CN108406736B - Suspension type robot system, sorting system and direction distinguishing method thereof - Google Patents
Suspension type robot system, sorting system and direction distinguishing method thereof Download PDFInfo
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- CN108406736B CN108406736B CN201810417520.0A CN201810417520A CN108406736B CN 108406736 B CN108406736 B CN 108406736B CN 201810417520 A CN201810417520 A CN 201810417520A CN 108406736 B CN108406736 B CN 108406736B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a suspension type robot system, a sorting system and a direction distinguishing method thereof, wherein the suspension type robot system consists of a hanging rail, a movable power system and a robot body, and the middle of the hanging rail is provided with a gap; the front roller and the rear roller of the mobile power system can run on the hanger rail, and the mobile power system passes through the gap; a robot body suspended below the moving power system; the guide sensor is fixed on the mobile power system and is electrically connected with the controller of the robot body, and the guide sensor can acquire the position of the hanging rail gap as direction information; the position sensor is fixed on the mobile power system and is electrically connected with the controller of the robot body, and the position sensor can acquire position label information arranged on the hanger rail; the robot body can control the mobile power system to travel to a designated position. The robot has the beneficial effects of high running speed and accurate direction control.
Description
Technical Field
The invention relates to a suspension type robot system, a suspension type robot sorting system and a direction distinguishing method of a suspension type robot.
Background
Chinese patent No. 201720671822.1 discloses a suspension type robot guide rail, a suspension type robot and an operation system thereof, and the patent adopts a structure of a double-wheel driving asymmetric suspension type robot, the structure of which is relatively simple but the running speed and the robot load are both limited, in addition, when two suspension type guide rails are crossed, the running speed and the like of the robot can be affected by a gap at the crossing part, and meanwhile, how to cross the gap when the robot is crossed and turned is a problem to be considered.
Disclosure of Invention
The present invention addresses the above deficiencies by providing a suspension robot system.
The technical scheme of the invention is as follows:
The utility model provides a suspension type robot system, its by hanging rail, remove driving system and robot body and constitute, characterized by:
A hanging rail, wherein a gap is arranged in the middle of the hanging rail;
the front roller and the rear roller of the mobile power system can run on the hanger rail, and the mobile power system passes through the gap;
A robot body suspended below the moving power system;
The guide sensor is fixed on the mobile power system and is electrically connected with the controller of the robot body, and the guide sensor can acquire the position of the hanging rail gap as direction information;
The position sensor is fixed on the mobile power system and is electrically connected with the controller of the robot body, and the position sensor can acquire position label information arranged on the hanger rail;
the robot body can control the mobile power system to travel to a designated position.
When the robot body passes through the cross hanger rail and the curved hanger rail, a guide sensor is generally required to determine the left-turn or right-turn angle, so that the mobile power system can run on the center of the hanger rail, and the curved change of the track can be tracked at any time when the robot body runs on the curved track.
The controller of the robot body may be placed on the mobile power system or the robot body as needed.
The specific resting position of the robot body is determined by a position sensor.
The power supply of the mobile power system is provided by a robot body, and a rechargeable battery is arranged in the robot body; typically, the front and rear rollers have a width greater than the width of the gap.
Further, the mobile power system includes:
The front roller and the rear roller are respectively two, and at least one of the front roller and the rear roller is driven by a power driving device;
A front boom, the top of which is connected with a shell or a front roller of the power driving device, and which passes through a gap in the hanger rail;
The top of the rear suspender is connected with the shell or the rear roller of the power driving device, and the rear suspender passes through a gap in the hanging rail;
a bracket;
a front power steering device, wherein a shell of the front power steering device is fixed with a bracket, and a rotating shaft of the front power steering device is fixed with the bottom of a front suspender;
the shell of the rear power steering device is fixed with the bracket, and the rotating shaft of the rear power steering device is fixed with the bottom of the rear suspender;
The guide sensor is composed of two front guide sensors and two rear guide sensors, wherein:
two front guide sensors fixed to the housing, front boom or bracket of the power drive unit and located in front and rear of the front roller, respectively;
and two rear guide sensors fixed on the housing, rear boom or bracket of the power drive device and respectively positioned in front of and behind the rear roller.
