CN104565714A - Electromagnetic brake assembly device of fine tuning device - Google Patents
Electromagnetic brake assembly device of fine tuning device Download PDFInfo
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- CN104565714A CN104565714A CN201310466968.9A CN201310466968A CN104565714A CN 104565714 A CN104565714 A CN 104565714A CN 201310466968 A CN201310466968 A CN 201310466968A CN 104565714 A CN104565714 A CN 104565714A
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- bearing seat
- load bearing
- electromagnetic brake
- coordinate
- driven unit
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Abstract
The invention discloses an electromagnetic brake assembly device of a fine tuning device. The electromagnetic brake assembly device mainly comprises a base, a plurality of XY theta guide components, a bearing seat, an electromagnetic brake, a photographing device and a controller, wherein the photographing device is used for receiving a coordinate of a calibration point and is used for regressing the bearing seat to a central coordinate; the electromagnetic brake is used for sucking the bearing seat by using magnetic force so as to resist side force; if the side force is larger than the magnetic force, the bearing seat is deviated, and the photographing device is used for calibrating the bearing seat and regressing the bearing seat to the central coordinate; the accuracy of subsequent detection of machining positions can be improved by using a multiple detection manners.
Description
Technical field
The present invention is relevant with vernier device, refers to a kind of electromagnetic brake combination unit of vernier device especially.
Background technique
On current machining machine and tool or measuring tool, all can be provided with a vernier device, to be placed for workpiece and the translation carrying out X-axis and Y-axis is finely tuned and micro-turn of carrying out rotating, locate fine setting accurately in order to workpiece.
Vernier device common at present, mainly can be arranged at the pedestal on facility, and formed with the load bearing seat placed for workpiece and some XY θ guide members be arranged between described pedestal and described load bearing seat by one.But when the vernier device described in assembling, be first by between described pedestal and the XY θ guide member such as described by some lock-connecting pieces (as screw, bolt etc.) interlocking in addition, again by between described load bearing seat and the XY θ guide member such as described by some lock-connecting pieces (as screw, bolt etc.) interlocking in addition, but due to described pedestal and the XY θ guide member such as described when interlocking (or described load bearing seat and the XY θ guide member such as described at interlocking time), there is no any position can be located, therefore the very easy situation that skew occurs while interlocking, cause after interlocking, have the incorrect problem of assembling position, and then the precision causing it to finely tune is not good, and have the situation again must disassembled assembling or carry out proofreading, the efficiency making it to assemble is not good.
Moreover, when upper and lower materials and parts, the load bearing seat of vernier device can be collided by material or carry unavoidably the lateral force that the produces situation that causes initial point to offset occur, make the incorrect problem causing wastage of material of subsequent detection, operative position.
Summary of the invention
The object of the present invention is to provide a kind of electromagnetic brake combination unit of vernier device, hold load bearing seat and then lateral force resisting by electromagnetic brake with magnetic force, promote the precision of subsequent detection, operative position.
For achieving the above object, embodiments of the invention provide a kind of electromagnetic brake combination unit of vernier device, comprising:
One pedestal, a coordinate space is formed as with a load bearing seat relative combinations, and coordinate space is equiped with XY θ guide member, and at least there is a translation module, described translation module includes an X-direction driven unit and a Y-direction driven unit connects XY θ guide member, described XY θ guide member to be stacked on pedestal and a load bearing seat is fixed again jointly in top, described load bearing seat can be moved towards XY direction freely relative to described pedestal, described X-direction driven unit is advanced towards X-direction by load bearing seat relative to pedestal, and described Y-direction driven unit is advanced towards Y-direction by load bearing seat relative to pedestal, at least multiple check point is formed again on the surface of described load bearing seat,
One electromagnetic brake, arrange in aforementioned coordinate space, described electromagnetic brake has a yoke seat being arranged at base central, is sheathed on the electromagnet of yoke seat and is arranged at armature plate and the prepressing type reed of yoke seat top and load bearing seat, make load bearing seat be magneted in prepressing type reed by electromagnetic brake, increase lateral force resisting;
Multiple photographing apparatus, for measuring and defining the coordinate of the multiple check points on load bearing seat;
Controller, for defining the centre coordinate of load bearing seat, and define between operation area that multiple check point surrounds, and try to achieve true origin between operation area and coordinate angle by operational software set in controller, when X-direction driven unit or the controlled device output parameter of Y-direction driven unit are driven load bearing seat displacement by driving, described controller synchronously can receive the coordinate of multiple check point with photographing apparatus, and calculate the true origin of the central point between described operation area as platform using controller, when true origin and the wrong difference of coordinate angle in operation interval, controller understands automatic comparison and coordinates computed compensating error value, to export compensating parameter to X-direction driven unit or Y-direction driven unit, load bearing seat is made to be returned to centre coordinate, then, described controller drives electromagnetic brake to make load bearing seat inhale in prepressing type reed, increase lateral force resisting, when load bearing seat causes skew because lateral force is excessive, described controller synchronously can receive the coordinate of multiple check point with photographing apparatus, and recalculate the true origin of the central point between described operation area as platform using controller, and export compensating parameter to X-direction driven unit or Y-direction driven unit, load bearing seat is made to be returned to centre coordinate.
