CN211193863U - Intelligent recognition transfer robot - Google Patents
Intelligent recognition transfer robot Download PDFInfo
- Publication number
- CN211193863U CN211193863U CN201920972365.9U CN201920972365U CN211193863U CN 211193863 U CN211193863 U CN 211193863U CN 201920972365 U CN201920972365 U CN 201920972365U CN 211193863 U CN211193863 U CN 211193863U
- Authority
- CN
- China
- Prior art keywords
- robot
- dimensional code
- wheels
- arm
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an intelligent recognition transfer robot, the robot includes: the robot comprises a robot body and a plurality of moving wheels arranged at the bottom of the robot body, wherein the moving wheels are in driving connection with a driving motor, a controller, a plurality of infrared tracking sensors, a two-dimensional code recognition device, a color recognition sensor and a grabbing mechanical assembly are arranged on the robot body, the input end of the controller is respectively and electrically connected with the infrared tracking sensors, the two-dimensional code recognition device and the color recognition sensor, and the output end of the controller is respectively and electrically connected with the driving motor and the grabbing mechanical assembly; the grabbing mechanical assembly comprises a mechanical arm and a mechanical claw which are in driving connection. The utility model provides a pair of intelligent recognition transfer robot has the characteristics of automatic control level height, removal flexibility height, working range width, and arm and gripper can adjust in a flexible way, have improved material handling accuracy and efficiency.
Description
Technical Field
The utility model relates to an intelligent control technical field especially relates to an intelligent recognition transfer robot.
Background
The intelligent carrying robot can control the intelligent carrying robot through computer programming without manual intervention, and the intelligent carrying robot applies the technologies of computer, sensing, information, communication, navigation, artificial intelligence, automatic control and the like, and is a typical high and new technology complex. As a typical industrial robot, the carrying robot is widely applied to the fields of chemical industry, food processing, packaging and the like, greatly improves the production efficiency, enhances the safety and reliability, and can effectively reduce the expenditure of human resources, promote the economic benefit maximization of enterprises and promote the upgrading and adjustment of industrial structures of the enterprises. However, the traditional transfer robot can only be controlled by a remote controller or keys, cannot liberate the hands of a user to a greater extent, cannot realize greater intellectualization, and does not meet the increasing demand of modern people for automatic control. At present, the common intelligent transfer robot has the problems of poor movement flexibility, low control precision, limited working range and the like, and the requirements in actual operation cannot be met.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an intelligent recognition transfer robot has the characteristics of automatic control level height, removal flexibility height, working range width, and arm and gripper can adjust in a flexible way, has improved material handling accuracy and efficiency.
In order to achieve the above object, the utility model provides a following scheme:
an intelligent recognition transfer robot comprising: the robot comprises a robot body and a plurality of moving wheels arranged at the bottom of the robot body, wherein the moving wheels are in driving connection with a driving motor, a controller, a plurality of infrared tracking sensors, a two-dimensional code recognition device, a color recognition sensor and a grabbing mechanical assembly are arranged on the robot body, the input end of the controller is respectively and electrically connected with the infrared tracking sensors, the two-dimensional code recognition device and the color recognition sensor, and the output end of the controller is respectively and electrically connected with the driving motor and the grabbing mechanical assembly; the robot comprises a robot body, a controller, a color identification sensor, a two-dimensional code recognition device, a material handling sequence and a mechanical claw, wherein the infrared tracking sensor is used for detecting a walking route of the robot body, the color identification sensor is used for identifying a color mark of a material to be handled, the two-dimensional code recognition device is used for scanning and recognizing a set two-dimensional code and acquiring the material handling sequence, the grabbing mechanical assembly comprises the mechanical arm and the mechanical claw which are connected in a driving mode, the mechanical claw is used for grabbing the.
Optionally, the number of the infrared tracking sensors is 8, the number of the infrared tracking sensors is 2 respectively arranged on the front side, the rear side, the left side and the right side of the machine body, and the infrared tracking sensors are crystal oscillation type infrared sensors.
Optionally, still be provided with the O L ED display screen on the fuselage, O L ED display screen with controller electric connection, O L ED display screen is used for showing the colour sign and the material handling order of waiting to carry the material.
