CN214827145U - Press from both sides biography collaborative logistics robot - Google Patents
Press from both sides biography collaborative logistics robot Download PDFInfo
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- CN214827145U CN214827145U CN202120821529.5U CN202120821529U CN214827145U CN 214827145 U CN214827145 U CN 214827145U CN 202120821529 U CN202120821529 U CN 202120821529U CN 214827145 U CN214827145 U CN 214827145U
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
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Abstract
The utility model relates to a press from both sides biography collaborative logistics robot, include the cubic frame that forms by the frame section bar amalgamation, cubic frame bottom four corners position respectively is fixed with a self-driven mecanum wheel, and cubic frame top is provided with the clamp that is used for perpendicular pile up neatly and gets the mechanism, and cubic frame is inside to be provided with the transport mechanism who is used for horizontal pile up neatly. The utility model discloses a logistics robot compact structure, low cost presss from both sides through getting the mechanism and realizes perpendicular pile up neatly, realizes horizontal pile up neatly through transport mechanism, can realize the nimble removal in the narrow and small operating space through the fixed self-driven mecanum wheel in bottom, thus has stronger suitability.
Description
Technical Field
The utility model belongs to the technical field of the logistics robot, a press from both sides biography collaborative formula logistics robot is related to.
Background
The existing logistics robot is limited in structure type, is limited in places, weather, transported materials and the like during use, and needs to be used interactively. For example, the tower-type robot is suitable for complex industrial scenes, can be increased in a saving mode, but is high in cost and extremely low in cost performance when operated in a small space; like a crawler-type robot, the crawler-type robot has the advantages of good stability, high load capacity, good anti-skid performance and low requirement on the road surface, but has poor flexibility and low running speed; the present widely used gate-type transfer robot has high field utilization rate, large operation range, wide application range and strong universality, but can only be used for vertical stacking, and the applicability is not strong.
Disclosure of Invention
The utility model provides a flexibility is high, and the suitability is strong, can realize the clamp biography concerted type logistics robot of perpendicular pile up neatly and horizontal pile up neatly in narrow and small operation space.
The utility model discloses the technical scheme who adopts does:
the utility model provides a press from both sides biography collaborative logistics robot, includes the cubic frame that is formed by the frame section bar amalgamation, cubic frame bottom four corners position is fixed with a self-driven mecanum wheel respectively, cubic frame top is provided with the clamp that is used for perpendicular pile up neatly and gets the mechanism, cubic frame is inside to be provided with the transport mechanism that is used for horizontal pile up neatly.
Furthermore, two top supporting section bars are transversely fixed at the top of the cubic frame, first slide rails are fixed at the tops of the two top supporting section bars, and two longitudinal support bars are connected on the two first slide rails in a sliding manner;
the clamping mechanism comprises a cantilever rod, a motor base, a second motor and a lead screw bracket, the cantilever rod is transversely and integrally fixed on the two longitudinal support rods, and the left end of the cantilever rod extends out of the cubic frame; the motor base is fixed on the right side of the top of the cubic frame, the second motor is fixed on the motor base, an output shaft of the second motor faces the left side and is connected with a first lead screw through a coupler, a first ball pair is sleeved on the first lead screw, the first lead screw is inserted into the cantilever rod, an arch part is arranged on the right side of the cantilever rod to form an avoiding groove exposing the first lead screw, and the right end of the cantilever rod is welded and fixed with the first ball pair; the tail end of the first lead screw is inserted into a T-shaped lead screw bracket, and two wings of the lead screw bracket are fixed with the two top supporting profiles; and a clamping jaw actuating mechanism capable of moving up and down is fixed at the left end of the cantilever rod.
Furthermore, the clamping jaw executing mechanism comprises a third motor, a first rack, a steering engine, a fourth motor and two clamping jaws; the third motor is fixed on the outer side of the left end of the cantilever rod through a second angle code and a first screw, the left end of the cantilever rod is provided with a first through hole in the vertical direction, an output shaft of the third motor penetrates into the first through hole, a first gear is fixed at the tail end of the output shaft of the third motor, a first rack penetrates through the left end of the cantilever rod from top to bottom, and the first rack is meshed with the first gear; the steering engine is fixed at the bottom of the first rack, an output shaft of the steering engine faces downwards, the fourth motor is fixed on the output shaft of the steering engine, the output shaft of the fourth motor faces downwards, the output shaft of the fourth motor is connected with a second lead screw, and a second ball pair is sleeved on the second lead screw; and the two clamping jaws are hinged to the bottom of the fourth motor and the second ball pair.
