CN105500339A - Car repairing device with controllable mechanical arm - Google Patents
Car repairing device with controllable mechanical arm Download PDFInfo
- Publication number
- CN105500339A CN105500339A CN201610005092.1A CN201610005092A CN105500339A CN 105500339 A CN105500339 A CN 105500339A CN 201610005092 A CN201610005092 A CN 201610005092A CN 105500339 A CN105500339 A CN 105500339A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- base
- vehicle
- arm
- backrest
- 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.)
- Granted
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Classifications
-
- 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
- B25J9/0021—All motors in base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Chairs For Special Purposes, Such As Reclining Chairs (AREA)
Abstract
The invention discloses a car repairing device with a controllable mechanical arm. The car repairing device with the controllable mechanical arm comprises a backrest and a base which are used for supporting a human body, a transmission device which is used for adjusting an angle between the backrest and the base and is connected with the base, a mechanical arm which comprises a supporting seat, a turn plate, a lower arm, an upper arm and a connecting wrist as well as a manipulator, wherein a motor and a speed reducer in the supporting seat can drive the turn plate to rotate, and the supporting seat is fixedly arranged on the base; the turn plate can drive the lower arm to turn in a plane, one end of the turn plate is connected with the supporting seat, and the other end of the turn plate is connected with the lower arm; the lower arm and the upper arm can realize that the mechanical arm moves in the height direction, the bottom end of the lower arm is hinged with the turn plate, and the other end of the lower end is hinged with the bottom end of the upper arm; the connecting wrist is used for being fixedly connected with the manipulator, the lower end of the connecting wrist is hinged with the top end of the upper arm, and the other end of the connecting wrist is connected with the manipulator; and an upper palm and fingers of the manipulator can cooperate each other for disassembling or mounting a part, and the manipulator is fixedly connected with the connecting wrist. The car repairing device with the controllable mechanical arm can accurately control the mechanical arm to operate on the basis of saving labour, and operating precision is improved.
Description
Technical field
The present invention relates to Deck ckair for automobile repairing.More particularly, the present invention relates to a kind of reparing device for vehicle with controllable mechanical arm.
Background technology
Current creeper function singleness on the market and just in use.Just one piece of single plank adds that everything is taken turns.Although can complete the operation function that repairs carrying out bottom of car, its function is only that required function during repairing can not realize completely for repairman provides a platform of slidably isolating ground.May run into the automobile of chassis differing heights when such as we repair, or it is non-parallel in ground to run into eligible for repair position angle, or some parts manpowers of automobile are difficult to move and repair, now traditional creeper just can not play its effect.Repairman also needs the operating mode that oneself spatial adaptation narrow under car is different simultaneously, thus causes unnecessary fatigue.Therefore a functional form Deck ckair for automobile repairing significantly can alleviating the personnel's fatigue that repairs is needed.
The application, for defect of the prior art, provides a kind of Deck ckair for automobile repairing with manipulator, can carry out auxiliary repairman, and manipulator independently or with repairman can complete the task of repairing jointly.
Summary of the invention
An object of the present invention is to provide a kind of reparing device for vehicle with controllable mechanical arm, the image information trouble hunt ing situation that repairman passes back according to sensor, control manipulator and operate, prevent maintainer injured and the difficulty reduced the personnel to operate.
In order to realize, according to these objects of the present invention and other advantage, providing a kind of reparing device for vehicle with controllable mechanical arm, comprising: backrest and base, for support human body;
Transmission device, it is for adjusting the angle between backrest and base, and described transmission device connects base; And
Mechanical arm, it comprises supporting seat, rotating disk, underarm, upper arm, connection wrist and manipulator,
Supporting seat, its one end is fixedly supported on described base, and described supporting seat comprises the first motor;
Rotating disk, on its rotatable other end being arranged on described supporting seat, described first motor can drive rotating disk to rotate around the vertical axis of described supporting seat;
Underarm, the hinged described rotating disk in its one end, one end of described underarm also comprises the second motor, and it drives described underarm around described turntable rotation;
Upper arm, the other end of the hinged described underarm in its one end, the other end of described underarm also comprises the 3rd motor, and it drives described upper arm to rotate;
Connect wrist, the other end of its hinged described upper arm, described upper arm comprises the 4th motor, and it drives and connects wrist rotation;
Manipulator, it comprises palm and finger, can dismantle or mounting parts, described manipulator be connected wrist and be rotatably connected, described connection wrist comprises the 5th motor, and it drives described manipulator to rotate around the axis connecting wrist.
Preferably, also comprise:
Described mechanical arm has folding position, and when being in off working state, the opposite side of described base firmly grasped by described manipulator, is in folding position.