Optionally, the moving wheels are ford wheels, the number of the ford wheels is four, the ford wheels are arranged at four corners of the bottom of the machine body, the axial directions of two adjacent ford wheels are vertically arranged, the ford wheels in the front right direction and the rear left direction are longitudinal driving wheels, the ford wheels in the front left direction and the rear right direction are transverse driving wheels,
optionally, the mechanical arm is a three-degree-of-freedom mechanical arm and comprises a waist joint, a shoulder joint and an elbow joint, the waist joint is in driving connection with a first steering engine, the first steering engine is fixed to the machine body, the waist joint, the shoulder joint and the elbow joint are in driving connection with a second steering engine and a third steering engine respectively, and the mechanical claw is arranged at the tail end of the elbow joint.
Optionally, the gripper comprises a gripper steering wheel, a gripper short arm, a gripper bent arm and two clamping assemblies symmetrically arranged, a fourth steering engine is fixedly connected to the elbow joint, the gripper steering wheel is connected with the fourth steering engine in a driving mode, the clamping assemblies comprise gripper long arms, gears and clamping plates, one end of each gripper long arm is fixedly connected with the gears, the other end of each gripper long arm is fixedly connected with the clamping plates, the two clamping assemblies are respectively a first clamping assembly and a second clamping assembly, the gears of the first clamping assemblies are connected with the gears of the second clamping assemblies in a meshing mode, the middle of each gripper long arm of each first clamping assembly is rotatably connected with the gripper bent arm through a rolling bearing, the gripper bent arm is connected with the gripper short arm, and the gripper short arm is connected with the gripper steering wheel.
Optionally, the two-dimensional code recognition device includes a two-dimensional code recognition module and a rotary support, the two-dimensional code recognition module is fixedly connected to the rotary support, the rotary support is connected to the fuselage through a rotary steering engine, and the two-dimensional code recognition module is connected to the controller.
Optionally, the two-dimensional code recognition Module adopts a micro-snow Barcode Scanner Module.
Optionally, a plurality of anti-collision wheels are arranged on the side face of the machine body, and the anti-collision wheels are rubber wheels.
According to the utility model provides a concrete embodiment, the utility model discloses a following technological effect: the utility model provides an intelligent recognition transfer robot, be provided with a plurality of infrared tracking sensors on the fuselage, can pass through the black line location coordinate of the route that the detection workplace was laid, the side has two respectively all around the fuselage, can realize the accurate location of four-way route tracking and material position; the robot adopts four Foley wheel structures which are vertically arranged adjacently, wherein the right front wheel and the left rear wheel are longitudinal driving wheels, the left front wheel and the right rear wheel are transverse driving wheels, the transverse, longitudinal, diagonal and self-spinning motions of the robot can be realized by controlling the rotating speed of each independent driving motor, and the robot has good moving flexibility; the three-degree-of-freedom articulated mechanical arm and the double-gear mechanical claw are adopted, the folding can be carried out in a limited space, the space utilization rate is improved, the working space is enlarged, the mechanical arm structure is short, the motion stability and the accuracy are good, each joint is controlled by an independent steering engine respectively, the grabbing and placing of materials at multiple angles can be completed, and the control precision is high; the two-dimensional code recognition device is provided with a rotary support structure, and the rotary steering engine is controlled to control the rotation angle of the two-dimensional code recognition module, so that the scanning accuracy of the two-dimensional code is improved; the controller can acquire the data that infrared tracking sensor, two-dimensional code recognition device, colour identification sensor gathered, realizes multiple information acquisition to control robot removes and the material snatchs, further improved automatic control level.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a left side view of an intelligent recognition transfer robot according to an embodiment of the present invention;
fig. 2 is a front view of the intelligent recognition transfer robot according to the embodiment of the present invention;
fig. 3 is a top view of the intelligent recognition transfer robot according to the embodiment of the present invention;
FIG. 4 is a schematic structural view of a robot arm according to an embodiment of the present invention;
fig. 5 is a schematic view of a driving principle of a robot arm according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a gripper according to an embodiment of the present invention;
fig. 7 is a schematic view of a driving principle of a gripper according to an embodiment of the present invention;
