CN109159132B - Liftable formula service robot - Google Patents
Liftable formula service robot Download PDFInfo
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- CN109159132B CN109159132B CN201811167040.XA CN201811167040A CN109159132B CN 109159132 B CN109159132 B CN 109159132B CN 201811167040 A CN201811167040 A CN 201811167040A CN 109159132 B CN109159132 B CN 109159132B
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- 241001247986 Calotropis procera Species 0.000 claims description 2
- 230000000903 blocking effect Effects 0.000 claims 2
- 238000005253 cladding Methods 0.000 claims 1
- 238000005096 rolling process Methods 0.000 abstract description 8
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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Abstract
The invention discloses a liftable service robot, which comprises a shell, wherein the left side and the right side of the inner wall of the shell are fixedly connected through a sliding rod, the left side and the right side of the surface of the sliding rod are movably connected with sliding blocks, the tops of the sliding blocks are fixedly connected with triangular blocks, sliding grooves are formed in the tops of the triangular blocks, pulleys are movably connected inside the sliding grooves, and the tops of the pulleys penetrate through the sliding grooves and extend to the outside of the sliding grooves to be fixedly connected with supporting columns. According to the invention, through the mutual matching of the sliding rod, the sliding block, the triangular block, the sliding chute, the pulley, the supporting column, the rack, the rolling bearing, the driven rotating shaft, the gear, the driven bevel gear, the positive and negative motors, the positive and negative rotating shafts and the driving bevel gear, the service robot has the function of adjusting the height, can meet the use requirements of people with different heights, improves the human-computer interaction effect, improves the practicability of the service robot, is beneficial to popularization of merchants and ensures the economic benefit of manufacturers.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a lifting service robot.
Background
In the modern industry, a robot refers to an artificial machine device capable of automatically executing tasks and used for replacing or assisting human work, and a high-simulation robot in an ideal situation is a product of advanced integrated control theory, mechano-electronics, computers, artificial intelligence, materials science and bionics.
The common service robot does not have the height-adjustable function, corresponding height adjustment cannot be carried out according to the difference of the heights of different crowds, the effect of man-machine interaction is not ideal easily, the service robot has certain limitation, the popularization of manufacturers on the market is not facilitated, and the economic benefit of the manufacturers is seriously influenced.
Disclosure of Invention
The invention aims to provide a liftable service robot, which has the advantage of height adjustment and solves the problem that a common service robot does not have the function of height adjustment.
In order to achieve the purpose, the invention provides the following technical scheme: a lifting service robot comprises a shell, wherein the left side and the right side of the inner wall of the shell are fixedly connected through a sliding rod, the left side and the right side of the surface of the sliding rod are movably connected with a sliding block, the top of the sliding block is fixedly connected with a triangular block, the top of the triangular block is provided with a sliding groove, the inside of the sliding groove is movably connected with a pulley, the top of the pulley penetrates through the sliding groove and extends to the outside of the sliding groove and is fixedly connected with a supporting column, the top of the supporting column penetrates through the shell and extends to the outside of the supporting column, the tops of the two supporting columns are fixedly connected through a robot main body, the middle point of the top of the robot main body is fixedly connected with a robot head, the left side and the right side of the robot main body are fixedly connected with robot arms, the bottom of the sliding block is fixedly connected with a rack, rolling bearings are fixedly connected in the front side and the back side of the inner wall of the shell and in grooves corresponding to the rack, through driven rotating shaft swing joint between two antifriction bearings, the position fixedly connected with and the gear of rack intermeshing on driven rotating shaft surface and corresponding rack, the rear side fixedly connected with driven bevel gear on driven rotating shaft surface and being located the gear, the equal fixedly connected with in position of casing left and right sides bottom and corresponding driven bevel gear is positive and negative motor, the positive and negative rotation axle of fixedly connected with on the output shaft of positive and negative motor, the one end that positive and negative motor was kept away from to positive and negative rotation axle runs through the casing and extends to its inside fixedly connected with and driven bevel gear intermeshing's initiative bevel gear.
