CN111716343B - robot - Google Patents
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- CN111716343B CN111716343B CN202010573920.8A CN202010573920A CN111716343B CN 111716343 B CN111716343 B CN 111716343B CN 202010573920 A CN202010573920 A CN 202010573920A CN 111716343 B CN111716343 B CN 111716343B
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims description 40
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 15
- 230000000694 effects Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
本申请提供一种机器人。该机器人包括第一关节(1)、第二关节(2)和机械手(4)，第二关节(2)安装在第一关节(1)上，机械手(4)安装在第二关节(2)上，第二关节(2)能够相对于第一关节(1)转动，第二关节(2)上设置有反作用结构，在第二关节(2)转动时，反作用结构用于为第二关节(2)提供与第二关节(2)的运动方向相反的反作用力。根据本申请的机器人，能够提高机器人运行过程中的平稳性，有效避免抓取的零件脱落，提高机器人的工作稳定性。
The present application provides a robot. The robot comprises a first joint (1), a second joint (2) and a manipulator (4), wherein the second joint (2) is mounted on the first joint (1), the manipulator (4) is mounted on the second joint (2), the second joint (2) can rotate relative to the first joint (1), and a reaction structure is provided on the second joint (2), and when the second joint (2) rotates, the reaction structure is used to provide the second joint (2) with a reaction force opposite to the movement direction of the second joint (2). The robot according to the present application can improve the stability of the robot during operation, effectively prevent the grasped parts from falling off, and improve the working stability of the robot.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot.
Background
The sorting robot has the characteristics of repeated work and labor, fatigue resistance and danger resistance, and the heavy manual labor of human beings is greatly lightened, so that the sorting robot is increasingly widely applied.
Along with the development of manufacturing industry in China, the application of numerical control machine tools is more and more common, and in order to solve the problems that the cost is high, the efficiency is low, and potential safety hazards are easily caused by machine faults or misoperation when parts are manually sorted, sorting robots are more and more applied to the numerical control machine tools, so that the sorting work of workpieces in various shapes and states is completed.
However, the sorting robot has the problem of poor running stability in the working process, and the parts which are grabbed easily fall off, so that the working performance of the robot is reduced.
Disclosure of Invention
Therefore, the technical problem to be solved by the application is to provide the robot, which can improve the stability of the robot in the running process, effectively avoid the falling off of the grabbed parts and improve the working stability of the robot.
In order to solve the above problems, the present application provides a robot including a first joint, a second joint mounted on the first joint, and a manipulator mounted on the second joint, the second joint being rotatable relative to the first joint, the second joint being provided with a reaction structure for providing the second joint with a reaction force in a direction opposite to a movement direction of the second joint when the second joint rotates.
Preferably, the reaction structure comprises a link mechanism, both ends of the link mechanism are arranged on the second joint, and the movement direction of the link mechanism is opposite to the movement direction of the second joint.
Preferably, the first end of the linkage is rotatably disposed at the first end of the second joint, and the second end of the linkage is rotatably disposed at the second end of the second joint.
Preferably, the first end of the link mechanism is disposed at a mating position of the first joint and the second joint, and the second end of the link mechanism is disposed at a mating position of the second joint and the manipulator.
Preferably, the robot further comprises a third joint mounted on the second joint, and the manipulator is mounted on the second joint through the third joint.
Preferably, the third joint is rotatable relative to the second joint, or the manipulator is rotatable relative to the third joint.
Preferably, the linkage mechanism comprises a first link, a second link and a third link, wherein the first link is rotatably connected to the first end of the second joint, the third link is rotatably connected to the second end of the second joint, the first end of the second link is rotatably connected to the first link, and the second end of the second link is rotatably connected to the third link.
Preferably, the second link is disposed at an upper side of the first link and the third link.
Preferably, the first end of the second joint is fixedly provided with a stud, the first end of the link mechanism is rotatably mounted on the second joint through the stud, and/or the second end of the second joint is fixedly provided with a stud, and the second end of the link mechanism is rotatably mounted on the second joint through the stud.
Preferably, the robot further comprises a base, the first joint is mounted on the base, and a controller for controlling the rotation direction of the second joint relative to the first joint is arranged on the base.