Wherein, described pedestal first group connecting part that be provided with concavo-convex match marriage relation corresponding to the relative combinations face place of XY θ guide member.
Wherein, described load bearing seat second group connecting part that be provided with concavo-convex match marriage relation corresponding to the relative combinations face place of XY θ guide member, the second described group connecting part at least forms multiple check point on the surface of load bearing seat.
Therefore, the coordinate receiving check point with photographing apparatus makes load bearing seat be returned to centre coordinate, and electromagnetic brake holds load bearing seat and then lateral force resisting with magnetic force, if lateral force is greater than magnetic force cause load bearing seat, again correct load bearing seat by photographing apparatus and revert to centre coordinate, in the mode of Multiple detection, promote the precision of subsequent detection, operative position.
Accompanying drawing explanation
Fig. 1 is the stereogram of the electromagnetic brake combination unit of vernier device of the present invention;
Fig. 2 is the three-dimensional exploded view of the electromagnetic brake combination unit of described vernier device;
Fig. 3 is the three-dimensional exploded view of the different embodiments of the electromagnetic brake combination unit of described vernier device; The aspect that the present invention first is different to the 3rd Fixed Division is described;
Fig. 4 is the schematic diagram of the electromagnetic brake combination unit of described vernier device when detecting;
Fig. 5 is the plan view of electromagnetic brake device;
Fig. 6 ~ 7 are the illustrative view of electromagnetic brake device;
Fig. 8 ~ 10 are the three-dimensional exploded view of the different embodiments of the electromagnetic brake combination unit of described vernier device; The aspect that the present invention first is different to the 3rd Fixed Division is described;
Figure 11 is the schematic perspective view of another embodiment of the electromagnetic brake combination unit of described vernier device;
Figure 12 is the three-dimensional exploded view of Figure 11.
Primary clustering symbol description
1 pedestal
2 XY θ guide members
21 translation module
22 rotary modules
23 X-direction driven units
24 Y-direction driven units
25 first group connecting parts
26 second group connecting parts
27 the 3rd group connecting parts
3 load bearing seats
31 check points
4 electromagnetic brakes
41 yoke seats
42 electromagnet
43 armature plates
44 prepressing type reeds
5 photographing apparatuss
Embodiment
Refer to Fig. 1 ~ 4, the electromagnetic brake combination unit of vernier device provided by the present invention, mainly includes: a pedestal 1, multiple XY θ guide member 2, load bearing seat 3, electromagnetic brake 4, photographing apparatus 5 and a controller (figure does not show) organize structure and form.
Described pedestal 1 is for be formed as a coordinate space with load bearing seat 3 relative combinations, and coordinate space is equiped with XY θ guide member 2, and at least there are three translation module 21 and three rotary modules 22, described translation module 21 includes an X-direction driven unit 23 and a Y-direction driven unit 24 connects XY θ guide member 2, and described rotary module 22 is stacked on described translation module 21 and provides fine rotation, then, described XY θ guide member 2 to be stacked on pedestal 1 and top fixes a load bearing seat 3 more jointly, described load bearing seat 3 can be moved towards XY direction freely relative to described pedestal 1, described X-direction driven unit 23 is advanced towards X-direction by load bearing seat 3 relative to pedestal 1, and described Y-direction driven unit 24 is advanced towards Y-direction by load bearing seat 3 relative to pedestal 1.