Preferably, also comprise:
Sensor, it takes the image of working region and by image transmitting display unit, described sensor is arranged on base and mechanical arm;
Display unit, by image storage and showing;
Single-chip Controlling and communication system, it can control mechanical arm and transmission mechanism carries out corresponding actions, described Single-chip Controlling and communication system linking parsing and display unit, feedback unit and mechanical arm;
Wherein, display unit also comprises ultramagnifier, and it can compare the error of mechanical arm real time kinematics coordinate and object coordinate and be transferred to single-chip microcomputer.
Preferably, described transmission device comprises:
Gear train, the transmission of backrest rotatory force is given mobile leg by it, and described gear train connects backrest and base by axle;
Mobile leg, its movement in opposite directions moving left and right leg can drive base to raise or reduce, and described mobile leg connects gear train and base.
Preferably, described sensor is matrix CCD.
Preferably, also comprise:
Reclining apparatus, its built-in Serve Motor Control backrest rotates, and lock with wind spring and locate the position of backrest, the symmetrical junction being arranged on backrest and base of described reclining apparatus.
Preferably, also comprise:
Universal wheel, it drives mobile leg to move, and described universal wheel is fixed on bottom mobile leg.
Preferably, described finger comprises:
First knuckle, the hinged palm in its one end, the other end to be rotatably connected second knuckle one end by the first turning cylinder, and described first turning cylinder connects small-sized drive motors;
Second knuckle, its other end is by the second turning cylinder rotary link third knuckle, and described second turning cylinder connects small-sized drive motors;
Third knuckle, its end is that ramp structure can capture object, and described third knuckle is arranged on finger foremost.
Preferably, described mechanical arm is multiple, is staggered on described base.
Preferably, described slideway has multiple fixed position, and described mechanical arm can optionally one of multiple fixed position described in fixed bearing.
The present invention at least comprises following beneficial effect:
Installation manipulator arm on vehicle repair chair, saves the muscle power of maintainer, only need lean against the enterprising line operate of Deck ckair for automobile repairing; Controller can control the movement of mechanical arm more accurately.
Part is embodied by explanation below by other advantage of the present invention, target and feature, part also will by research and practice of the present invention by those skilled in the art is understood.
Accompanying drawing explanation
Fig. 1 is the structure chart of reparing device for vehicle of the present invention.
Fig. 2 is the structure chart of the mechanical arm of reparing device for vehicle of the present invention.
Fig. 3 is the structure chart of the mechanical arm of reparing device for vehicle of the present invention
Fig. 4 is the structure chart of manipulator of the present invention.
Fig. 5 is the structure chart of transmission device of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail, can implement according to this with reference to description word to make those skilled in the art.
Should be appreciated that used hereinly such as " to have ", other element one or more do not allotted in " comprising " and " comprising " term or the existence of its combination or interpolation.
Fig. 1 shows according to a kind of way of realization of the present invention, a kind of reparing device for vehicle with controllable mechanical arm, comprise: backrest 100, base 200, mechanical arm 300, transmission mechanism 400 and controller, described backrest 100 and base 200 are connected by transmission mechanism 400 and realize the relative sliding of backrest 100 and base, described mechanical arm 300 is fixed on base 200, substitute the hand of maintainer and carry out upkeep operation, described controller Received signal strength also controls the motion of mechanical arm 300.
Backrest 100 comprises back rest and back-rest cover, and described back rest is the square box of metal material, and back-rest cover is set on back rest.Backrest bottom symmetrical fixes the first mount pad, and described first mount pad offers through hole, and through hole is used for connection for transmission mechanism 400.
Base 200 comprises pony sill, and pony sill is rectangular frame structure, places cushion, the accommodating transmission mechanism 400 of underlying space above described pony sill.The bottom symmetrical of pony sill fixes the second mount pad, and described second mount pad offers through hole.
As shown in Figure 2, mechanical arm 300 comprises supporting seat 310, rotating disk 320, underarm 330, upper arm 340, connects wrist 350 and manipulator 360, and described supporting seat 310 is fixed on base 200, is provided with motor and decelerator in it, motor connection reducer, decelerator drives rotating disk 320 to rotate.Rotating disk 320 is rotatably connected with supporting seat 310, and it can rotate by driving mechanical arm 300 in the plane.Described underarm 330 is undertaken hinged with rotating disk 320 by the first jointed shaft, and described jointed shaft connects the first motor, for driving jointed shaft to rotate, thus drives underarm 330 to rotate around the first jointed shaft; Upper arm 340 and underarm 330 are undertaken hinged by the second jointed shaft, and described second jointed shaft connects the second motor, for driving the second jointed shaft to rotate, thus drive upper arm to rotate around the second jointed shaft; Connect wrist 350 hinged with upper arm 340;
Manipulator 360, comprises Connection Block 361, palm 362 and finger 363, described Connection Block 361 with is connected wrist 350 and is fixedly connected with, palm 362 is hinged with Connection Block 361, point 363 and palm 362 carry out hinged.5 fingers 363 copy the finger mounted of people on palm 362, finger 363 comprises first knuckle, second knuckle and third knuckle, described first knuckle, the hinged palm of its end, jointed shaft is driven by small-sized drive motors, motor is arranged on palm inside, and its top to be rotatably connected second knuckle end by the first turning cylinder, and the first turning cylinder connects small-sized drive motors; Second knuckle, its top to be rotatably connected third knuckle end by the second turning cylinder, and described second turning cylinder connects small-sized drive motors; Third knuckle, its end is that ramp structure can capture object, and described third knuckle is arranged on finger foremost.
