CN205028164U - Limiting mechanism - Google Patents
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Abstract
本实用新型的一种限位机构,包括固定件,可运动地安装在固定件上的运动件,以及弹性限位组件,其中弹性限位组件包括弹性限位结构和配合限位结构,二者分别设置在固定件与运动件上,且当运动件运动到弹性限位结构与配合限位结构结合的结合位置时,弹性限位结构在自身弹力的作用下与配合限位结构结合对运动件进行限位;当运动件在足以克服弹性限位结构自身弹力的外力的作用下迫使弹性限位结构与配合限位结构脱离结合时,解除对运动件的限位。本实用新型的限位机构不仅能够用于运动机构极限位置的限位及不同档位的限位,而且能够明显提升运动机构运动到极限位置时的手感及听感,提升产品的品质的限位结构。
A position limiting mechanism of the present utility model comprises a fixed part, a moving part movably installed on the fixed part, and an elastic limit assembly, wherein the elastic limit assembly includes an elastic limit structure and a matching limit structure, both They are respectively arranged on the fixed part and the moving part, and when the moving part moves to the joint position where the elastic limit structure and the matching limit structure are combined, the elastic limit structure is combined with the matching limit structure under the action of its own elasticity Limiting; when the moving part is forced to disengage the elastic limiting structure from the matching limiting structure under the action of an external force sufficient to overcome the elastic force of the elastic limiting structure itself, the limiting of the moving part is released. The limit mechanism of the utility model can not only be used for the limit position of the movement mechanism and the limit of different gears, but also can significantly improve the hand feeling and hearing feeling when the movement mechanism moves to the limit position, and improve the quality limit of the product. structure.
Description
技术领域technical field
本实用新型涉及限位机构领域,具体涉及一种用于运动机构极限位置的限位及不同档位的限位的限位机构。The utility model relates to the field of position-limiting mechanisms, in particular to a position-limiting mechanism for limiting the limit positions of a motion mechanism and different gear positions.
背景技术Background technique
现有的运动机构的极限位置限位机构通常包括固定件,可在固定件上运动的运动件,以及设置在固定件与活动件之间对运动件进行限位的限位组件,通常现有的限位机构是在固定件上运动件的极限位置处设置一个限位挡片或者限制柱等,当运动件运动到极限位置时通过与限位挡片或限制柱进行碰撞实现对运动件的限位,因此,通常会发出“铛铛”的撞击声,不仅会产生较大的噪音,而且操作手感不佳,容易降低安装该限位机构的产品的品质;更重要的是,由于是限位挡片或限制柱,因此,运动件到达极限位置后,无法越过限位挡片或限制柱继续向前运动,因此,现有技术的限位机构只能进行极限位置的限位,而不能够实现多档位限位,应用范围较窄。The limit position limiting mechanism of the existing kinematic mechanism usually includes a fixed part, a moving part that can move on the fixed part, and a limit assembly that is arranged between the fixed part and the movable part to limit the moving part. The limit mechanism of the fixed part is to set a limit stopper or a limit column at the limit position of the moving part on the fixed part. Therefore, there is usually a "clang" impact sound, which not only produces a large noise, but also has a bad operating feel, which is easy to reduce the quality of the product where the limit mechanism is installed; more importantly, because it is a limit mechanism Therefore, after the moving part reaches the limit position, it cannot continue to move forward beyond the limit stopper or limit column. Therefore, the limiting mechanism of the prior art can only limit the limit position, and does not It can realize multi-gear limit, and the application range is narrow.
实用新型内容Utility model content
因此,本实用新型要解决的技术问题在于克服现有技术中的限位机构结构不合理,对运动机构限位时容易造成撞击声,且操作手感粗糙,容易降低产品品质的缺陷,从而提供一种不仅能够用于运动机构极限位置的限位及不同档位的限位,而且还能够明显提升运动机构运动到极限位置时的手感及听感,提升产品的品质的限位结构。Therefore, the technical problem to be solved by the utility model is to overcome the unreasonable structure of the limiting mechanism in the prior art, which is easy to cause impact sound when limiting the movement mechanism, and the operation feels rough, which is easy to reduce the defect of product quality, thereby providing a This kind of limit structure can not only be used to limit the limit position of the movement mechanism and the limit of different gears, but also can significantly improve the feel and hearing of the movement mechanism when it moves to the limit position, and improve the quality of the product.