More include the first some group connecting part 25 and the second group connecting parts 26 in described coordinate space, the first described group connecting part 25 is in described pedestal 1 first group connecting part 25 that be provided with concavo-convex match marriage relation corresponding to the relative combinations face place of XY θ guide member 2.The second described group connecting part 26 is that the second described group connecting part 26 at least forms multiple check point 31 on the surface of load bearing seat 3 in described load bearing seat 3 the second group connecting part 26 being provided with the concavo-convex marriage relation that matches corresponding to the relative combinations face place of XY θ guide member 2.Described locked assembly (not shown) is incorporated into described pedestal 1 and described load bearing seat 3 for providing XY θ guide member 2, X-direction driven unit 23 and Y-direction driven unit 24 with the kenel that locks.
Refer to Fig. 2, Fig. 5 ~ 7, described electromagnetic brake 4 is arrange in aforementioned coordinate space, described electromagnetic brake 4 has a yoke seat 41 being arranged at pedestal 1 central authorities, is sheathed on the electromagnet 42 of yoke seat 41 and is arranged at armature plate 43 and the prepressing type reed 44 of yoke seat 41 top and load bearing seat 3, make load bearing seat 3 be magneted in prepressing type reed 44 by electromagnetic brake 4, increase lateral force resisting.And described electromagnetic brake 4 can select magneto brake, magnetic-powder-type brake etc., and in this preferred embodiment with magnetic-type brake as explanation, refer to Fig. 6 ~ 7, described electromagnet 42 attracts armature plate 43 start, armature plate 43 then does with prepressing type reed 44 and links, and when controller assigns adsorption process (i.e. braking action), the coil in electromagnet 42 is under failure of current, make the permanent magnet in electromagnet 42 by armature plate 43 to absorption, extra torsion can be produced; When controller assigns release procedure (release of namely braking), coil electricity in electromagnet 42, when excitation voltage arrives certain numerical value, the magnetic force of permanent magnet and the reverse magnetic force of coil mutually offset, attraction force between armature plate 43 and yoke seat 41 also can disappear, and makes electromagnetic brake 4 produce release procedure.And the emphasis of non-this case of start principle of electromagnetic brake 4, therefore do not add inking.
Refer to Fig. 1, Fig. 4, multiple photographing apparatus 5 its be arranged at above load bearing seat 3, in order to measure and to define the coordinate of the multiple check points 31 on load bearing seat 3.
Described controller (figure does not show), for defining the centre coordinate of load bearing seat 3, and define between operation area that multiple check point 31 surrounds, and try to achieve true origin between operation area and coordinate angle by operational software set in controller, when X-direction driven unit 23 or the controlled device output parameter of Y-direction driven unit 24 are driven load bearing seat 3 displacement by driving, described controller synchronously can receive the coordinate of multiple check point 31 with photographing apparatus 5, and calculate the true origin of the central point between described operation area as platform using controller, when true origin and the wrong difference of coordinate angle in operation interval, controller understands automatic comparison and coordinates computed compensating error value, to export compensating parameter to X-direction driven unit 23 or Y-direction driven unit 24, load bearing seat 3 is made to be returned to centre coordinate, then, described controller drives electromagnetic brake 4 to make load bearing seat 3 inhale in prepressing type reed 44, increase lateral force resisting, when load bearing seat 3 causes skew because lateral force is excessive, described controller synchronously can receive the coordinate of multiple check point 31 with photographing apparatus 5, and recalculate the true origin of the central point between described operation area as platform using controller, and export compensating parameter to X-direction driven unit 23 or Y-direction driven unit 24, load bearing seat 3 is made to be returned to centre coordinate.
Be contraposition package assembly each portion component of the first preferred embodiment vernier device provided by the present invention and the introduction of assembling mode thereof therefore above-mentioned, then again its advantage be described below:
Refer to Fig. 1 ~ 7, first, due between described pedestal 1 and described XY θ guide member 2, quick mounting or location is imposed by the first described group connecting part 25, described pedestal 1 is corresponding with the relative combinations face place of XY θ guide member 2 be provided with concavo-convex match combine so that mutually against and locate, the situation producing skew between pedestal 1 and described XY θ guide member 2 can not be there is when making to carry out interlocking, and the precision of the present invention when assembling can be guaranteed, with the situation must again proofreaded again after reducing assembling.