fig. 8 is a schematic view of a control principle of the intelligent recognition transfer robot according to the embodiment of the present invention;
fig. 9 is a flowchart of a control method of the intelligent recognition transfer robot according to the embodiment of the present invention;
reference numerals: 1. a body; 2. a Ford wheel; 3. a controller; 4. an infrared tracking sensor; 5. a two-dimensional code identification module; 6. rotating the bracket; 7. a color recognition sensor; 8. a mechanical arm; 801. a first steering engine; 802. a waist joint; 803. a second steering engine; 804. a shoulder joint; 805. a third steering engine; 806. an elbow joint; 9. a gripper; 901. a fourth steering engine; 902. a paw steering wheel; 903. a short arm of a paw; 904. a paw crank arm; 905. a rolling bearing; 906. a long arm of a paw; 907. a gear; 908. a clamping plate; 10. anticollision wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing an intelligent recognition transfer robot has the characteristics of automatic control level height, removal flexibility height, working range width, and arm and gripper can adjust in a flexible way, has improved material handling accuracy and efficiency.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1-3 and 8, an embodiment of the present invention provides an intelligent recognition transfer robot, including: the robot comprises a robot body 1 and a plurality of moving wheels arranged at the bottom of the robot body 1, wherein the moving wheels are in driving connection with a driving motor, a controller 3, a plurality of infrared tracking sensors 4, a two-dimensional code recognition device, a color recognition sensor 7 and a grabbing mechanical assembly are arranged on the robot body 1, the input end of the controller 3 is respectively and electrically connected with the infrared tracking sensors 4, the two-dimensional code recognition device and the color recognition sensor 7, and the output end of the controller 3 is respectively and electrically connected with the driving motor and the grabbing mechanical assembly; the infrared tracking sensor 4 is used for tracking and positioning, the running black lines arranged in the working area are detected through the infrared tracking sensor, the automatic correction of the car body is realized, the car runs according to a preset route, the color identification sensor 7 is used for identifying the color marks of the materials to be carried, the color marks are color paint marks and the like which are arranged on the materials to be carried in advance, the mark identification of the materials is realized, the two-dimension code recognition device is used for scanning and recognizing the set two-dimension code to obtain the set material handling sequence, the grabbing mechanical assembly comprises a mechanical arm 8 and a mechanical claw 9 which are in driving connection, the mechanical claw 9 is used for grabbing materials, the controller 3 is used for controlling the material handling sequence according to the material handling sequence identified by the two-dimensional code identification device, and the grasping mechanical assembly is controlled to sequentially grasp the corresponding materials to be carried by referring to the identification of the color identification sensor 7 on the materials.
Infrared tracking sensor 4 is provided with 8 altogether, respectively set up 2 in the front, back, left and right side of fuselage 1 infrared tracking sensor 4, infrared tracking sensor 4 adopts crystal oscillation formula infrared sensor, and the discernment distance is very stable, receives external light influence less.
Still be provided with O L ED display screen on the fuselage 1, O L ED display screen with controller 3 electric connection, O L ED display screen is used for showing the colour sign of waiting to carry the material and the material handling order of setting for.
Remove the wheel and be ford wheel 2, ford wheel has the omnidirectional movement ability, ford wheel 2 is provided with four, sets up four angles of 1 bottom of fuselage, adjacent two ford wheel 2's axial vertical sets up, and wherein, the ford wheel in right front and left back position is vertical drive wheel, and the ford wheel in left front and right back is horizontal drive wheel, and driving motor adopts four direct current gear motor, and controller 3 produces four ways PWM signal, through four direct current gear motor's of drive circuit control rotational speed, realizes that the violently indulges, diagonal and the spin motion of robot to accomplish the arbitrary direction of robot and advance, the bottom of fuselage 1 still is provided with arm-type horizontal suspension system, sets up with removing the wheel cooperation.
The two-dimension code recognition device comprises a two-dimension code recognition module 5 and a rotary support 6, the two-dimension code recognition module 5 is fixedly connected to the rotary support 6, the rotary support 6 is connected to the machine body 1 through a rotary steering engine, and the two-dimension code recognition module 5 is connected with the controller 3; the two-dimensional code recognition module 5 adopts a micro-snow Barcode ScannerModule.
The side of the machine body 1 is provided with a plurality of anti-collision wheels 10, and the anti-collision wheels 10 are rubber wheels and used for ensuring the safety of the machine body.