为解决上述技术问题,本实用新型的一种限位机构,包括:In order to solve the above technical problems, a position limiting mechanism of the present invention comprises:
固定件;Fastener;
运动件,可运动地安装在所述固定件上;a moving part, movably mounted on the fixed part;
弹性限位组件,包括弹性限位结构和配合限位结构,二者分别设置在所述固定件与所述运动件上,且当所述运动件运动到所述弹性限位结构与所述配合限位结构结合的结合位置时,所述弹性限位结构在自身弹力的作用下与所述配合限位结构结合对所述运动件进行限位;当所述运动件在足以克服所述弹性限位结构自身弹力的外力的作用下迫使所述弹性限位结构与所述配合限位结构脱离结合时,解除对所述运动件的限位。The elastic limit assembly includes an elastic limit structure and a matching limit structure, which are respectively arranged on the fixed part and the moving part, and when the moving part moves to the elastic limit structure and the matching When the limit structure is combined with the combined position, the elastic limit structure is combined with the matching limit structure under the action of its own elastic force to limit the moving part; when the moving part is sufficient to overcome the elastic limit When the elastic limiting structure is forced to disengage from the matching limiting structure under the action of the external force of the elastic force of the positioning structure itself, the limiting of the moving part is released.
在本实用新型的限位机构中,所述弹性限位结构包括成型在所述运动件或所述固定件上的安装孔,设置在所述安装孔内的顶针,以及设置在所述安装孔与所述顶针之间的偏压件,所述偏压件的作用力作用在所述顶针上,有使所述顶针伸出所述安装孔的趋势;所述配合限位结构包括成型在所述固定件或所述运动件上的限位孔,且所述顶针的头部的形状满足:所述顶针的头部适合插入所述限位孔内,且在所述运动件受到足以克服所述偏压件的弹力的外力的作用下时,所述顶针的所述头部适合脱出所述限位孔。In the limiting mechanism of the present utility model, the elastic limiting structure includes a mounting hole formed on the moving part or the fixing part, a thimble disposed in the mounting hole, and a thimble disposed in the mounting hole. The biasing member between the thimble and the thimble, the force of the biasing member acts on the thimble, and there is a tendency for the thimble to protrude from the installation hole; The fixing part or the limiting hole on the moving part, and the shape of the head of the thimble satisfies: the head of the thimble is suitable for inserting into the limiting hole, and when the moving part is subjected to sufficient force to overcome the Under the action of the external force of the elastic force of the biasing member, the head of the thimble is suitable to escape from the limiting hole.
在本实用新型的限位机构中,所述偏压件为一端连接所述安装孔的底部,另一端连接所述顶针的弹簧。In the limiting mechanism of the present invention, the biasing member is a spring with one end connected to the bottom of the installation hole and the other end connected to the thimble.
在本实用新型的限位机构中,所述顶针的头部成型为半球形。In the limiting mechanism of the present utility model, the head of the thimble is shaped as a hemisphere.
在本实用新型的限位机构中,所述固定件为环形座体,所述运动件为环形件,所述环形座体的一端端面上成型有环形沉槽,所述环形沉槽适合所述环形件插入并在其中旋转,所述环形沉槽的槽底设有所述弹性限位结构或所述配合限位结构,所述环形件的适合插入所述环形插槽的一端的端面上设有所述配合限位结构或所述弹性限位结构。In the limiting mechanism of the present utility model, the fixed part is an annular seat, the moving part is an annular part, and an annular sinker is formed on one end surface of the annular seat, and the annular sinker is suitable for the The ring part is inserted and rotated therein, the bottom of the annular sinker is provided with the elastic limit structure or the matching stop structure, and the end face of the ring part suitable for being inserted into the ring slot is provided with a There is the said cooperation limiting structure or the said elastic limiting structure.