Preferably, the bottom of the shell is fixedly connected with an anti-slip block, and anti-slip lines are formed in the surface of the anti-slip block.
Preferably, a baffle is fixedly connected to the middle point of the bottom of the inner wall of the shell, and the top of the baffle is in contact with the bottom of the sliding rod.
Preferably, the support column left and right sides just is located the equal fixedly connected with limiting plate in position at casing top, the bottom of limiting plate and the top of casing contact each other.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through the mutual matching of the sliding rod, the sliding block, the triangular block, the sliding chute, the pulley, the supporting column, the rack, the rolling bearing, the driven rotating shaft, the gear, the driven bevel gear, the positive and negative motors, the positive and negative rotating shafts and the driving bevel gear, the service robot has the function of adjusting the height, can meet the use requirements of people with different heights, improves the human-computer interaction effect, improves the practicability of the service robot, is beneficial to popularization of merchants and ensures the economic benefit of manufacturers.
2. The anti-slip device has the advantages that the anti-slip blocks are arranged, the service robot is prevented from sliding due to the action of external force, the baffle plates are arranged, the limiting effect on the racks is achieved, the movement range of the racks is limited, the limiting effect on the supporting columns is achieved through the limiting plates, and accordingly, the pulleys are prevented from being separated from the sliding grooves.
3. Through the syntropy orientation setting of triangle piece, the minimum width of installing two gear drive structure in the casing can significantly reduce, and the fretwork region of the fixed and transmission connection of two limiting plates and arm, cooperation rubber bush and arc centrosymmetric makes and utilizes same drive mechanism to realize having the hand swinging action before swaing, slope lift, hand swinging, the lift action, can be safer carry out the comprehensive operation in addition.
Drawings
FIG. 1 is a structural cross-sectional view in elevation of the present invention;
FIG. 2 is a cross-sectional view of a top view of the present invention;
fig. 3 is a partial enlarged view of a in fig. 2 according to the present invention.
In the figure: the robot comprises a shell 1, a sliding rod 2, a sliding block 3, a triangular block 4, a sliding chute 5, a pulley 6, a supporting column 7, a robot main body 8, a robot head 9, a robot arm 10, a rack 11, a rolling bearing 12, a driven rotating shaft 13, a gear 14, a driven bevel gear 15, a forward and reverse motor 16, a forward and reverse rotating shaft 17, a driving bevel gear 18, an antiskid block 19, a baffle 20 and a limiting plate 21.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment: referring to fig. 1-3, as shown in claim 1, a liftable service robot comprises a housing 1, wherein the left and right sides of the inner wall of the housing 1 are fixedly connected through a sliding rod 2, the bottom of the housing 1 is fixedly connected with an anti-slip block 19, the surface of the anti-slip block 19 is provided with anti-slip lines, the service robot is prevented from sliding due to the action of external force by the arrangement of the anti-slip block 19, the left and right sides of the surface of the sliding rod 2 are movably connected with a sliding block 3, the top of the sliding block 3 is fixedly connected with a triangular block 4, the top of the triangular block 4 is provided with a sliding slot 5, the inside of the sliding slot 5 is movably connected with a pulley 6, the top of the pulley 6 penetrates through the sliding slot 5 and extends to the outside thereof and is fixedly connected with a supporting column 7, the left and right sides of the supporting column 7 and the position at the top of the housing 1 are fixedly connected with limiting plates 21, the bottom of the limiting plates 21 is in contact with the top of the