Furthermore, the conveying mechanism comprises two U-shaped brackets arranged side by side left and right, a driving mechanism for driving the two U-shaped brackets to vertically move up and down and horizontally move left and right, and a conveying belt mechanism horizontally arranged on the two U-shaped brackets.
Furthermore, the conveyor belt mechanism comprises two conveyor belt side plates which are arranged in front and back and fixed with the two U-shaped brackets, a plurality of roller rods are uniformly and rotatably connected between the two conveyor belt side plates at intervals, and a conveyor belt is wound on the plurality of roller rods; and a seventh motor for driving the roller rod is fixed on the front side of the conveyor belt side plate, and the seventh motor is fixed with the conveyor belt side plate through a fourth corner connector and a fourth screw.
Furthermore, a side surface supporting section bar is horizontally fixed on each of the front side and the rear side of the cubic frame, the side surface supporting section bars are equal in height, second slide rails are fixed on the side surface supporting section bars, each second slide rail is connected with a long slide block in a sliding manner, and second racks are fixed on the inner sides of the side surface supporting section bars; a third rack is integrally arranged on the outer side of the vertical section of the U-shaped bracket, and the number of the third racks is four;
the driving mechanism comprises two fifth motors and four sixth motors, and the two fifth motors are respectively fixed at the middle positions of the two long sliding blocks through L-shaped motor fixing plates and second screws; an output shaft of the fifth motor faces downwards, a second gear is fixed at the end part of the output shaft of the fifth motor, and the second gear is meshed with a corresponding second rack; and motor supports are fixed at two ends of the upper end face of any one long sliding block, four sixth motors are fixed on the outer sides of the corresponding motor supports through third corner connectors and third screws, second through holes in the vertical direction are formed in the motor supports, output shafts of the sixth motors penetrate into the second through holes, third gears are fixed at the tail ends of the output shafts of the sixth motors, and the third gears are meshed with corresponding third racks.
Further, the self-driven Mecanum wheel comprises an L-shaped plate, a first motor and a wheel body, wherein the long section of the L-shaped plate is fixed at the bottom of the cubic frame through a second bolt and a second nut; the first motor is fixed on the inner side of the L-shaped plate short section, an output shaft of the first motor penetrates through the L-shaped plate short section, and the wheel body is fixed at the tail end of the output shaft of the first motor.
Furthermore, in the cubic frame structure, the sectional materials are spliced and fixed through a first corner connector, a first bolt and a first nut.
The beneficial effects of the utility model reside in that:
the utility model discloses a logistics robot compact structure, low cost presss from both sides the mechanism through getting and realizes perpendicular pile up neatly, realizes horizontal pile up neatly (transmitting the goods to different positions and the matter storage lattice of height) through transport mechanism, can realize the nimble removal in the narrow and small operating space through the fixed self-driven mecanum wheel in bottom, thus has stronger suitability.
Drawings
Fig. 1 is a schematic structural view of the clip-pass cooperative logistics robot of the present invention;
FIG. 2 is a schematic structural view of a cubical frame;
FIG. 3 is a schematic diagram of a layout of four self-driven Mecanum wheels;
FIG. 4 is a schematic diagram of a single self-driven Mecanum wheel configuration;
FIG. 5 is a schematic view of the gripping mechanism;
FIG. 6 is a schematic view of a jaw actuator;
FIG. 7 is a schematic view of a mating structure of the first rack and the first gear;
FIG. 8 is a schematic view of a matching structure of the longitudinal support bar and the first slide rail;
FIG. 9 is a schematic structural view of the transfer mechanism;
FIG. 10 is a schematic view of the internal structure of the conveyor belt mechanism;
reference numerals: 1-cubic frame, 101-frame profile, 102-top support profile, 103-side support profile, 104-first corner brace, 105-first bolt, 106-first nut;
2-self-driven mecanum wheel, 201-L-shaped plate, 202-first motor, 203-wheel body, 204-second bolt, 205-second nut;
3-a clamping mechanism, 301-a longitudinal support rod, 302-a first slide rail, 303-a cantilever rod, 304-a motor base, 305-a second motor, 306-a coupler, 307-a first ball pair, 308-a first lead screw, 309-a lead screw bracket, 3010-a third motor, 3011-a first gear, 3012-a second angle code, 3013-a first screw, 3014-a first rack, 3015-a steering engine, 3016-a fourth motor, 3017-a clamping jaw, 3018-a second lead screw and 3019-a second ball pair;
4-transmission mechanism, 401-second slide rail, 402-long slide block, 403-second rack, 404-motor fixing plate, 405-fifth motor, 406-second screw, 407-second gear, 408-U-shaped bracket, 409-motor support, 4010-sixth motor, 4011-third gear, 4012-third corner connector, 4013-third screw, 4014-third rack, 4015-conveyor belt side plate, 4016-conveyor belt, 4017-seventh motor, 4018-fourth corner connector, 4019-fourth screw and 4020-roller rod.