Then, due between described load bearing seat 3 and described XY θ guide member 2, quick mounting or location is imposed equally by the second described group connecting part 26, and similarly can avoid the situation producing skew between generation load bearing seat 3 and described XY θ guide member 2, and the precision of the present invention when assembling can be guaranteed, to reduce the situation that must again proofread again after assembling, and then efficiency when promoting assembling.
Afterwards, the yoke seat 41 of described electromagnetic brake 4 is installed on described pedestal 1 central authorities, and sequentially electromagnet 42, armature plate 43 are assembled thereon with prepressing type reed 44, and energising test, again load bearing seat 3 being combined through aforesaid XY θ guide member 2 and the second group connecting part 26 after completing, the precision of invention when assembling being increased equally.
After assembling completes, the centre coordinate of load bearing seat 3 is defined through photographing apparatus 5 and controller, and define between operation area that multiple check point 31 surrounds, and try to achieve true origin between operation area and coordinate angle by operational software set in controller, when X-direction driven unit 23 or the controlled device output parameter of Y-direction driven unit 24 are driven load bearing seat 3 displacement by driving, described controller synchronously can receive the coordinate of multiple check point 31 with photographing apparatus 5, and calculate the true origin of the central point between described operation area as platform using controller, when true origin and the wrong difference of coordinate angle in operation interval, controller understands automatic comparison and coordinates computed compensating error value, to export compensating parameter to X-direction driven unit 23 or Y-direction driven unit 24, load bearing seat 3 is made to be returned to centre coordinate.
Then, described controller drives electromagnetic brake 4 to make load bearing seat 3 inhale in prepressing type reed 44, described load bearing seat 3 can decline slightly, and firm be adsorbed in prepressing type reed 44, load bearing seat 3 lateral force resisting is provided, for example: controller produces the magnetic force of 10 pounds through electromagnetic brake 4, stress load bearing seat 3 being declined simultaneously produce court-Z axis makes load bearing seat 3 be not easy by lateral force promotes and offset; But, when can produce because workpiece is comparatively large the stress can offsetting court-Z axis 10 pounds unavoidably, then controller synchronously can receive the coordinate of multiple check point 31 with photographing apparatus 5, and recalculate the true origin of the central point between described operation area as platform using controller, and export compensating parameter to X-direction driven unit 23 or Y-direction driven unit 24, make load bearing seat 3 be returned to centre coordinate.
Therefore, the coordinate receiving check point 31 with photographing apparatus 5 makes load bearing seat 3 be returned to centre coordinate, and electromagnetic brake 4 holds load bearing seat 3 and then lateral force resisting with magnetic force, if lateral force is greater than magnetic force cause load bearing seat 3, again correct load bearing seat 3 by photographing apparatus 5 and revert to centre coordinate, in the mode of Multiple detection, promote the precision of subsequent detection, operative position.
Referring to Fig. 8 to Fig. 9, is other preferred embodiments of the present invention, and the end face of described pedestal 1 has some the first group connecting parts 25 arranged according to predetermined spacing distribution, it is characterized in that, described pedestal 1 first group connecting part 25 is a rectangular recess.