Preferably, the first joint is provided with a motor which is in driving connection with the second joint and drives the second joint to rotate.
Preferably, a speed reducer is arranged between the motor and the second joint, and the motor is in driving connection with the second joint through the speed reducer.
Preferably, the manipulator is provided with a displacement sensor for acquiring the current position of the manipulator.
Preferably, the robot further comprises a controller, the displacement sensor is connected to the controller in a communication mode, and the controller adjusts the movement position of the manipulator according to the displacement information transmitted by the displacement sensor.
The robot provided by the application comprises a first joint, a second joint and a manipulator, wherein the second joint is arranged on the first joint, the manipulator is arranged on the second joint, the second joint can rotate relative to the first joint, a reaction structure is arranged on the second joint, and the reaction structure is used for providing reaction force opposite to the movement direction of the second joint for the second joint when the second joint rotates. When the second joint rotates in one direction, the reaction structure can apply a reaction force to the second joint, the direction of the reaction force is opposite to the rotation direction of the second joint, so as to provide a reaction force for the second joint, and since the reaction force of the reaction structure is opposite to the rotation direction of the second joint, therefore, the vibration characteristic of the robot can be reduced, the vibration acting force in the running process of the robot is balanced, the stability of the robot in the running process is improved, the falling of the grabbed parts is effectively avoided, and the working stability of the robot is improved.
Drawings
FIG. 1 is a schematic diagram of an axial measurement structure of a robot according to an embodiment of the present application;
FIG. 2 is a schematic diagram of another axial structure of a robot according to an embodiment of the present application;
Fig. 3 is a schematic view of an installation structure of a first joint of a robot according to an embodiment of the present application;
fig. 4 is a schematic view of an installation structure of a first joint and a decelerator of a robot according to an embodiment of the present application;
fig. 5 is a schematic diagram of an assembly structure of a first joint and a second joint of a robot according to an embodiment of the present application;
fig. 6 is a schematic structural view of a second joint of the robot according to the embodiment of the present application;
Fig. 7 is a schematic perspective view of a manipulator of a robot according to an embodiment of the present application.
The reference numerals are expressed as:
1. a first joint; 2, a second joint, 3, a third joint, 4, a manipulator, 5, a first connecting rod, 6, a second connecting rod, 7, a third connecting rod, 8, a stud, 9, a base, 10, a controller, 11, a motor, 12, a speed reducer, 13, a displacement sensor, 14, a machine tool, 15, a workpiece, 16 and a cover plate.
Detailed Description
Referring to fig. 1 to 7 in combination, according to an embodiment of the present application, a robot includes a first joint 1, a second joint 2, and a manipulator 4, the second joint 2 is mounted on the first joint 1, the manipulator 4 is mounted on the second joint 2, the second joint 2 is rotatable with respect to the first joint 1, a reaction structure is provided on the second joint 2, and the reaction structure is configured to provide a reaction force to the second joint 2 opposite to a movement direction of the second joint 2 when the second joint 2 rotates.
In the working process of the robot, when the second joint 2 rotates in one direction, the reaction structure can apply a reaction force to the second joint 2 at the same time, and the direction of the reaction force is opposite to the rotation direction of the second joint 2, so that a reverse force is provided for the second joint 2, and the vibration characteristic of the robot can be reduced, the vibration force in the running process of the robot is balanced, the stability in the running process of the robot is improved, the falling of the grabbed parts is effectively avoided, and the working stability of the robot is improved.
In this embodiment, the reaction structure includes a link mechanism, both ends of the link mechanism are disposed on the second joint 2, and the movement direction of the link mechanism is opposite to the movement direction of the second joint 2. The robot of the application adopts the second joint 2 to adjust the circumferential rotation position of the manipulator 4, so the circumferential rotation position of the manipulator 4 is mainly realized by the rotation of the second joint 2, and in the process of the rotation of the second joint 2, the second joint 2 is in a cantilever structure, so the robot is easy to cause poor running stability and large vibration amplitude, and further causes unstable grabbing structure of the workpiece 15 and poor working stability. And through setting up link mechanism, in the in-process of second joint 2 pivoted, link mechanism also can rotate to opposite direction, forms a reverse force, because link mechanism can provide a stretching action in reverse motion in-process, the size of this stretching action is correlated with the vibration amplitude of second joint, consequently can utilize this stretching action to reduce the vibration characteristic of robot for the robot operation in-process can realize a dynamic balance, and then keeps the robot operation steady, reduces the vibration.