Detailed Description
The following provides a detailed description of the clip-pass cooperative logistics robot according to the present invention with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 3, the clamping and conveying cooperative logistics robot comprises a cubic frame 1 formed by splicing frame profiles 101, wherein self-driven mecanum wheels 2 are respectively fixed at four corners of the bottom of the cubic frame 1, a clamping mechanism 3 for vertical stacking is arranged at the top of the cubic frame 1, and a conveying mechanism 4 for horizontal stacking is arranged inside the cubic frame 1.
Specifically, with reference to fig. 2 and fig. 5 to 8, two top supporting section bars 102 are transversely fixed on the top of the cubic frame 1, first sliding rails 302 are fixed on the top of each of the two top supporting section bars 102, and two longitudinal supporting rods 301 are slidably connected to the two first sliding rails 302.
The gripping mechanism 3 comprises a cantilever rod 303, a motor base 304, a second motor 305 and a screw rod bracket 309, wherein the cantilever rod 303 is transversely and integrally fixed on the two longitudinal support rods 301, and the left end of the cantilever rod 303 extends out of the cubic frame 1. The motor base 304 is fixed on the right side of the top of the cubic frame 1, the second motor 305 is fixed on the motor base 304, an output shaft of the second motor 305 faces the left side and is connected with a first lead screw 308 through a coupler 306, a first ball pair 307 is sleeved on the first lead screw 308, the first lead screw 308 is inserted into the cantilever bar 303, an arch portion is arranged on the right side of the cantilever bar 303 to form an avoiding groove exposing the first lead screw 308, and the right end of the cantilever bar 303 is welded and fixed with the first ball pair 307. The end of the first threaded spindle 308 is inserted into a T-shaped spindle support 309, and the two wings of the spindle support 309 are fixed to the two top support profiles 102. The left end of the cantilever rod 303 is fixed with a clamping jaw actuating mechanism which can move up and down. The second motor 305 drives the first ball pair 307 and the first lead screw 308 to realize the left-right translation of the cantilever bar 303 and the two longitudinal support bars 301.
The clamping jaw actuating mechanism comprises a third motor 3010, a first rack 3014, a steering gear 3015, a fourth motor 3016 and two clamping jaws 3017. The third motor 3010 is fixed to the outer side of the left end of the cantilever bar 303 through a second angle joint 3012 and a first screw 3013, a first through hole in the up-down direction is formed in the left end of the cantilever bar 303, an output shaft of the third motor 3010 penetrates through the first through hole, a first gear 3011 is fixed to the tail end of the output shaft of the third motor 3010, a first rack 3014 penetrates through the left end of the cantilever bar 303 from top to bottom, and the first rack 3014 is engaged with the first gear 3011. Steering wheel 3015 is fixed in first rack 3014 bottom, and the output shaft of steering wheel 3015 is down, and fourth motor 3016 is fixed on the output shaft of steering wheel 3015, and the output shaft of fourth motor 3016 is down, and the output shaft of fourth motor 3016 is connected with second lead screw 3018, has cup jointed the vice 3019 of second ball on second lead screw 3018. The two clamping jaws 3017 are hinged to the bottom of the fourth motor 3016 and the second ball pair 3019. The first gear 3011 is driven to rotate by the third motor 3010, so that the first rack 3014 is lifted. Steering engine 3015 controls jaw 3017 to turn. The fourth motor 3016 drives the second ball pair 3019 and the second lead screw 3018, and controls the two jaws 3017 to open and close to realize the cargo grabbing function.