Described each XY θ guide member 2, has a driven unit and a trimming assembly respectively, described driven unit system is arranged on the end face of described pedestal 1, in order to export a power person, described trimming assembly has translation module 21 (comprising X-direction driven unit 23 and Y-direction driven unit 24) and a rotary module 22, it is characterized in that, one the 3rd group connecting part 27 is more included between described translation module 21 and rotary module 22, further illustrate the corresponding relation of each assembly of XY θ guide member 2: the bottom surface of described translation module 21 has translation module 21 first group connecting part 25, described translation module 21 first group connecting part 25 is a rectangular recess (or polygonal grooves, cylindrical groove) (or polygonal projection, cylinder projection), to be placed in the rectangular recess of the first group connecting part 25 of described pedestal 1 by described translation module 21 first group connecting part 25 contraposition, described translation module 21 to be able to described pedestal 1 in precalculated position against location in addition, by some locked assemblies described pedestal 1 and described translation module 21 locked again and combined, the end face of described translation module 21 has the 3rd group connecting part 27 of a translation module 21, described translation module 21 the 3rd group connecting part 27 is a rectangular recess, the bottom surface of described rotary module 22 has a rotary module 22 the 3rd group connecting part 27, described rotary module 22 the 3rd group connecting part 27 is a rectangular recess (or polygonal grooves, cylindrical groove) (or polygonal projection, cylinder projection), be placed in the 3rd group connecting part 27 of described translation module 21 by the contraposition of described rotary module 22 the 3rd group connecting part 27, described rotary module 22 to be able to described translation module 21 in precalculated position against location in addition, by some locked assemblies described rotary module 22 and described translation module 21 locked again and combined, the end face of described rotary module 22 has rotary module 22 second group connecting part 26, described rotary module 22 second group connecting part 26 is a rectangular recess, make to be linked by described driven unit and described translation module 21 and described rotary module 22, and described translation module 21 can be made to carry out the fine setting of X-axis and Y-axis translation by the power of described driven unit drives, described rotary module 22 then by described driven unit power drive and the fine setting that rotates can be carried out.
And described load bearing seat 3, its bottom surface has some the second group connecting parts 26 according to predetermined spacing spread configuration, its second group connecting part 26 is a rectangular recess (or polygonal grooves, cylindrical groove) (or polygonal projection, cylinder projection), to be placed in the rectangular recess of rotary module 22 second group connecting part 26 of described XY θ guide member 2 by the second described group connecting part 26 contraposition, described load bearing seat 3 to be able to the rotary module 22 of described XY θ guide member 2 in precalculated position against location in addition, by some locked assemblies described load bearing seat 3 locked with the rotary module 22 of described XY θ guide member 2 again and combined, described load bearing seat 3 is made to be subject to described XY θ guide member 2 interlocks, and four end points of load bearing seat 3 end face are provided with the check point 31 providing and correct.
Refer to Figure 10, be another preferred embodiment provided by the present invention, it is characterized in that, the first group connecting part 25 of described pedestal 1 is a groove with two adjacent edge walls; Translation module 21 first group connecting part 25 of described XY θ guide member 2 is a projection with two adjacent edge walls; Translation module 21 second group connecting part 26 of described XY θ guide member 2 is a groove with two adjacent edge walls; Rotary module 22 first group connecting part 25 of described XY θ guide member 2 be one have two adjacent edge walls projection; Rotary module 22 second group connecting part 26 of described XY θ guide member 2 is a groove with two adjacent edge walls; Second group connecting part 26 of described load bearing seat 3 is a projection with two adjacent edge walls, to promote effect of assembling precision and efficiency.
Figure 11 and Figure 12 is that described pedestal 1 is for be formed as a coordinate space with load bearing seat 3 relative combinations, and coordinate space is equiped with XY θ guide member 2, and at least there is a translation module 21 includes two X-direction driven units 23 and a Y-direction driven unit 24 connects XY θ guide member 2 simultaneously.
Therefore the present invention not only its structure be different from skill known now, and can reach multi-direction stable transport, for the related industry in field belonging to the present invention, be the innovation skill of a high practicability in fact.