The front and rear portions do not exist in terms of the direction in which the robot travels, but are defined for convenience of expression.
The arrangement of the front power steering device and the rear power steering device can ensure that the front idler wheel and the rear idler wheel are not deviated from the track, when the front idler wheel and the rear idler wheel deviate from the track, the front suspender and the rear suspender can rub with the gap edge of the hanging rail, noise is generated, and mechanical abrasion is generated.
Preferably, the front roller is driven by a front power driving device, the front power driving device consists of a front driving motor and a front driving gear reducer, a shell of the front driving gear reducer is connected with the front suspension rod, the front driving motor is connected with the front roller through the front driving gear reducer, and the front driving motor is electrically connected with a controller of the robot body;
The rear roller is driven by a rear power driving device, the rear power driving device is composed of a rear driving motor and a rear driving gear reducer, a shell of the rear driving gear reducer is connected with the rear suspender, the rear driving motor is connected with the rear roller through the rear driving gear reducer, and the rear driving motor is electrically connected with a controller of the robot body.
For accurate control, the front drive motor and the rear drive motor are servo motors.
The front power steering device consists of a front steering servo motor and a front steering gear reducer, the front steering servo motor is connected with a front suspender through a front steering gear reducer rotating shaft, the rear power steering device consists of a rear steering servo motor and a rear steering gear reducer, and the rear steering servo motor is connected with a rear suspender through a rear steering gear reducer.
Preferably, the position sensor, the front guiding sensor and the rear guiding sensor are cameras, and the bar code, the two-dimensional code, the color block mark, the graphic size mark, the graphic color mark, the RFID or the graphic digital mark which are collected by the position sensor are stuck on the hanging rail.
The hanger rail comprises cross hanger rails, the cross sections of the hanger rails are hollow, the gaps are formed in the bottom surfaces of the hanger rails, the front idler wheels and the rear idler wheels can run on the bottom surfaces, and the hanger rails are fixed on a building through brackets.
For convenient fixation and strength, the strength hanging rail can be made of aluminum sections.
The utility model provides a suspension type robot letter sorting system, includes suspension type robot system, the robot body is letter sorting robot, the below of hanger rail is provided with a plurality of parcel collection device, still includes:
the goods identification sensor is fixed at a goods entrance of the hanger rail, on the mobile power system or on the sorting robot;
And the server is in wireless communication with the plurality of sorting robots, can control the sorting robots to move forwards, backwards and turn, and can unload cargoes at specified positions.
The sorting robot can refer to Chinese patent application number 201620006569.3, named sorting robot, chinese patent CN201510433995.5, and package sorting system and method.
The direction judging method of the suspension type robot comprises the suspension type robot system and also comprises a sorting system of the suspension type robot, and the method comprises the following steps:
When the suspended robot walks forwards on the non-crossed hanging rail of the hanging rail, the front guiding sensor can acquire one or two edges of a gap in the hanging rail as a direction reference signal, and when the suspended robot walks forwards and enters the crossed hanging rail, the front guiding sensor takes one continuous edge of the gap in the hanging rail as the direction reference signal;
When the suspended robot walks backwards on the non-crossed hanging rail of the hanging rail, the rear guiding sensor can collect one or two edges of the gap in the hanging rail as a direction reference signal, and when the suspended robot walks backwards on the hanging rail with the crossed rail, the rear guiding sensor takes one continuous edge of the gap in the hanging rail as the direction reference signal.
When the mobile power system advances to turn right, the front roller turns right and the rear roller turns left, and when the mobile power system advances to turn left, the front roller turns left and the rear roller turns right.
The robot has the beneficial effects of high running speed and accurate direction control.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a side view of fig. 1.