As shown in fig. 9 and 10, the conveying mechanism 4 includes two U-shaped brackets 408 disposed side by side in the left-right direction, a driving mechanism for driving the two U-shaped brackets 408 to vertically move up and down and laterally move left and right, and a conveying belt mechanism horizontally disposed on the two U-shaped brackets 408.
The conveyor belt mechanism comprises two conveyor belt side plates 4015 which are arranged in front and back and fixed with the two U-shaped brackets 408 through fasteners, a plurality of roller rods 4020 are uniformly and rotatably connected between the two conveyor belt side plates 4015 at intervals, and a conveyor belt 4016 is wound on the plurality of roller rods 4020. A seventh motor 4017 for driving the roller 4020 to rotate is fixed to the front side of the conveyor belt side plate 4015 (the conveyor belt 4016 is driven by the roller 4020), and the seventh motor 4017 is fixed to the conveyor belt side plate 4015 through a fourth corner connector 4018 and a fourth screw 4019.
A side surface supporting section bar 103 is horizontally fixed on the front side and the rear side of the cubic frame 1, the side surface supporting section bars 103 are equal in height, second slide rails 401 are fixed on the side surface supporting section bars 103, each second slide rail 401 is connected with a long slide block 402 in a sliding manner, and second racks 403 are fixed on the inner sides of the side surface supporting section bars 103. The outer side of the vertical section of the U-shaped bracket 408 is integrally provided with four third racks 4014, and the number of the third racks 4014 is four.
The driving mechanism comprises two fifth motors 405 and four sixth motors 4010, and the two fifth motors 405 are respectively fixed at the middle positions of the two long sliding blocks 402 through an L-shaped motor fixing plate 404 and a second screw 406. An output shaft of the fifth motor 405 faces downward, a second gear 407 is fixed to an end portion of the output shaft of the fifth motor 405, and the second gear 407 engages with the corresponding second rack 403. The motor support 409 is fixed to both ends of the upper end face of any long sliding block 402, four sixth motors 4010 are fixed to the outer side of the corresponding motor support 409 through third corner codes 4012 and third screws 4013, second through holes in the up-down direction are formed in the motor support 409, output shafts of the sixth motors 4010 penetrate into the second through holes, third gears 4011 are fixed to the tail ends of the output shafts of the sixth motors 4010, and the third gears 4011 are meshed with corresponding third racks 4014. The two long sliding blocks 402 are moved left and right by two fifth motors 405, and the conveyor belt mechanism is controlled to move left and right transversely. The two U-shaped brackets 408 are moved up and down by the four sixth motors 4010, and the belt conveyor mechanism is controlled to move vertically up and down, thereby changing the height of the belt conveyor mechanism.
As shown in fig. 4, self-driven mecanum wheel 2 comprises L-shaped plate 201, first motor 202 and wheel body 203, wherein the long section of L-shaped plate 201 is fixed on the bottom of cubic frame 1 by second bolt 204 and second nut 205. The first motor 202 is fixed on the inner side of the short section of the L-shaped plate 201, the output shaft of the first motor 202 penetrates through the short section of the L-shaped plate 201, and the wheel body 203 is fixed at the tail end of the output shaft of the first motor 202.
In the structure of the cubic frame 1, the sectional materials are split and fixed by a first corner brace 104, a first bolt 105 and a first nut 106, which is shown in fig. 2.
The utility model discloses a press from both sides biography collaborative formula commodity circulation robot work principle does:
the four self-driven Mecanum wheels 2 realize translation or rotation on the ground of the logistics robot through respective rotation to reach the vicinity of the goods. The second motor 305 drives the cantilever bar 303 to translate forward so that the jaws 3017 are positioned over the cargo. The third motor 3010 drives the clamping jaws 3017 to descend, the steering engine 3015 rotates to adjust the opening directions of the two clamping jaws 3017, and the fourth motor 3016 controls the two clamping jaws 3017 to grab goods. The third motor 3010 rotates in the reverse direction to raise the clamp jaw 3017 to a height higher than the conveyor belt 4016, and the conveyor belt 4016 is moved forward by the two fifth motors 405 to reach the two clamp jaws 3017 and under the clamped goods, and then the goods are placed on the conveyor belt 4016. The two fifth motors 405 reversely rotate to drive the conveyor belt 4016 to the initial intermediate position, thereby loading the goods.