Claims (3)
1. an electromagnetic brake combination unit for vernier device, is characterized in that, comprising:
One pedestal, a coordinate space is formed as with a load bearing seat relative combinations, and coordinate space is equiped with XY θ guide member, and at least there is a translation module, described translation module includes an X-direction driven unit and a Y-direction driven unit connects XY θ guide member, described XY θ guide member to be stacked on pedestal and a load bearing seat is fixed again jointly in top, described load bearing seat can be moved towards XY direction freely relative to described pedestal, described X-direction driven unit is advanced towards X-direction by load bearing seat relative to pedestal, and described Y-direction driven unit is advanced towards Y-direction by load bearing seat relative to pedestal, at least multiple check point is formed again on the surface of described load bearing seat,
One electromagnetic brake, arrange in aforementioned coordinate space, described electromagnetic brake has a yoke seat being arranged at base central, is sheathed on the electromagnet of yoke seat and is arranged at armature plate and the prepressing type reed of yoke seat top and load bearing seat, make load bearing seat be magneted in prepressing type reed by electromagnetic brake, increase lateral force resisting;
Multiple photographing apparatus, for measuring and defining the coordinate of the multiple check points on load bearing seat;
Controller, for defining the centre coordinate of load bearing seat, and define between operation area that multiple check point surrounds, and try to achieve true origin between operation area and coordinate angle by operational software set in controller, when X-direction driven unit or the controlled device output parameter of Y-direction driven unit are driven load bearing seat displacement by driving, described controller synchronously can receive the coordinate of multiple check point with photographing apparatus, and calculate the true origin of the central point between described operation area as platform using controller, when true origin and the wrong difference of coordinate angle in operation interval, controller understands automatic comparison and coordinates computed compensating error value, to export compensating parameter to X-direction driven unit or Y-direction driven unit, load bearing seat is made to be returned to centre coordinate, then, described controller drives electromagnetic brake to make load bearing seat inhale in prepressing type reed, increase lateral force resisting, when load bearing seat causes skew because lateral force is excessive, described controller synchronously can receive the coordinate of multiple check point with photographing apparatus, and recalculate the true origin of the central point between described operation area as platform using controller, and export compensating parameter to X-direction driven unit or Y-direction driven unit, load bearing seat is made to be returned to centre coordinate.
2. the electromagnetic brake combination unit of vernier device according to claim 1, is characterized in that, described pedestal first group connecting part that be provided with concavo-convex match marriage relation corresponding to the relative combinations face place of XY θ guide member.
3. the electromagnetic brake combination unit of vernier device according to claim 1, it is characterized in that, described load bearing seat second group connecting part that be provided with concavo-convex match marriage relation corresponding to the relative combinations face place of XY θ guide member, the second described group connecting part at least forms multiple check point on the surface of load bearing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310466968.9A CN104565714B (en) | 2013-10-09 | 2013-10-09 | The electromagnetic brake combination unit of micromatic setting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310466968.9A CN104565714B (en) | 2013-10-09 | 2013-10-09 | The electromagnetic brake combination unit of micromatic setting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104565714A true CN104565714A (en) | 2015-04-29 |
| CN104565714B CN104565714B (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310466968.9A Active CN104565714B (en) | 2013-10-09 | 2013-10-09 | The electromagnetic brake combination unit of micromatic setting |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107181118A (en) * | 2017-05-26 | 2017-09-19 | 山东非凡智能科技有限公司 | AGV and its docking calculation are moved based on dynamic combined intelligent |
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| CN2175491Y (en) * | 1993-05-12 | 1994-08-24 | 吴泓基 | Permanent magnet type adjustable clutch |
| CN103104793A (en) * | 2013-01-25 | 2013-05-15 | 重庆大学 | Integrated type six degrees of freedom precision positioning platform |
| TW201319852A (en) * | 2011-11-08 | 2013-05-16 | Chiuan Yan Technology Co Ltd | Motion platform control system using touch to generate reference scaling |
| CN103162067A (en) * | 2012-12-19 | 2013-06-19 | 哈尔滨工业大学 | Air flotation vibration isolation platform based on spring zero position criterion and laser self-alignment measurement |
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|---|---|---|---|---|
| JPH05168223A (en) * | 1991-12-12 | 1993-07-02 | Dainippon Printing Co Ltd | Positioning device having clutch function |
| CN2175491Y (en) * | 1993-05-12 | 1994-08-24 | 吴泓基 | Permanent magnet type adjustable clutch |
| TW201319852A (en) * | 2011-11-08 | 2013-05-16 | Chiuan Yan Technology Co Ltd | Motion platform control system using touch to generate reference scaling |
| CN103162067A (en) * | 2012-12-19 | 2013-06-19 | 哈尔滨工业大学 | Air flotation vibration isolation platform based on spring zero position criterion and laser self-alignment measurement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107181118A (en) * | 2017-05-26 | 2017-09-19 | 山东非凡智能科技有限公司 | AGV and its docking calculation are moved based on dynamic combined intelligent |
| CN107181118B (en) * | 2017-05-26 | 2023-08-15 | 山东非凡智能科技有限公司 | Combined intelligent mobile AGV based on dynamic state and docking method thereof |
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| CN104565714B (en) | 2017-03-01 |
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