housing 1, by arranging the limiting plates 21, the limiting function on the supporting columns 7 is achieved, so that the pulleys 6 are prevented from being separated from the sliding grooves 5, the tops of the supporting columns 7 penetrate through the shell 1 and extend to the outside of the shell, the tops of the two supporting columns 7 are fixedly connected through the robot main body 8, the robot head 9 is fixedly connected at the middle point of the top of the robot main body 8, the robot arms 10 are fixedly connected to the left side and the right side of the robot main body 8, the rack 11 is fixedly connected to the bottom of the sliding block 3, the baffle 20 is fixedly connected at the middle point of the bottom of the inner wall of the shell 1, the top of the baffle 20 is in contact with the bottom of the sliding rod 2, the limiting function on the rack 11 is achieved by arranging the baffle 20, the movement range of the rack 11 is limited, the rolling bearings 12 are fixedly connected to the front side and the rear side of the inner wall of the shell 1 and in grooves corresponding to the rack 11, and the two rolling bearings 12 are movably connected through the driven rotating shafts 13, a gear 14 which is meshed with the rack 11 is fixedly connected to the surface of the driven rotating shaft 13 and corresponds to the position of the rack 11, a driven bevel gear 15 is fixedly connected to the surface of the driven rotating shaft 13 and is positioned at the rear side of the gear 14, a forward and reverse motor 16 is fixedly connected to the bottom of the left side and the right side of the shell 1 and corresponds to the position of the driven bevel gear 15, a forward and reverse shaft 17 is fixedly connected to an output shaft of the forward and reverse motor 16, one end of the forward and reverse shaft 17, far away from the forward and reverse motor 16, penetrates through the shell 1 and extends to the inside of the shell to be fixedly connected with a driving bevel gear 18 which is meshed with the driven bevel gear 15, and the height of the service robot is adjusted by the mutual matching of the sliding rod 2, the sliding block 3, the triangular block 4, the sliding chute 5, the pulley 6, the supporting column 7, the rack 11, the rolling bearing 12, the driven rotating shaft 13, the gear 14, the driven bevel gear 15, the forward and reverse motor 16, the forward and reverse shaft 17 and the driving bevel gear 18, the use of the crowd of different heights can be satisfied, the human-computer interaction effect is improved, the practicability of the service robot is improved, the promotion of a merchant is facilitated, and the economic benefit of a manufacturer is guaranteed.
During the use, when the height of service robot needs to be promoted, positive reverse motor 16 is started in the forward direction, positive reverse shaft 17 is driven to rotate by positive reverse motor 16, positive reverse shaft 17 drives drive bevel gear 18 to rotate, drive bevel gear 18 drives driven bevel gear 15 to rotate, driven bevel gear 15 drives driven rotating shaft 13 to rotate, driven rotating shaft 13 drives gear 14 to rotate, thereby drive rack 11 in proper order, slider 3 and triangle block 4 are to the direction motion of baffle 20, because triangle block 4 and pulley 6 are mutually supported, thereby drive support column 7 and robot main part 8 upward movement in proper order, after robot main part 8 rises to suitable height, positive reverse motor 16 can be closed, and similarly, when the height of service robot needs to be reduced, only need reverse start positive reverse motor 16 can.
In summary, the following steps: the liftable service robot solves the problem that a common service robot does not have a height adjusting function through mutual matching of the sliding rod 2, the sliding block 3, the triangular block 4, the sliding chute 5, the pulley 6, the supporting column 7, the rack 11, the rolling bearing 12, the driven rotating shaft 13, the gear 14, the driven bevel gear 15, the forward and reverse motor 16, the forward and reverse rotating shaft 17 and the driving bevel gear 18.