In other embodiments, other structures capable of realizing dynamic balance of the motion of the second joint 2 may be adopted, for example, an elastic structure may be adopted to cooperate with a reaction member to form a reaction structure, specifically, a swing rod may be adopted to cooperate with an elastic member, where a first end of the elastic member is connected to a first end of the second joint 2, a first end of the swing rod may be rotatably mounted to a second end of the second joint 2, and a second end of the swing rod is connected to a second end of the elastic member, so that when the second joint 2 moves, the swing rod rotates in a direction opposite to a rotation direction of the second joint 2 under the action of inertia, and at the moment, the elastic member may be elastically deformed, so as to form a stretching effect on the swing rod and the second joint 2 at the same time, and further, the stretching effect may be utilized to balance a vibration effect in a rotation process of the second joint 2, so as to realize a smooth operation of the second joint 2.
In this embodiment, the first end of the link mechanism can be rotatably disposed at the first end of the second joint 2, and the second end of the link mechanism can be rotatably disposed at the second end of the second joint 2, so that in the process of rotating the second joint 2, both the first end and the second end of the link mechanism can rotate relative to the direction opposite to the second joint 2, a reverse acting force is applied to the second joint 2, so as to reduce the vibration effect generated in the rotating process of the second joint 2, ensure the running stability of the second joint 2, further ensure the running stability of the manipulator 4 to ensure that the manipulator 4 can stably clamp the workpiece 15, and improve the working stability of the robot.
The first end of the link mechanism is arranged at the matching position of the first joint 1 and the second joint 2, the second end of the link mechanism is arranged at the matching position of the second joint 2 and the manipulator 4, and the rotation centers of the two ends of the link mechanism can be ensured to be positioned at the matching position of the joints, so that the acting force applied to the second joint 2 by the link mechanism is only represented as a reaction force opposite to the rotation direction of the second joint 2, no additional acting force in other directions is applied, the balance effect on the movement of the second joint 2 caused by other redundant force is avoided, and the stability of the second joint 2 in the operation process is improved.
The robot further comprises a third joint 3, the third joint 3 being mounted on the second joint 2, and the manipulator 4 being mounted on the second joint 2 via the third joint 3. The third joint 3 can conveniently realize the installation and fixation between the manipulator 4 and the second joint 2, and the structure of the manipulator 4 and the third joint 3 can be adjusted by the robot according to the requirement, so that different functions are realized.
For example, in one embodiment, the third joint 3 can rotate relative to the second joint 2, in which case the manipulator 4 may be fixedly mounted on the third joint 3, and the rotation of the third joint 3 relative to the second joint 2 is used to adjust the structural state of the manipulator 4, so as to facilitate the sorting operation on the workpieces 15.
In another embodiment, the third joint 3 and the manipulator 4 may be configured such that the manipulator 4 is rotatable with respect to the third joint 3. Under the condition, the third joint 3 can be fixedly arranged on the second joint 2, and the adjustment of the state of the manipulator 4 is realized mainly by adjusting the rotation position of the manipulator, so that the sorting operation of the manipulator 4 on the workpiece 15 is conveniently realized.
In addition, set up manipulator 4 for can rotate for third joint 3, because the rotation of manipulator 4 need not to be responsible for to third joint 3, consequently can set up the third joint 3 to extending structure to adjust the flexible position of manipulator 4, make things convenient for manipulator 4 to operate different work pieces 15, also conveniently realize the different operational functions to work piece 15.
