 output shaft rotates, the synchronous belt 25 rotates to drive the E-shaped connecting piece 27 to move up and down, the upward movement or the downward movement of the E-shaped connecting piece 27 can be controlled by controlling the forward and reverse rotation of the th direct current planetary speed reducing and coding motor 23 output shaft, and the displacement of the E-shaped connecting piece 27 can be controlled by controlling the number of.
As shown in fig. 5, for the mechanical arm transverse translation device 4, the second direct current planetary reduction coding motor 30 is horizontally installed on the motor support 35 on the side of the transverse guide rail 34, when the output shaft of the second direct current planetary reduction coding motor 30 rotates, the second gear 31 rotates, the transverse rod 29 connected with the rack is driven to move by the meshing of the second gear 31 and the rack 33, the forward movement or the backward movement of the transverse rod 29 can be controlled by controlling the forward and reverse rotation of the second direct current planetary reduction coding motor 30, and the displacement of the transverse rod 29 can be controlled by controlling the number of rotation turns of the output shaft of the second direct current planetary reduction coding motor 30.
As shown in fig. 6, in the material gripping device 5, a rudder disk 43 on an output shaft of a third digital steering engine 45 is connected with a second steering engine bracket 42 to drive the second steering engine bracket 42 to swing, a rudder disk 38 on an output shaft of a second digital steering engine 40 is connected with a manipulator 36 to drive the manipulator to rotate, an th digital steering engine 37 is installed on the manipulator to control the opening and closing of the manipulator 36, and a code sweeping gun 41 is installed on a th digital steering engine 37 and is parallel to the opening and closing plane of the manipulator.
The utility model discloses can guarantee to satisfy the performance requirement of intelligent letter sorting transportation goods.
Claims (2)
- The right-angle coordinate type self-sorting intelligent logistics trolley is characterized by comprising a travelling device, an automatic sorting device, a mechanical arm longitudinal lifting device, a mechanical arm transverse translation device and a material grabbing device, wherein the automatic sorting device and the mechanical arm longitudinal lifting device are installed on the travelling device, the material grabbing device is installed on the mechanical arm longitudinal lifting device through the mechanical arm transverse translation device, and the mechanical arm transverse translation device is located above the automatic sorting device;the traveling device comprises a chassis, four tires, four direct current speed reducing motors, eight-way gray scale sensors for tracking and infrared sensors for detecting obstacles, wherein the four direct current speed reducing motors are respectively installed at four corners of the bottom surface of the chassis through motor supports, the four tires are respectively connected with output shafts of the four direct current speed reducing motors through couplings, the eight-way gray scale sensors are installed on the bottom surface of the front part of the chassis through copper columns, the infrared sensors are installed on the top surface of the front part of the chassis through installation supports, and the direct current speed reducing motors are in driving connection with the motors through direct current voltage stabilizing modules;the automatic sorting device comprises a sorting motor, an internal gear, an th gear, a thrust bearing, a carrying plate and six carrying boxes, wherein the sorting motor is positioned in the internal gear and is arranged on a chassis through a sorting motor support, the th gear is arranged on an output shaft of the sorting motor and is meshed with the internal gear, the internal gear is rotatably arranged on the chassis through the thrust bearing, the carrying plate is annular and is fixed on the internal gear, the six carrying boxes are uniformly distributed on the carrying plate, and each carrying box is of an open structure with an upward opening;the mechanical arm longitudinal lifting device comprises an upright post, a vertical guide rail, an th direct-current planetary speed reduction coding motor, a driving pulley, a synchronous belt, a driven pulley, a th sliding block and an E-shaped connecting piece, wherein the upright post is positioned at the center of the internal gear and is installed on a chassis, the vertical guide rail is fixed on the upright post, the th direct-current planetary speed reduction coding motor is installed on the lower part of the upright post through a motor support, the driven pulley is rotatably installed on the upper end of the upright post, the driving pulley is installed on an output shaft of the th direct-current planetary speed reduction coding motor, the driven pulley is connected with the driving pulley through the synchronous belt, the upper part of the E-shaped connecting piece is simultaneously fixed on the th sliding block and the synchronous belt, and the th sliding;the material grabbing device comprises a manipulator, an th digital steering engine, a second digital steering engine, a third digital steering engine, a th steering engine support, a second steering engine support, a third steering engine support and a code sweeping gun, wherein the th digital steering engine is installed on the manipulator and used for driving the manipulator to open and close, a steering wheel on an output shaft of the second digital steering engine is connected with the manipulator, the second digital steering engine is installed on the second steering engine support through a th steering engine support, the steering wheel on the output shaft of the third digital steering engine is connected with the second steering engine support, the third digital steering engine is fixedly installed on a mechanical arm transverse translation device through the third steering engine support, and the code sweeping gun is installed on the th digital steering engine;the eight-path gray level sensor and the infrared sensor are connected with a single chip microcomputer, and the single chip microcomputer is respectively connected with a motor drive, an th direct current planetary speed reduction coding motor, a mechanical arm transverse translation device, a th digital steering engine, a second digital steering engine and a third digital steering engine;through single chip microcomputer control, eight ways grayscale sensor carry out autonomic tracking, and material grabbing device can go up and down through the vertical elevating gear of arm, can carry out the translation through the horizontal translation device of arm, and six year thing boxes of automatic sorting device rotate through the control of letter sorting motor, simultaneously, through sweeping yard rifle and realizing sweeping yard of thing piece, and then realize getting of material and put.