Second embodiment: a lifting service robot comprises a shell 1, the left side and the right side of the inner wall of the shell 1 are fixedly connected through a sliding rod 2, the left side and the right side of the surface of the sliding rod 2 are movably connected with sliding blocks 3, the top of each sliding block 3 is fixedly connected with a triangular block 4, the top of each triangular block 4 is provided with a sliding groove 5, the inside of each sliding groove 5 is movably connected with a pulley 6, the top of each pulley 6 penetrates through each sliding groove 5 and extends to the outside of each sliding groove, the top of each supporting column 7 penetrates through two through holes in the shell 1 and extends to the outside of each sliding groove, the tops of the two supporting columns 7 are rotatably connected with a robot main body 8, the middle point of the top of the robot main body 8 is fixedly connected with a robot head 9, and the left side and the right side of the robot main body 8 are hinged with robot arms 10, the robot arm 10 penetrates through the robot main body 8 and extends into the main body through the guide rod, the inclined sides of the two triangular blocks 4 face to the same side of the shell 1, so that the sliding chutes 5 on the two triangular blocks are parallel to each other, the two inclined connecting rods are parallel to each other, a hollow annular rubber bushing is arranged on the inner wall of two through holes for the support columns 7 to penetrate through on the shell 1, the bushing coats the support columns 7, two symmetrical arc-shaped hollowed-out areas are arranged on the robot main body 8 towards the bottom of the shell 1, wherein the two arc-shaped sections are concentric, the two support columns 7 respectively penetrate through the two hollowed-out areas and are fixedly connected with the end parts, located on the guide rod on the robot arm 10, in the robot main body 8, the positions, located on the inner wall surface of the top of the shell 1, of the left side and the right side of the support columns 7 are fixedly connected with first limiting plates, the tops of the first limiting plates are in contact with the top of the shell 1, a second limiting plate 21 is arranged on the column of the supporting column 7 protruding out of the shell 1 and close to the shell 1;
the bottom fixedly connected with rack 11 of slider 3, equal fixedly connected with antifriction bearing 12 in both sides and the recess that corresponds rack 11 around the casing 1 inner wall, through driven spindle 13 swing joint between two antifriction bearing 12. Driven rotating shaft 13 surface just corresponds rack 11's fixed connection in position and rack 11 intermeshing's gear 14, driven rotating shaft 13 surface just is located gear 14's rear side fixedly connected with driven bevel gear 15, the equal fixedly connected with positive and negative motor 16 in casing 1 left and right sides bottom just corresponds driven bevel gear 15's position, fixedly connected with is just reversing shaft 17 on positive and negative motor 16's the output shaft, the one end that positive and negative motor 16 was kept away from to positive and negative shaft 17 runs through casing 1 and extends to its inside fixedly connected with and driven bevel gear 15 intermeshing's drive bevel gear 18.
Further, the inner wall of the through hole in the limiting plate inside the shell 1 is subjected to smooth grinding treatment, and the inner wall surface of the rubber bushing is subjected to rough treatment.
Further, the bottom of the shell 1 is fixedly connected with an anti-slip block 19, and anti-slip lines are formed on the surface of the anti-slip block 19.
Further, a baffle 20 is fixedly connected to a midpoint of the bottom of the inner wall of the housing 1, and the top of the baffle 20 is in contact with the bottom of the sliding rod 2.
The limiting plate 21 position in the first embodiment is moved to the inner wall of the top of the shell 1 in the first embodiment, and new limiting plates are added on the two supporting column main bodies 7, the three-square-shaped blocks are arranged in the same direction, the minimum width of two gear transmission structures installed in the shell can be greatly reduced, in addition, the two limiting plates and the arms are fixed and in transmission connection, the rubber bushing and the arc-shaped central symmetrical hollow areas are matched, so that swinging, inclined lifting and hand swinging are realized by utilizing the same transmission mechanism, meanwhile, hand swinging action is realized before lifting action is carried out, and more safety operation with multiple degrees of freedom is required, especially comprehensive operation requiring early warning hand swinging action indication before lifting is carried out. The working process of the embodiment is as follows:
when only the hand swinging operation is needed to be carried out on the robot arm, the forward and reverse motor 16 is started in the forward direction, the forward and reverse motor 16 drives the forward and reverse rotating shaft 17 to rotate, the forward and reverse rotating shaft 17 drives the driving bevel gear 18 to rotate, the driving bevel gear 18 drives the driven bevel gear 15 to rotate, the driven bevel gear 15 drives the driven rotating shaft 13 to rotate, the driven rotating shaft 13 drives the gear 14 to rotate, so as to sequentially drive the rack 11, the slider 3 and the left triangular block 4 to move towards the baffle 20, the right triangular block moves away from the baffle 20, as the triangular blocks 4 and the pulleys 6 are mutually matched, the supporting column 7 is sequentially driven to move upwards, the supporting column 7 slides in a household hollow area, and drives the guide rod on the arm 10, which penetrates into the body 8, to move upwards, so that the arm 10 obliquely swings at the hinged joint with the body 8 until the second limiting plate on the supporting column 7 abuts against the bottom surface of the body 8, at this moment, the rotating direction of the motor 16 is switched to drive the left triangular block 4 to move in the direction away from the baffle 20, and the right triangular block moves towards the baffle 20, so that the guide rod penetrating into the body 8 on the arm 10 is driven to move downwards, the arm 10 obliquely swings at the hinged joint with the body 8, and the swinging of the arm is realized in a circulating reciprocating manner.