The link mechanism comprises a first link 5, a second link 6 and a third link 7, wherein the first link 5 is rotatably connected to a first end of the second joint 2, the third link 7 is rotatably connected to a second end of the second joint 2, the first end of the second link 6 is rotatably connected to the first link 5, and the second end of the second link 6 is rotatably connected to the third link 7. The three connecting rods are connected in a mutually rotating way, and the first connecting rod 5 and the third connecting rod 7 can rotate relative to the second joint 2, so that when the second joint 2 rotates, the three connecting rods can integrally move in the direction opposite to the direction of the second joint 2, vibration of the second joint 2 during rapid rotation is reduced to a certain extent, and an effective restraining effect is achieved on the vibration of the second joint 2.
Preferably, the second connecting rod 6 is arranged on the upper sides of the first connecting rod 5 and the third connecting rod 7, at this time, the first connecting rod 5 and the third connecting rod 7 can be attached to the surface of the second joint 2 for movement, and the second connecting rod 6 is attached to the upper surfaces of the first connecting rod 5 and the third connecting rod 7, so that the overall height of the second connecting rod 6 relative to the second joint 2 is consistent, and meanwhile, the first connecting rod 5 and the third connecting rod 7 can exert a stable supporting effect on the second connecting rod 6, so that the structural stability in the movement process of the second connecting rod 6 is ensured, and the vibration reduction effect of the connecting rod mechanism to the second joint 2 is ensured.
In other embodiments, the number of links may be four or more, so long as it is ensured that a counter balance force is applied to the second joint 2 during rotation of the second joint 2.
In the present embodiment, the first end of the second joint 2 is fixedly provided with a stud 8, and the first end of the link mechanism is rotatably mounted on the second joint 2 by the stud 8. The stud 8 may be integrally formed with the second joint 2, or may be an independent workpiece, and then is fixedly disposed on the second joint 2 by machining a threaded hole in the second joint 2, a threaded hole is disposed on the first link 5 of the link mechanism, and the first link 5 is screwed onto the stud 8, so that the rotation range of the first link 5 is limited, and therefore, the rotation angle of the first link 5 relative to the stud 8 is limited, and the problem that the first link 5 is separated from the stud 8 can be avoided. In other embodiments, the stud 8 may also include a threaded section and a polish rod section, where the threaded section is fixedly connected to the second joint 2, a threaded hole is provided at an end of the polish rod section, and a cover plate 16 is further provided at an end of the polish rod section, where after the first connecting rod 5 is sleeved on the polish rod section, the cover plate 16 may be fixed on the stud 8 by means of threaded connection, so that an axial fixation is formed for the first connecting rod 5, preventing the first connecting rod 5 from being separated from the stud 8, and at the same time, the rotation of the first connecting rod 5 relative to the stud 8 is not affected.
The second end of the second joint 2 is fixedly provided with a stud 8, and the second end of the link mechanism is rotatably mounted on the second joint 2 through the stud 8. The connection between the third link 7 at the second end of the link mechanism and the second joint 2 may be set with reference to the connection between the first link 5 and the second joint 2.
The second connecting rod 6 and the first connecting rod 5 and the second connecting rod 6 and the third connecting rod 7 can be in rotary connection through a screw rod connection mode, can also be in rotary connection through a pin shaft connection mode, or can be in rotary connection through a screw rod and cover plate matching mode.
The robot further comprises a base 9, the first joint 1 being mounted on the base 9, the base 9 being provided with a controller 10 for controlling the rotational direction of the second joint 2 relative to the first joint 1. The controller 10 is electrically connected to the driving mechanism, and is used for controlling the driving direction of the driving mechanism, so as to control the rotation direction of the second joint 2. The controller 10 is arranged on the base 9, and the base 9 is of a fixed structure, so that the controller 10 is more convenient to operate. In addition, the controller 10 is also electrically connected with a mechanism for controlling the rotation of the manipulator 4, so that the driving mechanism of the manipulator 4 can be controlled by the controller 10 in the working process of the manipulator 4, and the operations of rotating, grabbing and placing objects of the manipulator 4 are realized.
In this embodiment, the first joint 1 is provided with a motor 11, and the motor 11 is in driving connection with the second joint 2 and drives the second joint 2 to rotate. Wherein be provided with the installation cavity on the first joint 1, motor 11 sets up in this installation cavity to after the second joint 2 is installed on the first joint 1, can seal motor 11 in the installation cavity, realize the effective utilization to the space of first joint 1, be convenient for realize the miniaturization of robot design.