Aiming at the goods shelf with the same height, the rear part of the logistics robot is aligned with the goods shelf to enable the logistics robot to translate along the edge of the goods shelf, when the goods shelf reaches the front of one goods grid, the two fifth motors 405 work to enable the two conveyor belt side plates to abut against the goods shelf, and the seventh motor 4017 works to deliver goods to the goods grid. Aiming at the goods shelves with different heights, on the basis of the method, the height of the conveyor belt mechanism is adjusted through the four sixth motors 4010, and therefore the goods shelves with different heights can be unloaded.
The utility model discloses a press from both sides biography collaborative logistics robot can realize that the whole translation of logistics robot, rotation, press from both sides and get mechanism 3 and can realize translation, go up and down, press from both sides tightly or put down the goods, transport mechanism 4 can realize translation, go up and down, forward or backward transport goods, form the required goods of logistics robot and load, transport, discharge ability, and the practicality is strong.
Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.
Claims (8)
1. The utility model provides a press from both sides biography collaborative logistics robot which characterized in that includes cubic frame (1) that is formed by frame section bar (101) amalgamation, and cubic frame (1) bottom four corners position is fixed with a self-driven mecanum wheel (2) respectively, and cubic frame (1) top is provided with the clamp and gets mechanism (3) that are used for perpendicular pile up neatly, and cubic frame (1) inside is provided with transport mechanism (4) that are used for horizontal pile up neatly.
2. The clip transfer cooperative logistics robot of claim 1, wherein two top support profiles (102) are transversely fixed on the top of the cubic frame (1), the top of each of the two top support profiles (102) is fixed with a first slide rail (302), and the two first slide rails (302) are slidably connected with two longitudinal support rods (301);
the clamping mechanism (3) comprises a cantilever rod (303), a motor base (304), a second motor (305) and a lead screw bracket (309), the cantilever rod (303) is transversely and integrally fixed on the two longitudinal support rods (301), and the left end of the cantilever rod (303) extends out of the cubic frame (1); the motor base (304) is fixed on the right side of the top of the cubic frame (1), the second motor (305) is fixed on the motor base (304), an output shaft of the second motor (305) faces the left side and is connected with a first lead screw (308) through a coupler (306), a first ball pair (307) is sleeved on the first lead screw (308), the first lead screw (308) is inserted into the cantilever rod (303), an arch part is arranged on the right side of the cantilever rod (303) to form an avoiding groove exposing the first lead screw (308), and the right end of the cantilever rod (303) is welded and fixed with the first ball pair (307); the tail end of a first lead screw (308) is inserted into a T-shaped lead screw bracket (309), and two wings of the lead screw bracket (309) are fixed with the two top supporting profiles (102); the left end of the cantilever rod (303) is fixed with a clamping jaw actuating mechanism which can move up and down.
3. The clip transfer cooperative logistics robot of claim 2, wherein the jaw actuator comprises a third motor (3010), a first rack (3014), a steering engine (3015), a fourth motor (3016) and two jaws (3017); a third motor (3010) is fixed on the outer side of the left end of the cantilever rod (303) through a second angle code (3012) and a first screw (3013), a first through hole in the vertical direction is formed in the left end of the cantilever rod (303), an output shaft of the third motor (3010) penetrates into the first through hole, a first gear (3011) is fixed at the tail end of the output shaft of the third motor (3010), a first rack (3014) penetrates through the left end of the cantilever rod (303) from top to bottom, and the first rack (3014) is meshed with the first gear (3011); a steering engine (3015) is fixed at the bottom of a first rack (3014), an output shaft of the steering engine (3015) faces downwards, a fourth motor (3016) is fixed on the output shaft of the steering engine (3015), an output shaft of the fourth motor (3016) faces downwards, an output shaft of the fourth motor (3016) is connected with a second lead screw (3018), and a second ball pair (3019) is sleeved on the second lead screw (3018); the two clamping jaws (3017) are hinged to the bottom of the fourth motor (3016) and the second ball pair (3019).