FIG. 3 is a schematic view of a hanger rail collected by a guidance sensor of the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings:
as shown in the figure, a suspension type robot system is composed of a hanger rail 1, a mobile power system 2 and a robot body 3, and is characterized in that:
the middle of the hanger rail 1 is provided with a gap 11;
A mobile power system 2, wherein a front roller 21 and a rear roller 22 of the mobile power system can run on the hanger rail 1, and the mobile power system 2 passes through the gap 11; in this embodiment, for convenience of expression, the left roller is defined as the front roller, the right roller is defined as the right roller, and the left running can be considered to be forward, and the right running can be considered to be backward;
a robot body 3 suspended below the moving power system 2;
A guiding sensor 51 fixed on the mobile power system 2 and electrically connected with the controller of the robot body 3, wherein the guiding sensor 51 can collect the position of the gap 11 of the hanger rail 1 as direction information;
a position sensor 53 fixed on the mobile power system 2 and electrically connected to the controller of the robot body, the position sensor 53 being capable of collecting position label information provided on the hanger rail 1;
the robot body 3 can control the mobile power system 2 to travel to a specified position.
The mobile power system 2 includes:
Two front rollers 21 and two rear rollers 22, at least one of the front rollers 21 and the rear rollers 22 being driven by a power driving device;
a front boom 23, the top of which is coupled to the housing or front roller of the power drive, the front boom 23 passing through the gap 11 in the hanger rail 1;
a rear boom 24, the top of which is coupled to the housing or rear roller of the power drive, the rear boom 24 passing through the gap 11 in the hanger rail 1;
A bracket 4;
A front power steering device, the housing of which is fixed to the bracket 4, and the rotation shaft of which is fixed to the bottom of the front boom 23;
a rear power steering device, the housing of which is fixed to the bracket 4, and the rotation shaft of which is fixed to the bottom of the rear boom 24;
The guide sensor is composed of two front guide sensors 51 and two rear guide sensors 52, wherein:
two front guide sensors 51 fixed to the housing of the power drive device, the front boom 23 or the bracket 4 and located respectively in front and rear of the front roller 21;
two rear guide sensors 52, which are fixed to the housing of the power drive, the rear boom 24 or the bracket 4 and are located in front of and behind the rear roller 22, respectively.
In order to obtain the position of the track curve change in advance, during the forward movement (upward left movement in fig. 1), the front guide sensor 51 mounted in front of the front roller 21 determines the steering of the front roller 21, and the rear guide sensor 52 mounted in front of the rear roller 22 determines the steering of the rear roller 22; when the vehicle is moving backward (rightward in fig. 1), the rear guide sensor (rear guide sensor 52 on the right side of the rear roller 22 in fig. 1) mounted behind the rear roller 22 determines the steering of the rear roller 22, and the front guide sensor 51 (front guide sensor 51 on the right side of the front roller 21 in fig. 1) mounted behind the front roller 21 determines the steering of the front roller.
In the present embodiment, the front guide sensor 51 and the rear guide sensor 52 are installed above the hanger rail, and collect signals of the hanger rail 1 downward; this prevents dust from falling on the sensor.
If the front guide sensor 51 and the rear guide sensor 52 are installed below the hanger rail to collect information upward, the position sensor 53 may be combined with one of the guide sensors while collecting the guide signal and the position signal.
The front roller 21 is driven by a front power driving device, the front power driving device consists of a front driving motor 251 and a front driving gear reducer 252, the shell of the front driving gear reducer 252 is connected with the front boom 23, the front driving motor 251 is connected with the front roller 21 through the front driving gear reducer 252, and the front driving motor 251 is electrically connected with the controller of the robot body 3;
The rear roller 22 is driven by a rear power driving device, the rear power driving device is composed of a rear driving motor 262 and a rear driving gear reducer 261, a shell of the rear driving gear reducer 261 is connected with the rear boom 24, the rear driving motor 262 is connected with the rear roller 22 through the rear driving gear reducer 261, and the rear driving motor 262 is electrically connected with a controller of the robot body 3.
The front drive motor 251 and the rear drive motor 262 are servo motors.