In the present embodiment, a speed reducer 12 is provided between the motor 11 and the second joint 2, and the motor 11 is in driving connection with the second joint 2 through the speed reducer 12. The motor 11 realizes the rotation control of the second joint 2 through the speed reducer 12, can precisely control the rotation position of the second joint 2, and improves the rotation control precision of the second joint 2. A flat key is provided on the output shaft of the motor 11, and a key connection with the speed reducer 12 can be realized, thereby facilitating the output of torque to the speed reducer 12.
Preferably, the manipulator 4 is provided with a displacement sensor 13, and the displacement sensor 13 is used for acquiring the current position of the manipulator 4.
The robot further comprises a controller 10, the displacement sensor 13 is connected to the controller 10 in a communication manner, and the controller 10 adjusts the movement position of the manipulator 4 according to the displacement information transmitted by the displacement sensor 13.
When the manipulator 4 grabs the workpiece 15, the grabbing position of the manipulator 4 can be detected through the displacement sensor 13, when deviation exists between the grabbing position of the manipulator 4 and an actual grabbing point, the displacement sensor 13 feeds information back to the controller 10, the controller 10 processes data to calculate a deviation distance, then the motor 11 is controlled according to calculated data, the motor 11 drives the second joint 2 to rotate, the manipulator 4 is controlled to reach the actual grabbing point position, therefore, the grabbing precision of the manipulator 4 can be directly positioned at the manipulator position of the tail end of the manipulator, the problem that the precision caused by the fact that the manipulator 4 is repeatedly positioned by utilizing a plurality of reducers in a matching mode is avoided, the manipulator 4 can always reach the same position, and the positioning precision of the manipulator 4 is improved. In addition, because the accurate positioning of the manipulator is realized without matching a plurality of reducers, the requirement of the positioning precision of the manipulator 4 can be met by only arranging one reducer 12 at the second joint 2, the structure of the robot is simplified, and the cost of the robot is greatly reduced.
The robot of the embodiment of the application is particularly suitable for sorting work pieces 15 on a machine tool 14.
It will be readily appreciated by those skilled in the art that the above advantageous ways can be freely combined and superimposed without conflict.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application. The foregoing is merely a preferred embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present application, and these modifications and variations should also be regarded as the scope of the application.
Claims (13)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010573920.8A CN111716343B (en) | 2020-06-22 | 2020-06-22 | robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010573920.8A CN111716343B (en) | 2020-06-22 | 2020-06-22 | robot |
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| Publication Number | Publication Date |
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| CN111716343A CN111716343A (en) | 2020-09-29 |
| CN111716343B true CN111716343B (en) | 2025-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010573920.8A Active CN111716343B (en) | 2020-06-22 | 2020-06-22 | robot |
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| CN (1) | CN111716343B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112338960A (en) * | 2020-11-27 | 2021-02-09 | 蒋剑 | Manipulator device and control method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972511A (en) * | 2018-08-27 | 2018-12-11 | 聊城大学 | A kind of robot palletizer and its application method |
| CN212241051U (en) * | 2020-06-22 | 2020-12-29 | 珠海格力电器股份有限公司 | Robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0643039B2 (en) * | 1988-08-18 | 1994-06-08 | 株式会社三協精機製作所 | Arm drive device for articulated robot |
| JPH09300254A (en) * | 1996-05-17 | 1997-11-25 | Fanuc Ltd | Vertical articulated robot |
| JP4431373B2 (en) * | 2003-12-02 | 2010-03-10 | 日本電産サンキョー株式会社 | Drive coupling mechanism and vacuum robot equipped with the drive coupling mechanism |
| JP2015213976A (en) * | 2014-05-09 | 2015-12-03 | キヤノン株式会社 | Robot manipulator |
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2020
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972511A (en) * | 2018-08-27 | 2018-12-11 | 聊城大学 | A kind of robot palletizer and its application method |
| CN212241051U (en) * | 2020-06-22 | 2020-12-29 | 珠海格力电器股份有限公司 | Robot |
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