在本实用新型的限位机构中,所述运动件插入所述沉槽的一端端面上设有环形的下沉的滑槽,所述限位孔成型在所述滑槽底。In the limiting mechanism of the present utility model, an annular sinking chute is provided on the end surface of the moving part inserted into the sinking groove, and the limiting hole is formed at the bottom of the chute.
在本实用新型的限位机构中,所述配合限位结构设有多个,均匀分布在所述运动件或所述固定件上,所述弹性限位结构设有一个。In the position-limiting mechanism of the present invention, there are multiple cooperating position-limiting structures evenly distributed on the moving part or the fixed part, and one elastic position-limiting structure is provided.
本实用新型技术方案,具有如下优点:The technical scheme of the utility model has the following advantages:
1.在本实用新型的限位机构,由于设置在运动件与固定件之间的弹性限位结构是靠自身的弹力实现与配合限位结构的结合,同时也是靠外力克服弹性限位结构自身的弹力来脱离与配合限位结构的结合,因此,不仅操作手感好,而且到达极限位置时声音悦耳,并有提示功能,更重要的是在弹性限位结构与配合限位结构脱离结合后能够对运动件的限位进行解除,从而使得运动件能够绕过结合位置继续向前运动。1. In the position-limiting mechanism of the present utility model, since the elastic position-limiting structure arranged between the moving part and the fixed part relies on its own elastic force to realize the combination with the matching position-limiting structure, it also relies on external force to overcome the elastic position-limiting structure itself Therefore, not only the operation feels good, but also the sound is pleasant when reaching the limit position, and there is a reminder function. More importantly, after the elastic limit structure and the match limit structure are separated and combined, it can The limit of the moving part is released, so that the moving part can bypass the combined position and continue to move forward.
2.在本实用新型中,配合限位结构可以设置多个,弹性限位结构优选设置一个,这样可以在运动件运动的过程中,进行多处限位,从而实现多档位限位。2. In the present utility model, a plurality of matching limit structures can be provided, and one elastic limit structure is preferably provided, so that multiple positions can be limited during the movement of the moving parts, thereby realizing multi-position limit.
3.在本实用新型中,顶针的头部成型为半球形,这样不仅能够保证顶针进入限位孔时,手感清晰,声音悦耳,而且能够便于顶针在受力时,能够从限位孔内脱出。3. In this utility model, the head of the thimble is shaped into a hemispherical shape, which not only ensures that when the thimble enters the limit hole, it has a clear feel and a pleasant sound, but also facilitates the ejection of the thimble from the limit hole when it is stressed. .
4、本实用新型的限位机构不限于作旋转运动的运动件的限位,还可以适用于作平行滑动,曲线运动等运动件上的限位,应用非常广泛。4. The position-limiting mechanism of the present invention is not limited to the position-limiting of moving parts that rotate, but can also be used for position-limiting on moving parts such as parallel sliding and curved motion, and is widely used.
附图说明Description of drawings
为了更清楚地说明本实用新型具体实施方式或现有技术中的技术方案,下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本实用新型的一些实施方式,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific implementation of the utility model or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific implementation or the prior art will be briefly introduced below. Obviously, the following descriptions The accompanying drawings are some implementations of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without any creative work.
图1为本实用新型的限位机构的爆炸图;Fig. 1 is the exploded view of the position-limiting mechanism of the present utility model;
图2为本实用新型的限位机构的主视图;Fig. 2 is the front view of the position-limiting mechanism of the present utility model;
图3为本实用新型的固定件的立体图;Fig. 3 is the perspective view of the fixing part of the present utility model;
图4为本实用新型的运动件的俯视图;Fig. 4 is the top view of the moving part of the present utility model;
附图标记说明:Explanation of reference signs:
1-固定件;2-运动件;3-安装孔;1-fixed parts; 2-moving parts; 3-installation holes;
4-限位孔;5-弹簧;6-环形沉槽;4-limit hole; 5-spring; 6-annular sinking groove;
7-滑槽;8-顶针。7-chute; 8-thimble.