4. The clip transfer cooperative logistics robot according to claim 1, wherein the transfer mechanism (4) comprises two U-shaped brackets (408) arranged side by side left and right, a driving mechanism for driving the two U-shaped brackets (408) to move vertically up and down and laterally left and right, and a conveyor belt mechanism horizontally arranged on the two U-shaped brackets (408).
5. The cooperative logistics robot of claim 4, wherein the conveyor belt mechanism comprises two conveyor belt side plates (4015) which are arranged in front and back and fixed with the two U-shaped brackets (408), a plurality of roller rods (4020) are rotationally connected between the two conveyor belt side plates (4015) at uniform intervals, and a conveyor belt (4016) is wound on the plurality of roller rods (4020); a seventh motor (4017) used for driving the roller rod (4020) is fixed on the front side of the conveyor belt side plate (4015), and the seventh motor (4017) is fixed with the conveyor belt side plate (4015) through a fourth corner connector (4018) and a fourth screw (4019).
6. The cooperative logistics robot of claim 4, wherein a lateral support section bar (103) is horizontally fixed on each of the front side and the rear side of the cubic frame (1), the lateral support section bars (103) have the same height, the lateral support section bars (103) are fixed with second slide rails (401), each second slide rail (401) is slidably connected with a long slide block (402), and the inner sides of the lateral support section bars (103) are fixed with second racks (403); the outer sides of the vertical sections of the U-shaped brackets (408) are integrally provided with three racks (4014), and the number of the third racks (4014) is four;
the driving mechanism comprises two fifth motors (405) and four sixth motors (4010), wherein the two fifth motors (405) are respectively fixed at the middle positions of the two long sliding blocks (402) through L-shaped motor fixing plates (404) and second screws (406); the output shaft of the fifth motor (405) faces downwards, a second gear (407) is fixed at the end part of the output shaft of the fifth motor (405), and the second gear (407) is meshed with the corresponding second rack (403); any long slider (402) up end both ends all are fixed with motor support (409), four sixth motors (4010) are fixed in corresponding motor support (409) outside through third angle sign indicating number (4012) and third screw (4013), set up the second through-hole of upper and lower direction in motor support (409), and the output shaft of sixth motor (4010) penetrates in the second through-hole, and the output shaft end of sixth motor (4010) is fixed with third gear (4011), third gear (4011) and the meshing of the third rack (4014) that corresponds.
7. The gripper-assisted cooperative logistics robot according to claim 1, wherein the self-driven mecanum wheel (2) comprises an L-shaped plate (201), a first motor (202) and a wheel body (203), and the long section of the L-shaped plate (201) is fixed at the bottom of the cubic frame (1) through a second bolt (204) and a second nut (205); the first motor (202) is fixed on the inner side of the short section of the L-shaped plate (201), an output shaft of the first motor (202) penetrates through the short section of the L-shaped plate (201), and the wheel body (203) is fixed at the tail end of the output shaft of the first motor (202).
8. The clamp-transfer cooperative logistics robot according to any one of claims 1 to 7, wherein the cubic frame (1) is structured such that sectional materials are fixed by a first corner connector (104), a first bolt (105) and a first nut (106) in a split manner.
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| CN202120821529.5U CN214827145U (en) | 2021-04-21 | 2021-04-21 | Press from both sides biography collaborative logistics robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572710A (en) * | 2022-03-18 | 2022-06-03 | 操朋 | Mechanical automatic unloading system and unloading method |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572710A (en) * | 2022-03-18 | 2022-06-03 | 操朋 | Mechanical automatic unloading system and unloading method |
| CN114572710B (en) * | 2022-03-18 | 2023-10-13 | 天津汇之禧信息技术有限公司 | Mechanical automatic unloading system and unloading method |
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| GR01 | Patent grant | ||
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| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Institute of Engineering Technical Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2023980035197 Denomination of utility model: A Clamping Collaborative Logistics Robot Granted publication date: 20211123 License type: Common License Record date: 20230506 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Nanjing Institute of Engineering Technical Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2023980035197 Date of cancellation: 20240301 |
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| EC01 | Cancellation of recordation of patent licensing contract |