The front power steering device is composed of a front steering servo motor 272 and a front steering gear reducer 271, the front steering servo motor 272 is connected with the front boom 23 through a front steering gear reducer 271 rotating shaft, the rear power steering device is composed of a rear steering servo motor 282 and a rear steering gear reducer 281, and the rear steering servo motor 282 is connected with the rear boom 24 through a rear steering gear reducer 281.
The position sensor 53, the front guide sensor 51 and the rear guide sensor 52 are cameras, and a bar code, a two-dimensional code, a color block mark, a graphic size mark, a graphic color mark, an RFID or a graphic digital mark which are collected by the position sensor 53 are stuck on the hanger rail 1.
In order to cooperate with the camera to collect information, an LED may be mounted on the support 4, and irradiates towards the camera, light irradiates the camera through the slit 11, the camera can collect the light band formed by the slit 11, and in fig. 3, the light band formed by the slit 11 collected by the camera is the light band in the circle.
The hanger rail 1 comprises cross hanger rails, the cross section of the hanger rail 1 is hollow, a gap 11 is formed in the bottom surface of the hanger rail 1, the front idler wheel 21 and the rear idler wheel 22 can run on the bottom surface, and the hanger rail 1 is fixed on a building through a bracket.
The utility model provides a suspension type robot letter sorting system, includes as suspension type robot system, and robot body 3 is letter sorting robot, and the below of hanger rail 1 is provided with a plurality of parcel collection device, still includes:
a cargo recognition sensor fixed at a cargo entrance of the hanger rail 1, on the mobile power system 2 or on the sorting robot;
And the server is in wireless communication with the plurality of sorting robots, can control the sorting robots to move forwards, backwards and turn, and can unload cargoes at specified positions.
A direction judging method of a suspension robot comprises a suspension robot system and also comprises a sorting system of the suspension robot, and the method comprises the following steps:
when the suspended robot walks forwards on the non-crossed hanger rail of the hanger rail 1, the front guide sensor 51 can acquire one or two sides of the gap 11 in the hanger rail 1 as a direction reference signal, and when the suspended robot walks forwards and enters the crossed hanger rail 1, the front guide sensor 51 takes one continuous side of the gap 11 in the hanger rail 1 as a direction reference signal; as can be seen from fig. 3, if the command-suspension robot received by the server is ready to turn right, the left hanger rail 112 of the gap 11 is discontinuous while passing the cross hanger rail, and the broken line 1120 (broken line in fig. 3) appears, and the right hanger rail 111 of the gap 11 is continuous, at this time, the right hanger rail 111 should be used as a reference, the rotation angle of the front driving motor 251 should be adjusted to adapt to the change of the bent rail, and when the cross hanger rail is passed, both the left hanger rail and the right hanger rail of the gap 11 can be used as a reference. Obviously, when the hanger rail 1 is crossed, if the hanger rail is driven to the left, the front guiding sensor 51 to the left takes one continuous edge of the gap 11 in the hanger rail 1 as a direction reference signal;
When the suspended robot walks backwards on the non-intersecting hanger rail 1 of the hanger rail 1, the rear guide sensor 52 can collect one or two edges of the gap 1 in the hanger rail 1 as a direction reference signal, and when the suspended robot walks backwards on the hanger rail 1 with the intersecting rail, the rear guide sensor 52 takes one edge of the gap 11 in the hanger rail 1, which is continuous, as a direction reference signal.
When the mobile power system 2 goes forward to turn right, the front roller 21 turns right, the rear roller 22 turns left, and when the mobile power system 2 goes forward to turn left, the front roller 21 turns left, the rear roller 22 turns right.
The principle is the same when driving backwards.