As shown in fig. 4-7, the mechanical arm 8 is a three-degree-of-freedom mechanical arm, and includes a waist joint 802, a shoulder joint 804 and an elbow joint 806, the waist joint 804 is in driving connection with a first steering engine 801, the first steering engine 801 is fixed on the body 1 in a limiting manner through a steering engine hole on a chassis of the body 1, the waist joint 802, the shoulder joint 804 and the elbow joint 806 are in driving connection through a second steering engine 803 and a third steering engine 805, respectively, and the mechanical claw 9 is arranged at the tail end of the elbow joint 806; the gripper 9 comprises a gripper rudder disc 902, a gripper short arm 903, a gripper curved arm 904 and two clamping components which are symmetrically arranged, a fourth steering engine 901 is fixedly connected to the elbow joint 806, the gripper rudder disc 902 is in driving connection with the fourth steering engine 901, the clamping components comprise a gripper long arm 906, a gear 907 and a clamping plate 908, one end of the gripper long arm 906 is fixedly connected with the gear 907, the other end of the gripper long arm is fixedly connected with the clamping plate 908, the two clamping components are respectively a first clamping component and a second clamping component, the gear of the first clamping component is in meshing connection with the gear of the second clamping component to form a linkage structure, the two gears are both fixed on the gripper 9 through a connecting piece, the middle part of the gripper long arm 906 of the first clamping component is rotatably connected with the gripper curved arm 904 through a rolling bearing, the gripper curved arm 904 is rotatably connected with the gripper short arm 903 through a rolling bearing 905, the paw short arm 903 is connected with the paw rudder disc 902, the fourth steering engine 901 drives the paw rudder disc 902 to rotate, the paw rudder disc 902 drives the paw short arm 903 to move, and under the linkage action, the clamping component acts to grasp materials; waist joint 802 drives shoulder joint 804 and uses A point to be rotatory around vertical axis in the horizontal plane as the centre of a circle, shoulder joint 804 drives elbow joint 806 and uses B point to be rotatory around the horizontal axis in the YZ plane as the centre of a circle, elbow joint 806 drives gripper 9 and uses C point to be rotatory around the horizontal axis in the YZ plane as the centre of a circle, three joint realizes the three-dimensional location of gripper central point D point in the space, the controller is through controlling first steering wheel, the second steering wheel, the third steering wheel, the waist joint is adjusted to the fourth steering wheel, the shoulder joint, elbow joint and gripper corner, control gripper position appearance, each joint motion range and mode of arm are: the waist joint can rotate by 0-270 degrees; the shoulder joint can complete 0-210 degrees of pitching motion; the elbow joint can complete 0-210 degrees of pitching motion; the three joints are independently driven by the steering engine, the connecting arms are made of aluminum alloy materials, the long arm of the gripper and the curved arm of the gripper in the mechanical gripper are formed by aluminum alloy milling, and the clamping plate is specially formed by carbon fiber.
As shown in fig. 8 to 9, the present invention also provides a control method of an intelligent recognition transfer robot, the method including the steps of:
the controller controls the movable wheel to rotate and drive away from the departure area;
the controller judges whether the material reaches the material storage area according to the information collected by the infrared tracking sensor;
when the materials arrive at the material storage area, the color identification sensor sequentially identifies the color marks on the materials to be carried and transmits the color marks to the controller, then the two-dimensional code identification device scans and identifies the set two-dimensional codes to obtain the set material carrying sequence and transmits the set material carrying sequence to the controller, and the color marks and the material carrying sequence of the materials to be carried are displayed through an O L ED display screen;
the controller compares the material handling sequence with the color marks of the materials to be handled, calculates the grabbing sequence of the materials to be handled, and plans a handling path by adopting a free grid method;
and sequentially grabbing the materials to be carried according to the calculated grabbing sequence of the materials to be carried, and placing the materials according to the planned carrying path.
Sequentially grabbing the materials to be carried according to the calculated grabbing sequence of the materials to be carried, placing the materials according to the planned carrying path, judging whether the materials are placed for the last time, and if so, controlling the robot to return to the departure area by the controller; if not, the controller controls the robot to continuously grab the materials to be carried in sequence until the last material is carried, the last material is placed according to the judgment, and the controller controls the robot to return to the departure area.
Wherein, the controller compares the material handling order and treats the colour sign of carrying the material, calculates the order of snatching of treating the transport material, adopts free grid method planning transport route, specifically includes: the set material carrying sequence is ordered according to the color marks of the materials, the robot can correspond to the material carrying sequence after identifying the color marks of the materials to be carried, the grabbing sequence of the materials to be carried is calculated, a carrying path is planned by adopting a free grid method, in the first step, the robot longitudinally moves to a first weft and transversely moves five grids to realize color mark identification and two-dimensional code scanning, in the second step, transverse moving material taking, longitudinal moving material carrying and in the third step, oblique line returning are realized.