When the height of the service robot needs to be lifted and the operation of the hands swing early warning action is needed before lifting, the forward and reverse motor 16 is started in the forward direction, the forward and reverse shaft 17 is driven by the forward and reverse motor 16 to rotate, the forward and reverse shaft 17 drives the driving bevel gear 18 to rotate, the driving bevel gear 18 drives the driven bevel gear 15 to rotate, the driven bevel gear 15 drives the driven rotating shaft 13 to rotate, the driven rotating shaft 13 drives the gear 14 to rotate, so as to sequentially drive the rack 11, the slider 3 and the left triangular block 4 to move towards the baffle 20, the right triangular block moves away from the baffle 20, as the triangular blocks 4 and the pulleys 6 are matched with each other, the supporting column 7 is sequentially driven to move upwards, the supporting column 7 slides in the arc-shaped hollow area, and drives the guide rod on the arm 10 deep into the body 8 to move upwards, so as to enable the arm 10 to obliquely swing at the hinged connection part with the body 8, until the bottom surface of second limiting plate butt body 8 on this support column 7, thereby the motor continues work makes the bottom surface of second limiting plate promotion robot main part 8 on the support column 7, along with the motor continues to rotate to the whole upward movement of promotion robot theme 8, rise to suitable high back until robot main part 8, close positive and negative motor 16 can, like the same reason, when the height that needs reduce service robot, only need the reverse start positive and negative motor 16 can.
In the two operation processes, the two triangular blocks 4 move in the same direction, and the two triangular blocks do not move away from the baffle 20 at the same time as in the first embodiment, so that the situation that the racks 11 bearing the two triangular blocks need to occupy a longer width when moving outwards at the same time is avoided, the minimum required installation design width of the shell 1 is reduced, and the material and the space are saved.
When the robot needs to be swung integrally, positive and negative motors 17 below two triangular blocks 4 can be controlled independently, the rotating speed is kept the same at first, when second limiting plates 21 on two supporting columns 7 are abutted to the bottom surface of the body 8 at the same time, the rotating speeds of the two motors are switched to be different, so that the ascending speed of the supporting column 7 on one side is higher than that of the other side, the body inclines towards one side of the supporting column 7 which ascends slowly, rubber annular bushes wrapped in through holes of the two supporting columns 7 in the shell 1 enable the supporting column 7 to be kept in a vertical state during linear lifting operation, and when the operation needs to be inclined, the expansion force of elastic deformation is generated to ensure stable inclination of the supporting column 7 and prevent unstable irregular collision in the through holes in the shell 1.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The utility model provides a liftable formula service robot, includes casing (1), its characterized in that: the left side and the right side of the inner wall of the shell (1) are fixedly connected through a sliding rod (2), the left side and the right side of the surface of the sliding rod (2) are respectively and movably connected with a sliding block (3), the top of each sliding block (3) is respectively and fixedly connected with a triangular block (4), the top of each triangular block (4) is provided with a sliding groove (5), the inside of each sliding groove (5) is movably connected with a pulley (6), the top of each pulley (6) penetrates through the corresponding sliding groove (5) and extends to the outside of the corresponding sliding groove and then is fixedly connected to a supporting column (7) through an inclined connecting rod, the top of each supporting column (7) penetrates through two through holes in the shell (1) and extends to the outside of the corresponding sliding groove, the midpoint of the top of the robot main body (18) is fixedly connected with a robot head (9), and the left side and the right side of the robot main body (8) are respectively and hingedly connected with a robot arm (10), robot arm (10) runs through behind robot main part (8) and extends deeply into this main part (8) through the guide bar, the slope limit of two triangle blocks (4) all is towards the same one side of casing (1), make spout (5) on two triangle blocks parallel to each other, the connecting rod of two slopes is parallel to each other, be provided with a cavity annular rubber bush on the inner wall of two through-holes that supply support column (7) to run through on casing (1), this bush cladding support column (7), it is provided with two sections centrosymmetric arc fretwork regions towards the bottom of casing (1) to go to in robot main part (8), wherein two arc sections are concentric, two support columns (7) pass through respectively behind two fretwork regions with the inside of robot main part (8) the tip fixed connection that is located on the guide bar on robot arm (10), wherein the equal fixedly connected with first spacing of position that support column (7) left and right sides just is located casing (1) top internal face is located The top of the first limiting plate is in contact with the top of the shell (1), and a second limiting plate (21) is arranged on a supporting column (7) protruding out of the shell (1) and close to the shell (1);
the bottom fixedly connected with rack (11) of slider (3), both sides just correspond equal fixedly connected with antifriction bearing (12) in the recess of rack (11) around casing (1) inner wall, through driven spindle (13) swing joint between two antifriction bearing (12), the position fixedly connected with that the driven spindle (13) surface just corresponds rack (11) and rack (11) intermeshing's gear (14), driven spindle (13) surface just is located the rear side fixedly connected with driven bevel gear (15) of gear (14), the equal fixedly connected with positive and negative motor (16) in position that casing (1) left and right sides bottom just corresponds driven bevel gear (15), fixedly connected with positive and negative rotation shaft (17) on the output shaft of positive and negative motor (16), the one end that positive and negative motor (16) were kept away from in positive and negative rotation shaft (17) runs through casing (1) and extends to its inside fixedly connected with driven bevel gear (15) intermeshing's main fixedly connected with A moving bevel gear; the bottom of the shell (1) is fixedly connected with an anti-skid block (19), and anti-skid grains are formed in the surface of the anti-skid block (19); a blocking plate (20) is fixedly connected to the middle point of the bottom of the inner wall of the shell (1), and the top of the blocking plate (20) is in contact with the bottom of the sliding rod (2).
2. The liftable service robot of claim 1, wherein: the inner wall of the through hole in the limiting plate in the shell (1) is subjected to smooth grinding treatment, and the inner wall surface of the rubber bushing is subjected to rough treatment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811167040.XA CN109159132B (en) | 2018-10-08 | 2018-10-08 | Liftable formula service robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811167040.XA CN109159132B (en) | 2018-10-08 | 2018-10-08 | Liftable formula service robot |
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| CN109159132A CN109159132A (en) | 2019-01-08 |
| CN109159132B true CN109159132B (en) | 2021-12-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109893378B (en) * | 2019-02-22 | 2021-02-26 | 莱芜职业技术学院 | Doctor-patient communication emergency nursing platform |
| CN112265016B (en) * | 2020-10-16 | 2021-11-23 | 苏州龙骐自动化科技有限公司 | Industrial robot base convenient to angle of adjustment |
| CN112919093B (en) * | 2021-01-19 | 2022-11-22 | 中建三局科创产业发展有限公司 | Lifting structure and high-altitude building feeding device |
| CN112959303B (en) * | 2021-02-07 | 2023-08-01 | 曲阜师范大学 | A shell structure of a 5G-based service robot |
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| CN109159132A (en) | 2019-01-08 |
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