Claims (10)
1. The utility model provides a suspension type robot system, its by hanger rail (1), remove driving system (2) and robot body (3) constitution, characterized by:
the middle of the hanging rail (1) is provided with a gap (11), and the gap (11) is formed in the bottom surface of the hanging rail (1);
A mobile power system (2), wherein a front roller (21) and a rear roller (22) can run on the bottom surface of the hanger rail (1), and the mobile power system (2) passes through the gap (11); at least one of the front roller (21) and the rear roller (22) is driven by a power driving device;
the mobile power system (2) comprises:
a front boom (23), the top of which is connected to the housing or the front roller of the power drive, the front boom (23) passing through a slot (11) in the hanger rail (1);
A rear suspension rod (24), the top of which is connected with a shell or a rear roller of the power driving device, and the rear suspension rod (24) passes through a gap (11) in the suspension rail (1);
a robot body (3) suspended below the mobile power system (2);
The guiding sensor is fixed on the mobile power system (2) and is electrically connected with the controller of the robot body (3), and the guiding sensor can collect the position of the gap (11) of the hanger rail (1) as direction information; the guide sensors comprise two front guide sensors (51) and two rear guide sensors (52);
the position sensor (53) is fixed on the mobile power system (2) and is electrically connected with the controller of the robot body, and the position sensor (53) can acquire position label information arranged on the hanger rail (1);
The robot body (3) can control the mobile power system (2) to travel to a designated position.
2. A suspension robot system as claimed in claim 1, characterized in that:
The mobile power system (2) further comprises:
the number of the front idler wheels (21) and the number of the rear idler wheels (22) are two respectively;
A bracket (4);
the front power steering device is characterized in that a shell of the front power steering device is fixed with a bracket (4), and a rotating shaft of the front power steering device is fixed with the bottom of a front suspender (23);
a rear power steering device, wherein a shell of the rear power steering device is fixed with a bracket (4), and a rotating shaft of the rear power steering device is fixed with the bottom of a rear suspender (24);
two front guide sensors (51) fixed to the housing of the power drive, the front boom (23) or the bracket (4) and located respectively in front of and behind the front roller (21);
two rear guide sensors (52) which are fixed to the housing of the power drive, the rear boom (24) or the bracket (4) and are located in front of and behind the rear roller (22), respectively.
3. A suspension robot system as claimed in claim 2, characterized in that:
The front roller (21) is driven by a front power driving device, the front power driving device consists of a front driving motor (251) and a front driving gear reducer (252), a shell of the front driving gear reducer (252) is connected with the front suspension rod (23), the front driving motor (251) is connected with the front roller (21) through the front driving gear reducer (252), and the front driving motor (251) is electrically connected with a controller of the robot body (3);
The rear roller (22) is driven by a rear power driving device, the rear power driving device is composed of a rear driving motor (262) and a rear driving gear reducer (261), a shell of the rear driving gear reducer (261) is connected with the rear suspension rod (24), the rear driving motor (262) is connected with the rear roller (22) through the rear driving gear reducer (261), and the rear driving motor (262) is electrically connected with a controller of the robot body (3).
4. A suspension robot system according to claim 3, characterized in that:
The front driving motor (251) and the rear driving motor (262) are servo motors.
5. A suspended robot system as claimed in claim 2, characterized in that the front power steering means consist of a front steering servo motor (272) and a front steering gear reducer (271), the front steering servo motor (272) being coupled to the front boom (23) via a front steering gear reducer (271) shaft, the rear power steering means consist of a rear steering servo motor (282) and a rear steering gear reducer (281), the rear steering servo motor (282) being coupled to the rear boom (24) via a rear steering gear reducer (281).
6. A suspended robot system according to claim 2, wherein the position sensor (53), the front guide sensor (51) and the rear guide sensor (52) are cameras, and the hanging rail (1) is adhered with a bar code, a two-dimensional code, a color block mark, a graphic size mark, a graphic color mark, an RFID or a graphic digital mark collected by the position sensor (53).
7. A suspended robot system according to any one of claims 1-6, c h a r a c t e r i z e d in that the hanger rail (1) comprises cross hanger rails, the cross section of the hanger rail (1) being hollow, the hanger rail (1) being fixed to the building by means of brackets.
8. A suspended robot sorting system, characterized by comprising a suspended robot system according to any one of claims 2-7, the robot body (3) being a sorting robot, a plurality of parcel collecting devices being arranged below the hanger rail (1), further comprising:
the goods identification sensor is fixed at a goods entrance of the hanger rail (1), on the mobile power system (2) or on the sorting robot;
And the server is in wireless communication with the plurality of sorting robots, can control the sorting robots to move forwards, backwards and turn, and can unload cargoes at specified positions.