The robot controller adopts MEGA2560 and has 54 paths of digital input and output, and meets the requirements of the robot for externally connecting a large number of sensors, controlling a plurality of steering engines and controlling a plurality of motors; the body of the robot is also provided with a power supply module; the infrared tracking sensor is a crystal oscillation type infrared sensor, so that the identification distance is very stable and is less influenced by external light; the two-dimensional code recognition adopts a micro-snow Barcodescanner Module, the maximum inclination recognition angle can reach 65 degrees, the two-dimensional code recognition is communicated with the controller through a UART interface, and the two-dimensional code recognition has the characteristics of high recognition speed, high recognition accuracy and the like; the color recognition sensor adopts a TCS3200 module, is arranged below the mechanical claw, and has high recognition speed and accuracy.
The utility model provides an intelligent recognition transfer robot, be provided with a plurality of infrared tracking sensors on the fuselage, can pass through the black line location coordinate of the route that the detection workplace was laid, the side has two respectively all around the fuselage, can realize the accurate location of four-way route tracking and material position; the robot adopts four Foley wheel structures which are vertically arranged adjacently, wherein the right front wheel and the left rear wheel are longitudinal driving wheels, the left front wheel and the right rear wheel are transverse driving wheels, the transverse, longitudinal, diagonal and self-spinning motions of the robot can be realized by controlling the rotating speed of each independent driving motor, and the robot has good moving flexibility; the three-degree-of-freedom articulated mechanical arm and the double-gear mechanical claw are adopted, the folding can be carried out in a limited space, the space utilization rate is improved, the working space is enlarged, the mechanical arm structure is short, the motion stability and the accuracy are good, each joint is controlled by an independent steering engine respectively, the grabbing and placing of materials at multiple angles can be completed, and the control precision is high; the two-dimensional code recognition device is provided with a rotary support structure, and the rotary steering engine is controlled to control the rotation angle of the two-dimensional code recognition module, so that the scanning accuracy of the two-dimensional code is improved; the controller can acquire the data that infrared tracking sensor, two-dimensional code recognition device, colour identification sensor gathered to control the robot and remove and the material snatchs, further improved automatic control level.
The principle and the implementation of the present invention are explained herein by using specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (9)
1. An intelligent recognition transfer robot, comprising: the robot comprises a robot body and a plurality of moving wheels arranged at the bottom of the robot body, wherein the moving wheels are in driving connection with a driving motor, a controller, a plurality of infrared tracking sensors, a two-dimensional code recognition device, a color recognition sensor and a grabbing mechanical assembly are arranged on the robot body, the input end of the controller is respectively and electrically connected with the infrared tracking sensors, the two-dimensional code recognition device and the color recognition sensor, and the output end of the controller is respectively and electrically connected with the driving motor and the grabbing mechanical assembly; the robot comprises a robot body, a controller, a color identification sensor, a two-dimensional code recognition device, a material handling sequence and a mechanical claw, wherein the infrared tracking sensor is used for detecting a walking route of the robot body, the color identification sensor is used for identifying a color mark of a material to be handled, the two-dimensional code recognition device is used for scanning and recognizing a set two-dimensional code and acquiring the material handling sequence, the grabbing mechanical assembly comprises the mechanical arm and the mechanical claw which are connected in a driving mode, the mechanical claw is used for grabbing the.
2. The intelligent recognition transfer robot of claim 1, wherein the number of the infrared tracking sensors is 8, the number of the infrared tracking sensors is 2, and the front, the rear, the left side and the right side of the body are respectively provided with a crystal oscillation type infrared sensor.
3. The intelligent recognition transfer robot of claim 1, wherein an O L ED display screen is further disposed on the body, the O L ED display screen is electrically connected to the controller, and the O L ED display screen is used for displaying a color indication of materials to be transferred and a material transfer sequence.
4. The intelligent recognition transfer robot of claim 1, wherein the moving wheels are ford wheels, the ford wheels are provided in four, and are provided at four corners of the bottom of the body, and the axial directions of two adjacent ford wheels are vertically provided, wherein the ford wheels in the front-right and rear-left directions are longitudinal driving wheels, and the ford wheels in the front-left and rear-right directions are lateral driving wheels.
5. The intelligent identification transfer robot as claimed in claim 1, wherein the mechanical arm is a three-degree-of-freedom mechanical arm and comprises a waist joint, a shoulder joint and an elbow joint, the waist joint is in driving connection with a first steering engine, the first steering engine is fixed on the robot body, the waist joint, the shoulder joint and the elbow joint are in driving connection with a second steering engine and a third steering engine respectively, and the mechanical claw is arranged at the tail end of the elbow joint.