具体实施方式detailed description
下面将结合附图对本实用新型的技术方案进行清楚、完整地描述,显然,所描述的实施例是本实用新型一部分实施例,而不是全部的实施例。基于本实用新型中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本实用新型保护的范围。The technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are part of the embodiments of the utility model, but not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.
在本实用新型的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本实用新型中的具体含义。In the description of the present utility model, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.
此外,下面所描述的本实用新型不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not constitute conflicts with each other.
实施例1Example 1
如图1和2所示,本实用新型的一种限位机构,包括固定件1,可运动地安装在固定件1上的运动件2,以及弹性限位组件,其中弹性限位组件包括弹性限位结构和配合限位结构,二者分别设置在固定件1与运动件2上,且当运动件2运动到弹性限位结构与配合限位结构结合的结合位置时,弹性限位结构在自身弹力的作用下与配合限位结构结合对运动件2进行限位;当运动件2在足以克服弹性限位结构自身弹力的外力的作用下迫使弹性限位结构与配合限位结构脱离结合时,解除对运动件2的限位。As shown in Figures 1 and 2, a position limiting mechanism of the present invention includes a fixed part 1, a moving part 2 movably installed on the fixed part 1, and an elastic limit assembly, wherein the elastic limit assembly includes an elastic The limiting structure and the matching limiting structure are respectively arranged on the fixed part 1 and the moving part 2, and when the moving part 2 moves to the combined position where the elastic limiting structure and the matching limiting structure are combined, the elastic limiting structure is Under the action of its own elastic force, it is combined with the matching limiting structure to limit the moving part 2; when the moving part 2 is forced to disengage the elastic limiting structure from the matching limiting structure under the action of an external force sufficient to overcome the elastic force of the elastic limiting structure , release the limit to the moving part 2.
上述方案为本实用新型的核心方案,由于设置在固定件1与运动件2之间的弹性限位结构是靠自身的弹力实现与配合限位结构的结合,同时也是靠外力克服弹性限位结构自身的弹力来脱离与配合限位结构的结合,因此,不仅操作手感好,而且到达极限位置时声音悦耳,并有提示功能,更重要的是在弹性限位结构与配合限位结构脱离结合后能够对运动件2的限位进行解除,从而使得运动件2能够绕过结合位置继续向前运动。The above-mentioned solution is the core solution of the present utility model, because the elastic limit structure arranged between the fixed part 1 and the moving part 2 relies on its own elastic force to realize the combination with the matching limit structure, and also relies on external force to overcome the elastic limit structure Its own elastic force is used to break away from the combination with the matching limit structure. Therefore, not only the operation feels good, but also the sound is pleasant when reaching the limit position, and it has a reminder function. More importantly, after the elastic limit structure and the match limit structure are separated from the combination The limit of the moving part 2 can be released, so that the moving part 2 can bypass the joint position and continue to move forward.
配合使用的弹性限位结构以及配合限位结构的结构有多种,在本实施例中,优选弹性限位结构包括成型在固定件1上的安装孔3,设置在安装孔3内的顶针8,以及设置在安装孔3与顶针8之间的偏压件,偏压件的作用力作用在顶针8上,有使顶针8伸出安装孔3的趋势;配合限位结构包括成型在运动件2上的限位孔4,且所述顶针8的头部的形状满足:所述顶针8的头部适合插入所述限位孔4内,且在所述运动件2受到足以克服所述偏压件的弹力的外力的作用下时,所述顶针8的所述头部适合脱出所述限位孔4。上述结构非常简单,制造成本低,达到限位位置时,限位声音小。当然,其他实施例中,也可以为安装孔3、顶针、偏压件设置在活动件2上,限位孔4设置在固定件1上。进一步地,优选偏压件为一端连接安装孔3的底部,另一端连接顶针8的弹簧5。There are many kinds of elastic limit structures and structures that cooperate with the limit structures. In this embodiment, the elastic limit structure preferably includes a mounting hole 3 formed on the fixing part 1, and a thimble 8 disposed in the mounting hole 3. , and the biasing member arranged between the mounting hole 3 and the thimble 8, the force of the biasing member acts on the thimble 8, and there is a tendency to make the thimble 8 protrude from the mounting hole 3; the matching limit structure includes molding on the moving part 2, and the shape of the head of the thimble 8 satisfies: the head of the thimble 8 is suitable for inserting into the limiting hole 4, and when the moving part 2 is subjected to sufficient force to overcome the deflection Under the action of the external force of the elastic force of the pressing piece, the head of the thimble 8 is suitable to escape from the limiting hole 4 . The above-mentioned structure is very simple, the manufacturing cost is low, and when the limit position is reached, the limit sound is small. Certainly, in other embodiments, the installation hole 3 , the thimble, and the biasing member may also be provided on the movable member 2 , and the limiting hole 4 may be provided on the fixed member 1 . Further, preferably, the biasing member is a spring 5 with one end connected to the bottom of the mounting hole 3 and the other end connected to the thimble 8 .
进一步地,顶针8的头部优选成型为半球形,这样不仅能够保证顶针进入限位孔4时,手感清晰,声音悦耳,而且能够便于顶针8在受力时,能够从限位孔4内脱出。但在实际设计中,顶针8的半球形头部与限位孔4、弹簧的配合需经过严格的验证。Further, the head of the thimble 8 is preferably formed into a hemispherical shape, which not only ensures that when the thimble enters the limiting hole 4, the feel is clear and the sound is pleasant, but also the thimble 8 can be easily released from the limiting hole 4 when it is stressed. . However, in actual design, the cooperation of the hemispherical head of the thimble 8 with the limiting hole 4 and the spring needs to be strictly verified.
如图3和4所示,在本实施例中,优选固定件1为环形座体,运动件2为环形件,环形座体的一端端面上成型有环形沉槽6,环形沉槽6适合环形件插入并在其中旋转,环形沉槽6的槽底设有弹性限位结构或配合限位结构,环形件的适合插入环形插槽的一端的端面上设有配合限位结构或弹性限位结构。环形沉槽6的设置能够确保运动件2顺利稳定地按旋转轨迹在固定件1上旋转,当然,本实用新型的限位机构不限于作旋转运动的运动件2的限位,还可以适用于作平行滑动,曲线运动等运动件2上的限位,应用非常广泛,由于在这几种运动形式的限位中,弹性限位组件的结构一样,只是运动件2和固定件1的结构形式不同,因此,不再多叙。As shown in Figures 3 and 4, in this embodiment, preferably the fixed part 1 is an annular seat, the moving part 2 is an annular part, and an annular sinker 6 is formed on one end surface of the annular seat, and the annular sinker 6 is suitable for a ring Parts are inserted and rotated therein, the groove bottom of the annular sinker 6 is provided with an elastic limit structure or a matching limit structure, and the end face of the ring part suitable for inserting into the annular slot is provided with a match limit structure or an elastic limit structure . The arrangement of the annular sinking groove 6 can ensure that the moving part 2 rotates on the fixed part 1 smoothly and stably according to the rotation track. Of course, the limiting mechanism of the present invention is not limited to the limit of the moving part 2 that rotates, and can also be applied to The limit on the moving part 2, such as parallel sliding and curved movement, is widely used, because in the limit of these types of motion, the structure of the elastic limit component is the same, only the structure of the moving part 2 and the fixed part 1 Different, therefore, no more description.
进一步地,运动件2插入沉槽的一端端面上设有环形的下沉的滑槽7,限位孔4成型在滑槽7底。滑槽7的设置能够对顶针8进行导向,以使顶针8随运动件2运动时更为平稳。Further, an annular sinking chute 7 is provided on the end face of the moving part 2 inserted into the sinking trough, and the limiting hole 4 is formed at the bottom of the chute 7 . The setting of the chute 7 can guide the thimble 8 so that the thimble 8 moves more smoothly with the moving part 2 .
配合限位结构设有多个,均匀分布在运动件2上,弹性限位结构设有一个,设置在固定件1上。当然,也可以是多个配合限位结构均匀分布在固定件1上,一个弹性限位结构结构设置在运动件2上。这样,可以在运动件2运动的过程中,进行多处限位,从而实现多档位限位。配合限位结构的个数可以根据需要设置,如图1所示,配合限位结构(即限位孔4)设有四个,弹性限位结构设有1个。There are multiple cooperating limit structures, which are evenly distributed on the moving part 2 , and one elastic limit structure is provided, which is arranged on the fixed part 1 . Of course, it is also possible that a plurality of cooperating limiting structures are evenly distributed on the fixing part 1 , and one elastic limiting structure is arranged on the moving part 2 . In this way, during the movement of the moving part 2, multiple positions can be limited, thereby realizing multi-gear position limits. The number of cooperating limiting structures can be set as required, as shown in Figure 1, there are four cooperating limiting structures (ie, limiting holes 4), and one elastic limiting structure.
本实用新型的限位机构的工作过程:The working process of the position-limiting mechanism of the present utility model:
现以运动件2相对固定件1做旋转运动为例进行介绍:Now take the rotating movement of moving part 2 relative to fixed part 1 as an example to introduce:
旋转运动件2,当运动件2运动到固定件1上的顶针8与运动件2上的其中一限位孔4对齐时,在受压的弹簧5的作用下,顶针8弹出安装孔3,插入到限位孔4内,从而对运动件2进行限位。When the moving part 2 is rotated, when the moving part 2 moves to the thimble 8 on the fixed part 1 and one of the limiting holes 4 on the moving part 2 is aligned, under the action of the compressed spring 5, the thimble 8 pops out of the mounting hole 3, Inserted into the limit hole 4, so as to limit the moving part 2.
在需要解除限位时,用力旋转运动件2,由于顶针8受到运动件2的挤压往安装孔3内后退,使弹簧5收缩直至顶针8完全退出运动件2的限位孔4内,此时运动件2即可以旋转。When the limit needs to be released, the moving part 2 is rotated hard, and the thimble 8 is pushed back into the installation hole 3 by the moving part 2, so that the spring 5 shrinks until the thimble 8 completely withdraws from the limit hole 4 of the moving part 2. Time moving part 2 promptly can rotate.
当顶针8沿滑槽7相对运动到下一个限位孔4时,顶针8会在弹簧力的作用下重新滑进限位孔4内,起到限位作用,同时会发出清脆的响声,手感清晰。When the thimble 8 moves relatively along the chute 7 to the next limit hole 4, the thimble 8 will slide into the limit hole 4 again under the action of the spring force to play the role of limit, and at the same time it will make a crisp sound and feel clear.
显然,上述实施例仅仅是为清楚地说明所作的举例,而并非对实施方式的限定。对于所属领域的普通技术人员来说,在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本实用新型创造的保护范围之中。Apparently, the above-mentioned embodiments are only examples for clear description, rather than limiting the implementation. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or variations derived therefrom are still within the scope of protection of the utility model.
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CN105958335A (en) * | 2016-06-23 | 2016-09-21 | 刘光旭 | Internet of Things based novel distribution box for industrial production |
CN108000530A (en) * | 2017-12-12 | 2018-05-08 | 湖南超能机器人技术有限公司 | Intelligent education service robot system and its robot terminal |
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CN105958335A (en) * | 2016-06-23 | 2016-09-21 | 刘光旭 | Internet of Things based novel distribution box for industrial production |
CN108000530A (en) * | 2017-12-12 | 2018-05-08 | 湖南超能机器人技术有限公司 | Intelligent education service robot system and its robot terminal |
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