9. A direction discriminating method of a suspension robot including a sorting system of a suspension robot according to claim 8, comprising the steps of:
when the suspended robot walks forwards on the non-crossed hanging rail of the hanging rail (1), the front guide sensor (51) can collect one or two edges of the gap (11) in the hanging rail (1) as a direction reference signal, and when the suspended robot walks forwards and enters the crossed hanging rail (1), the front guide sensor (51) takes one continuous edge of the gap (11) in the hanging rail (1) as a direction reference signal;
When the suspended robot walks backwards on the non-crossed hanging rail (1) of the hanging rail (1), the rear guiding sensor (52) can collect one or two edges of the gap (11) in the hanging rail (1) as a direction reference signal, and when the suspended robot walks backwards into the hanging rail (1) with the crossed rail, the rear guiding sensor (52) takes one edge of the gap (11) in the hanging rail (1) which is continuous as a direction reference signal.
10. The direction determining method of a suspension robot according to claim 9, wherein the front roller (21) turns right and the rear roller (22) turns left when the mobile power system (2) advances to turn right, and the front roller (21) turns left and the rear roller (22) turns right when the mobile power system (2) advances to turn left.
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| CN201810417520.0A CN108406736B (en) | 2018-05-04 | 2018-05-04 | Suspension type robot system, sorting system and direction distinguishing method thereof |
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| CN201810417520.0A CN108406736B (en) | 2018-05-04 | 2018-05-04 | Suspension type robot system, sorting system and direction distinguishing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109571413B (en) * | 2018-11-21 | 2020-11-24 | 杭州亚美利嘉科技有限公司 | Suspension type robot |
| CN109664260B (en) * | 2018-11-21 | 2020-11-03 | 杭州亚美利嘉科技有限公司 | Suspension type robot guide rail direction positioning device and positioning method thereof |
| CN109500798B (en) * | 2018-12-06 | 2024-02-20 | 合肥瑞堡科技发展有限公司 | Mobile robot comprising multiple drives |
| CN114044051B (en) * | 2021-11-29 | 2023-02-28 | 东风汽车集团股份有限公司 | Auxiliary guiding control method and control device for automatic driving vehicle |
| CN114770553B (en) * | 2022-05-20 | 2023-03-24 | 中国矿业大学 | Intelligent inspection robot for cable tunnel |
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| CN208246791U (en) * | 2018-05-04 | 2018-12-18 | 杭州亚美利嘉科技有限公司 | Suspension type robot system and sorting system |
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| CN103285540B (en) * | 2013-06-06 | 2016-03-02 | 成都慧拓自动控制技术有限公司 | Suspension type intelligent fire robot |
| CN103950479B (en) * | 2014-02-20 | 2017-11-10 | 青岛海艺自动化技术有限公司 | With the snake-shaped robot for adapting to out-of-flatness ground ability |
| CN104977927A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Surface treatment robot system |
| CN105415378A (en) * | 2015-12-03 | 2016-03-23 | 昆山穿山甲机器人有限公司 | Multifunctional self-service robot for restaurant |
| CN105881537B (en) * | 2016-06-08 | 2018-03-16 | 江苏若博机器人科技有限公司 | A kind of axle caterpillar type high-speed natural gas line robot control system of three core four |
| CN106214261B (en) * | 2016-09-21 | 2018-11-09 | 刘秦鹏 | A kind of suspension type operating robot |
| CN106511034B (en) * | 2016-12-22 | 2018-11-27 | 大连理工高邮研究院有限公司 | A kind of suspension type stretching body building machine device people |
| CN107139161A (en) * | 2017-06-09 | 2017-09-08 | 杭州亚美利嘉科技有限公司 | Suspension type guide rails of robots, suspension type robot and its runtime |
| CN107639622A (en) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | Rail polling robot running gear |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN208246791U (en) * | 2018-05-04 | 2018-12-18 | 杭州亚美利嘉科技有限公司 | Suspension type robot system and sorting system |
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