6. The intelligent recognition transfer robot of claim 5, wherein the gripper comprises a gripper rudder disk, a gripper short arm, a gripper crank arm and two symmetrically arranged gripping assemblies, a fourth steering engine is fixedly connected to the elbow joint, the paw steering wheel is in driving connection with the fourth steering engine, the clamping components comprise a long arm of the paw, a gear and a clamping plate, one end of the long arm of the paw is fixedly connected with the gear, the other end of the long arm of the paw is fixedly connected with the clamping plate, the two clamping components are respectively a first clamping component and a second clamping component, the gear of the first clamping assembly is meshed with the gear of the second clamping assembly, the middle part of the long arm of the paw of the first clamping assembly is rotatably connected with the paw crank arm through a rolling bearing, the paw crank arm is connected with the paw short arm, and the paw short arm is connected with the paw rudder plate.
7. The intelligent recognition transfer robot of claim 1, wherein the two-dimensional code recognition device comprises a two-dimensional code recognition module and a rotating bracket, the two-dimensional code recognition module is fixedly connected to the rotating bracket, the rotating bracket is connected to the body through a rotary steering engine, and the two-dimensional code recognition module is connected to the controller.
8. The intelligent recognition transfer robot of claim 7, wherein the two-dimensional code recognition Module employs a micro-snow Barcode Scanner Module.
9. The intelligent recognition transfer robot of claim 1, wherein a plurality of anti-collision wheels are arranged on the side surface of the body, and the anti-collision wheels are rubber wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920972365.9U CN211193863U (en) | 2019-06-26 | 2019-06-26 | Intelligent recognition transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920972365.9U CN211193863U (en) | 2019-06-26 | 2019-06-26 | Intelligent recognition transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211193863U true CN211193863U (en) | 2020-08-07 |
Family
ID=71885255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920972365.9U Expired - Fee Related CN211193863U (en) | 2019-06-26 | 2019-06-26 | Intelligent recognition transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211193863U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153987A (en) * | 2019-06-26 | 2019-08-23 | 东北大学秦皇岛分校 | A kind of intelligent recognition transfer robot and its control method |
| CN112873163A (en) * | 2021-01-14 | 2021-06-01 | 电子科技大学 | Automatic material carrying robot system and control method thereof |
-
2019
- 2019-06-26 CN CN201920972365.9U patent/CN211193863U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153987A (en) * | 2019-06-26 | 2019-08-23 | 东北大学秦皇岛分校 | A kind of intelligent recognition transfer robot and its control method |
| CN112873163A (en) * | 2021-01-14 | 2021-06-01 | 电子科技大学 | Automatic material carrying robot system and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110153987A (en) | A kind of intelligent recognition transfer robot and its control method | |
| CN211193863U (en) | Intelligent recognition transfer robot | |
| CN104950887A (en) | Transportation device based on robot vision system and independent tracking system | |
| CN109018056A (en) | The sufficient four-wheel of one kind two can be changed walking mechanism multifunctional bionic robot system | |
| CN112873163A (en) | Automatic material carrying robot system and control method thereof | |
| CN109482503B (en) | Vision-based mobile sorting robot and sorting method thereof | |
| CN112567976A (en) | Rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device | |
| CN209833821U (en) | Intelligent logistics trolley | |
| CN112873164A (en) | Automatic material handling robot | |
| CN110919647A (en) | Control system of intelligent logistics transfer robot for teaching competition | |
| CN210850260U (en) | Transfer robot manipulator device and transfer robot | |
| CN211565903U (en) | Intelligent logistics transfer robot for teaching competition | |
| CN109205332A (en) | A kind of packaged type tire stacker crane tool hand and method | |
| CN211417439U (en) | Material handling robot | |
| CN209665352U (en) | Intelligent logistics robot | |
| CN110817228A (en) | Unmanned storage carrier | |
| CN210589310U (en) | Intelligent transfer robot for industrial production | |
| CN212541100U (en) | Intelligent vehicle system for logistics sorting and positioning | |
| CN105171744A (en) | Movement control method for five-freedom-degree rotary chain type stacking manipulator | |
| CN210732457U (en) | Control system of stacking robot | |
| CN111168640A (en) | Logistics robot | |
| CN216731811U (en) | Object grabbing system based on snake-shaped mechanical arm | |
| CN209396831U (en) | A kind of Intelligent carrier | |
| CN115302523A (en) | Intelligent sorting robot, control method and mechanical arm inverse solution operation method thereof | |
| CN210189765U (en) | Intelligent mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200807 Termination date: 20210626 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |