CN105397842A - Telescopic arm of pavement cutting robot - Google Patents
Telescopic arm of pavement cutting robot Download PDFInfo
- Publication number
- CN105397842A CN105397842A CN201510965671.6A CN201510965671A CN105397842A CN 105397842 A CN105397842 A CN 105397842A CN 201510965671 A CN201510965671 A CN 201510965671A CN 105397842 A CN105397842 A CN 105397842A
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- CN
- China
- Prior art keywords
- arm
- slide unit
- level
- secondary arm
- level arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/09—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges
- E01C23/0906—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges
- E01C23/0926—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters
- E01C23/0933—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters rotary, e.g. circular-saw joint cutters
- E01C23/094—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters rotary, e.g. circular-saw joint cutters about vertical or inclined axes, e.g. for core sampling
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Repair (AREA)
Abstract
The invention discloses a telescopic arm of a pavement cutting robot, which comprises a primary arm, a secondary arm and a tertiary arm, wherein the primary arm is fixedly connected with a revolving arm on the pavement cutting robot; the secondary arm is sleeved with the primary arm and is connected with the primary arm in a sliding way; and the tertiary arm is sleeved with the secondary arm and is connected with the secondary arm in a sliding way. The telescopic arm provided by the invention well solves the technical problems that a hydraulic mechanical arm responds slowly and is hard to control accurately, a gear-rack mechanical arm is hard to position accurately, a worm mechanical arm is low in efficiency and an articulated mechanical arm is high in cost.
Description
Technical field
The invention belongs to pavement maintenance machinery apparatus field, be specifically related to the telescopic arm of a kind of pavement cutting machine device people.
Background technology
At present in China's road maintenance market, in pavement patching cutting road surface inspection well cover circumference many employings saw blade form.But saw blade form is cut with a lot of drawback.
Such as, when pavement patching is cut, fluting pot holes mend is according to Ministry of Communications's file, and require that circle hole side is mended, the principle that oblique hole is just being mended, so need the pot holes mend cutting out rectangle.But traditional pavement cutting machine is owing to using the restriction of saw blade cutting, straight line can only be cut, and cannot turn when cutting, so when cutting, the rectangle cut out is " well " font necessarily because circular saw blade carry out straight cuts formed rectangular patterns time, only cut out rectangle limit could and vertical with line of cut beyond cross, so form " well " herringbone pattern, and 4 of rectangle angles are wedge angle.After having repaired, repeatedly roll friction due to vehicle, the factor such as to expand with heat and contract with cold, will produce at these 4 sharp corners the phenomenon that stress concentrates, form new crack, cause new pavement damage.And traditional pavement cutting machine takes the mode of artificial hand-held implementation to cut, due to artificial error, often can cut askew by repairing groove, cut tiltedly, causing and repairing groove is not regular rectangle, so not only unsightly but also stress concentration effect is strengthened.
Again such as, when road surface inspection well cover circumference cuts, the mode that traditional inspection well cover circumference cutter adopts saw blade to cut equally, because saw blade is Plane Rotation, when cutting the road surface with its plane orthogonal, in cutting seam, the continuous grinding of meeting and bending saw blade, make saw blade cutting life short.And due to the restriction of its work adjusting device, cause cutting size can only be confined to the circle of 700mm ~ 1800mm diameter.And traditional inspection well cover circumference cutter is carried out when the center of circle is located extremely inconvenient, needs manually to squeeze into locating pin, also need locating pin to take out after cutting, waste time and energy.
Therefore, develop a kind of novel road surface cutting device equipment and seem particularly important.And in cutting mechanics research and development, the research and development of its mechanical arm are then one of cores.Existing mechanical arm mainly adopts hydraulic way, rack-and-pinion mode and worm screw mode, but hydraulic way response speed is slow, is difficult to accurate control; Rack-and-pinion mode is located and is difficult to accurately; Worm screw mode inefficiency; Articulated mechanical arm mode then cost is high.
Summary of the invention
The present invention is intended to overcome the deficiencies in the prior art, provides the telescopic arm of a kind of pavement cutting machine device people.
In order to achieve the above object, technical scheme provided by the invention is:
The telescopic arm of described pavement cutting machine device people comprises the one-level arm, secondary arm and the three grades of arms that connect successively; Described one-level arm is fixedly connected with the revoliving arm be located on pavement cutting machine device people, and secondary arm to be sleeved in one-level arm and to be slidably connected with one-level arm, and three grades of arms to be sleeved in secondary arm and to be slidably connected with secondary arm.
Wherein, described one-level arm intracavity bottom is provided with one-level arm slide unit base, and described one-level arm slide unit base is provided with one-level arm slide rail, one-level arm slide rail is equipped with one-level arm slide unit; Described one-level arm slide unit base one end is provided with one-level arm motor, and one-level arm motor is connected with the one-level arm ball screw being fixed on the one-level arm slide unit base other end by the accurate reduction box of one-level arm; Described one-level arm ball screw is connected with one-level arm slide unit by feed screw nut; Described secondary arm is fixed on one-level arm slide unit, and described secondary arm intracavity bottom is provided with secondary arm slide unit base, and described secondary arm slide unit base is provided with secondary arm slide rail, secondary arm slide rail is equipped with secondary arm slide unit; Described secondary arm slide unit base one end is provided with secondary arm motor, and secondary arm motor is connected with the secondary arm ball screw being fixed on the secondary arm slide unit base other end by the accurate reduction box of secondary arm; Described secondary arm ball screw is connected with secondary arm slide unit by feed screw nut; Described three grades of arms are fixed on secondary arm slide unit.Described one-level arm motor and secondary arm motor are servomotor or stepper motor, are preferably servomotor.
Described one-level arm inner cavity top and secondary arm inner cavity top are equipped with top rollers; Described one-level arm slide unit base and secondary arm slide unit base are equipped with position sensor.
Described three grades of arm front ends are provided with vertical slide unit, and described vertical slide unit bottom connects bores milling cutter.
Described three grades of arm front ends are provided with vertical slide unit fixed head, and described vertical slide unit is arranged on vertical slide unit fixed head; Described vertical slide unit top is provided with the servomotor that moves both vertically; Described vertical slide unit bottom connects spindle motor, and spindle motor bottom connects bores milling cutter cutter holder, bores the connection of milling cutter cutter holder bottom and bores milling cutter.
The invention will be further described below:
The pavement cutting machine device people related in the present invention comprises base; Described base top is provided with revoliving arm, and revoliving arm rotates around the central axis of base; Described revoliving arm front end connects telescopic arm of the present invention; Described telescopic arm front end is provided with vertical slide unit; Described vertical slide unit bottom connects bores milling cutter; Described pavement cutting machine device people also comprises General control box.In the present invention, the one-level arm that the revoliving arm of pavement cutting machine device people carries, secondary arm, three grades of arms and vertical module (vertical slide unit etc.) rotate around the central axis of base, and there is servomotor to coordinate accurate reduction box to drive revolution driven wheel in revoliving arm, revoliving arm is rotated around central axis.One-level arm is fixed on revoliving arm, and inside is provided with slipway mechanism, and secondary arm is installed on slide unit, the object secondary arm that can reach free-extension is fixed on one-level arm slide unit, inside is provided with slipway mechanism, and three grades of arms are installed on slide unit, can reach the object of free-extension.Three grades of arms are fixed on secondary arm slide unit, and top is used for fixed vertical slide unit.
One-level arm slide unit is for carrying secondary arm, and one-level arm slide unit is free to slide on one-level arm slide rail by slide block or pulley etc.Secondary arm to be fixed on one-level arm slide unit and to move with one-level arm slide unit.Secondary arm slide unit is for carrying three grades of arms, and secondary arm slide unit is free to slide on secondary arm slide rail by slide block or pulley etc.Three grades of arms to be fixed on secondary arm slide unit and to move with secondary arm slide unit.
One-level arm servomotor rotates for driving one-level arm ball screw, promotes one-level arm slide unit and moves on slide rail; Secondary arm servomotor rotates for driving secondary arm ball screw, promotes secondary arm slide unit and moves on slide rail.That is, one-level arm servomotor is for controlling the linear telescopic motion of secondary arm; Secondary arm servomotor is for controlling three grades of arm linear telescopic motions.The servomotor that moves both vertically bores moving both vertically of milling cutter for controlling; Revoliving arm servomotor rotates around central shaft for controlling whole revoliving arm; The horizontal movement of secondary arm and three grades of arms is simultaneously synchronous superposition rectilinear motion.
Beating in vertical direction when top rollers is for retraining the work of secondary arm.Position sensor is for responding to the original position of slide unit motion.
The servomotor that moves both vertically moves both vertically for driving vertical slide unit.Vertical slide unit is fixed with spindle motor, can moves both vertically with vertical slide unit.Spindle motor is the power resources of boring the milling of milling cutter rotary cutting.
Bore milling cutter cutter holder for clamping brill milling cutter.Bore milling cutter to be used for cutting milling road surface.
Pavement cutting machine device people adopts circular cylindrical coordinate forms of motion, is a circular cylindrical coordinate kinematic robot, and its structure is by brace table, and telescopic arm, the parts such as cutting main shaft form.Cutting robot telescopic arm rotates around rotating shaft, telescopic arm carries out horizontal extension, vertical slide unit can carry spindle motor and move up and down, under circular cylindrical coordinate motion mode, brill milling cutter on cutting main shaft can go out circle in road surface milling, the various figure such as rectangle, owing to being the cutting of employing brill milling cutter, so the linear flat smooth cut out, and when cutting rectangle, according to program setting, the fillet of suitable size can be cut out in rectangle corner, and the gap cut out closes completely, can not cut out.Pavement cutting machine device people only needs artificial input to need the rectangular aspect data cut out, and machine will automatically cut, and does not need manual intervention.When carrying out the cutting of road surface inspection well cover circumference, because pavement cutting machine device people uses Cylindrical Coordinate to cut, telescopic arm is maximum extends 2048mm length, so cutting circumferential size minimum is 0mm, maximumly reach 4096mm, and when location, the center of circle is carried out in circumference cutting, pavement cutting machine device people takes automatically controlled location, do not need to hammer into locating pin, eliminate and squeeze into locating pin and extract locating pin manpower and time.
The pavement cutting machine device people of telescopic arm of the present invention is the robot of a kind of Cylindrical Coordinate motion for road surface cutting.Pot holes mend is cut out when may be used for road maintenance bumpy repair; Also may be used for the circumference cutting of road surface inspection well cap bore simultaneously.User uses handheld touch screen controller, will the data input touch screen controller of cutting pattern, graph data to be sent to the motion controller of General control box inside and PLC control module (if cutting rectangular patterns by wireless or wired mode by controller, controller can first according to the rectangular aspect data of user's input, calculate most suitable radius of corner, then the rectangular patterns data of good fillet are sent to motion controller and PLC control module).Cut milling path data by motion controller and the computing of PLC control module and drive on pavement cutting machine device people 4 servomotors to cooperatively interact motion, making the brill milling cutter on spindle motor carry out road surface along the figure path that user inputs and cut milling and cut.
By the pot holes mend that the pavement cutting machine device people that telescopic arm of the present invention is housed cuts out, flute wall surfaces is smooth mellow and full, outward appearance neat appearance, and be fillet in the position at four angles of rectangular patterns, doing so avoids hole groove corner location after repairing and produce stress concentration phenomenon, prevent the danger split again in the hole, hole of repairing.
Use the pavement cutting machine device people that telescopic arm of the present invention is housed to cut inspection shaft cover slot, can between 0mm-4096mm any circumgyration incision diameter, different split requirements can be adapted to, meet the demand of different well lid.And except can be regulated the degree of depth of brill milling by vertical slide unit except, the brill milling cutter longer by more changing knife rod can reach darker milling depth.
In a word, telescopic arm of the present invention is fine solves hydraulic way response speed slowly, is difficult to accurate control, and rack-and-pinion mode is located and is difficult to accurately, worm screw mode inefficiency, the technical problem that articulated mechanical arm mode cost is high.The pavement cutting machine device people that telescopic arm of the present invention is housed well solves the drawback of existing machine, pavement patching can be cheated groove cutting, and the cutting of road surface inspection well cover circumference unites two into one, and reaches the effect of a tractor serves several purposes.And pavement cutting machine people has intellectuality, the advantage of automation, when cutting, completely independently completes, does not need manual intervention, saves manpower and working time, and when cutting, cutting seam periphery is round and smooth attractive in appearance.
Accompanying drawing explanation
Fig. 1 is telescopic arm structure schematic diagram;
Fig. 2 is telescopic arm internal structure schematic diagram;
Fig. 3 is one-level arm internal structure schematic diagram.
In figure: 1, one-level arm; 2, secondary arm; 3, three grades of arms; 4, revoliving arm; 5, one-level arm slide unit base; 6, one-level arm slide rail; 7, one-level arm slide unit; 8, one-level arm servomotor; 9, one-level arm ball screw; 10, secondary arm slide unit base; 11, secondary arm slide rail; 12, secondary arm slide unit; 13, secondary arm servomotor; 14, secondary arm ball screw; 15, top rollers; 16, position sensor; 17, vertical slide unit; 18, milling cutter is bored; 19, vertical slide unit fixed head; 20, move both vertically servomotor; 21, spindle motor; 22, milling cutter cutter holder is bored; 23, the accurate reduction box of one-level arm; 24, the accurate reduction box of secondary arm; 25, feed screw nut.
Detailed description of the invention
embodiment 1
See Fig. 1 to Fig. 3, the telescopic arm of described pavement cutting machine device people comprises the one-level arm 1, secondary arm 2 and the three grades of arms 3 that connect successively; Described one-level arm 1 is fixedly connected with the revoliving arm 4 be located on pavement cutting machine device people, and secondary arm 2 to be sleeved in one-level arm 1 and to be slidably connected with one-level arm 1, and three grades of arms 3 to be sleeved in secondary arm 2 and to be slidably connected with secondary arm 2.
Described one-level arm 1 intracavity bottom is provided with one-level arm slide unit base 5, and described one-level arm slide unit base 5 is provided with one-level arm slide rail 6, one-level arm slide rail 6 is equipped with one-level arm slide unit 7; Described one-level arm slide unit base 5 one end is provided with one-level arm motor 8, and one-level arm motor 8 is connected with the one-level arm ball screw 9 being fixed on one-level arm slide unit base 5 other end by the accurate reduction box 23 of one-level arm; Described one-level arm ball screw 9 is crossed feed screw nut 25 and is connected with one-level arm slide unit 7; Described secondary arm 7 is fixed on one-level arm slide unit 7, and described secondary arm 7 intracavity bottom is provided with secondary arm slide unit base 10, and described secondary arm slide unit base 10 is provided with secondary arm slide rail 11, secondary arm slide rail 11 is equipped with secondary arm slide unit 12; Described secondary arm slide unit base 10 one end is provided with secondary arm motor 13, and secondary arm motor 13 is connected with the secondary arm ball screw 14 being fixed on secondary arm slide unit base 10 other end by the accurate reduction box 24 of secondary arm; Described secondary arm ball screw 14 is crossed feed screw nut 25 and is connected with secondary arm slide unit 12; Described three grades of arms 8 are fixed on secondary arm slide unit 12.Described one-level arm motor 8 and secondary arm motor 13 are servomotor.Described one-level arm 1 inner cavity top and secondary arm 2 inner cavity top are equipped with top rollers 15; Described one-level arm slide unit base 5 and secondary arm slide unit base 10 are equipped with position sensor 16.Described three grades of arm 8 front ends are provided with vertical slide unit 17, and described vertical slide unit 17 bottom connects bores milling cutter 18.Described three grades of arm 8 front ends are provided with vertical slide unit fixed head 19, and described vertical slide unit 17 is arranged on vertical slide unit fixed head 19; Described vertical slide unit 17 top is provided with the servomotor 20 that moves both vertically; Described vertical slide unit 17 bottom connects spindle motor 21, and spindle motor 21 bottom connects bores milling cutter cutter holder 22, bores the connection of milling cutter cutter holder 22 bottom and bores milling cutter 18.
Claims (6)
1. a pavement cutting machine device people's telescopic arm, is characterized in that, described telescopic arm comprise connect successively one-level arm (1), secondary arm (2) and three grades of arms (3); Described one-level arm (1) is fixedly connected with the revoliving arm be located on pavement cutting machine device people (4), secondary arm (2) to be sleeved in one-level arm (1) and to be slidably connected with one-level arm (1), and three grades of arms (3) to be sleeved in secondary arm (2) and to be slidably connected with secondary arm (2).
2. the telescopic arm of pavement cutting machine device people as claimed in claim 1, it is characterized in that, described one-level arm (1) intracavity bottom is provided with one-level arm slide unit base (5), described one-level arm slide unit base (5) is provided with one-level arm slide rail (6), one-level arm slide rail (6) is equipped with one-level arm slide unit (7); Described one-level arm slide unit base (5) one end is provided with one-level arm motor (8), and one-level arm motor (8) is connected with the one-level arm ball screw (9) being fixed on one-level arm slide unit base (5) other end by the accurate reduction box (23) of one-level arm; Described one-level arm ball screw (9) is connected with one-level arm slide unit (7) by feed screw nut (25); Described secondary arm (7) is fixed on one-level arm slide unit (7), described secondary arm (7) intracavity bottom is provided with secondary arm slide unit base (10), described secondary arm slide unit base (10) is provided with secondary arm slide rail (11), secondary arm slide rail (11) is equipped with secondary arm slide unit (12); Described secondary arm slide unit base (10) one end is provided with secondary arm motor (13), and secondary arm motor (13) is connected with the secondary arm ball screw (14) being fixed on secondary arm slide unit base (10) other end by the accurate reduction box (24) of secondary arm; Described secondary arm ball screw (14) is connected with secondary arm slide unit (12) by feed screw nut (25); Described three grades of arms (8) are fixed on secondary arm slide unit (12).
3. the telescopic arm of pavement cutting machine device people as claimed in claim 2, it is characterized in that, described one-level arm motor (8) and secondary arm motor (13) are servomotor or stepper motor.
4. the telescopic arm of pavement cutting machine device people as claimed in claim 2, it is characterized in that, described one-level arm (1) inner cavity top and secondary arm (2) inner cavity top are equipped with top rollers (15); Described one-level arm slide unit base (5) and secondary arm slide unit base (10) are equipped with position sensor (16).
5. the telescopic arm of pavement cutting machine device people as claimed in claim 1, it is characterized in that, described three grades of arm (8) front ends are provided with vertical slide unit (17), and described vertical slide unit (17) bottom connects bores milling cutter (18).
6. the telescopic arm of pavement cutting machine device people as claimed in claim 4, it is characterized in that, described three grades of arm (8) front ends are provided with vertical slide unit fixed head (19), and described vertical slide unit (17) is arranged on vertical slide unit fixed head (19); Described vertical slide unit (17) top is provided with the servomotor that moves both vertically (20); Described vertical slide unit (17) bottom connects spindle motor (21), and spindle motor (21) bottom connects bores milling cutter cutter holder (22), bores the connection of milling cutter cutter holder (22) bottom and bores milling cutter (18).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510965671.6A CN105397842B (en) | 2015-12-22 | 2015-12-22 | The telescopic arm of pavement cutting machine device people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510965671.6A CN105397842B (en) | 2015-12-22 | 2015-12-22 | The telescopic arm of pavement cutting machine device people |
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| CN105397842A true CN105397842A (en) | 2016-03-16 |
| CN105397842B CN105397842B (en) | 2017-10-27 |
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| CN106041998A (en) * | 2016-08-08 | 2016-10-26 | 江苏捷帝机器人股份有限公司 | Multistage rotary and telescopic mechanical arm |
| CN106078718A (en) * | 2016-08-08 | 2016-11-09 | 江苏捷帝机器人股份有限公司 | A kind of multi-stage expansion type compounding machine mechanical arm |
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| CN107322638A (en) * | 2017-08-25 | 2017-11-07 | 太仓望虞机械科技有限公司 | A kind of portable telescopic mechanical arm |
| CN108487029A (en) * | 2018-04-25 | 2018-09-04 | 济南猫爪智能机械有限公司 | A kind of truncated cone cutting machine |
| CN108724247A (en) * | 2018-07-04 | 2018-11-02 | 湖北三江航天涂装设备工程有限公司 | High-precision telescopic arm for expanding robot operating range and its control method |
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