- 2. The Cartesian coordinate type self-sorting intelligent logistics trolley of claim 1 is characterized in that the mechanical arm transverse translation device comprises a cross bar, a transverse guide rail, a second sliding block, a second direct current planetary speed reduction coding motor, a second gear and a rack, the transverse guide rail and the vertical guide rail are arranged in a crisscross mode and fixed on the lower portion of the E-shaped connecting piece, the rack is fixedly installed on the cross bar, the cross bar is installed on the transverse guide rail through the second sliding block, the second direct current planetary speed reduction coding motor is installed on the transverse guide rail through a motor support, the second gear is installed on an output shaft of the second direct current planetary speed reduction coding motor, the second gear is meshed with the rack, the third digital steering engine is fixedly installed on the cross bar through a third steering engine support, and the second direct current planetary speed reduction coding motor is connected with the single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920359579.9U CN209999173U (en) | 2019-03-21 | 2019-03-21 | rectangular coordinate type self-sorting intelligent logistics trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920359579.9U CN209999173U (en) | 2019-03-21 | 2019-03-21 | rectangular coordinate type self-sorting intelligent logistics trolley |
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| CN209999173U true CN209999173U (en) | 2020-01-31 |
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| CN201920359579.9U Expired - Fee Related CN209999173U (en) | 2019-03-21 | 2019-03-21 | rectangular coordinate type self-sorting intelligent logistics trolley |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112520646A (en) * | 2020-11-30 | 2021-03-19 | 安徽宇锋智能科技有限公司 | Automatic sorting transportation vision guide type AGV forklift |
| CN113734782A (en) * | 2021-09-13 | 2021-12-03 | 星河智源(深圳)科技有限公司 | Mechanical automatic gripping device for assembly line |
| CN114769127A (en) * | 2022-03-28 | 2022-07-22 | 南京航空航天大学 | Portal frame type automatic sorting device |
| CN114902928A (en) * | 2022-05-31 | 2022-08-16 | 西安科技大学 | Intelligence salix mongolica planting robot |
-
2019
- 2019-03-21 CN CN201920359579.9U patent/CN209999173U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112520646A (en) * | 2020-11-30 | 2021-03-19 | 安徽宇锋智能科技有限公司 | Automatic sorting transportation vision guide type AGV forklift |
| CN113734782A (en) * | 2021-09-13 | 2021-12-03 | 星河智源(深圳)科技有限公司 | Mechanical automatic gripping device for assembly line |
| CN114769127A (en) * | 2022-03-28 | 2022-07-22 | 南京航空航天大学 | Portal frame type automatic sorting device |
| CN114769127B (en) * | 2022-03-28 | 2024-04-12 | 南京航空航天大学 | Portal frame type automatic sorting device |
| CN114902928A (en) * | 2022-05-31 | 2022-08-16 | 西安科技大学 | Intelligence salix mongolica planting robot |
| CN114902928B (en) * | 2022-05-31 | 2024-03-08 | 西安科技大学 | Intelligent salix psammophila planting robot |
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Granted publication date: 20200131 Termination date: 20210321 |