As shown in the figure, transmission device 400 comprises the first driving section, the second driving section, the first moving part.Second moving part and driving-chain 450:
First driving section, comprises the first gear 411 and connecting axle 412, and connecting axle 412 successively through the through hole of the first mount pad and the through hole of the second mount pad of backrest 100, and is fixedly connected with in the first mount pad, is rotatably connected with the second mount pad; First gear 411 symmetry is fixed on the both ends of connecting axle 412.When rotary backrest 100, it drives connecting axle 412 to rotate, and drives the first gear 411 on it to rotate.
Second driving section, comprise the second gear 421 and power transmission shaft 422, described second gear 421 symmetry is fixed on power transmission shaft 422 two ends, power transmission shaft 421 and connecting axle 412 be arranged in parallel, its spacing can make the first gear 411 and the second gear 421 be meshed, and makes the second gear 411 by power transmission to the second gear 421;
First moving part, comprise first and move leg 431 and the first travelling gear 432, first moves leg 431 comprises the first transverse axis 431a and mobile leg 431b, first transverse axis 431a one end is fixedly connected with mobile leg 431b, first transverse axis 431a is fixedly connected with the first travelling gear 432, first travelling gear 432 engages with the second gear 421, by power transmission to the first travelling gear 432.First moving part is symmetricly set on the both sides of base 200 near backrest end, is slidably connected with base 200, and when the first travelling gear 432 is given in power transmission by the second gear 421, the first travelling gear 432 drives first to move leg 431 and rotates.
Second moving part, comprises second and moves leg 441 and the second travelling gear 442; Second moves leg 441 comprises the second transverse axis 441a and mobile leg 441b, second transverse axis 441a one end is fixedly connected with mobile leg 441b, second transverse axis 441a is fixedly connected with the second travelling gear 442, second travelling gear 442 is connected by driving-chain 450 with the first travelling gear 432, by power transmission to the second travelling gear 442.Second moving part is symmetricly set on the both sides of base 200 away from backrest 100 end, is slidably connected with base 200, and power transmission is driven second to move leg 441 to the second travelling gear 442, second travelling gear 442 by driving-chain 450 and rotates by the first travelling gear 432.
Control device comprises sensor, analysis and display unit and Single-chip Controlling and communication system, and sensor can be taken working region image and be transferred to analysis and display unit is analyzed, and MCU driving mechanical arm carries out corresponding operating.
Sensor, be preferably matrix CCD, it is arranged on base 200 and mechanical arm 300, its can take working region image and by image transmitting give analyze and display unit.
Analyze and display unit, comprise analyzer, display and ultramagnifier, described analysis and display unit and Deck ckair for automobile repairing are installed separately, and are arranged on operation bench region, connect chaise longue by communication system.The image information of analyzer receiving sensor by image information by being converted to coordinate information after process; Display is by image storage and showing, and operating personnel observe the image of working region by display, ultramagnifier its can compare the error of mechanical arm real time kinematics coordinate and object coordinate and be transferred to single-chip microcomputer.The image that sensor is taken stores and presents to staff by described display, be convenient to staff go and find out what's going on, analyzer is converted to coordinate information by after image procossing, and plan the movement locus of mechanical arm, afterwards coordinate information and the motion trace data estimated are transferred to Single-chip Controlling and communication system.
Single-chip Controlling and communication system, it is arranged in base, after the data of receiving and analyzing and display unit, control mechanical arm according to the movement locus motion estimated, simultaneously, the movement locus coordinate of ultramagnifier real-time reception machinery arm, and by real time kinematics track with estimate the error propagation of movement locus to analyzer, analyzer adjusts, and by information transmission to single-chip microcomputer, the rotating disk 320 of Single-chip Controlling mechanical arm 300, underarm 330, upper arm 340, connection wrist 350 and manipulator 360 move in three dimensions, and rectify a deviation, until move to target.
The operating process of intelligent apparatus is as follows:
Step 1: maintainer adjusts Deck ckair for automobile repairing to flat condition, operation Deck ckair for automobile repairing moves to maintenance position;
Step 2:CCD sensor is taken the image of working region and is transmitted it to analysis and display unit, and analyzer process obtains the coordinate data of object, and outside maintainer can observe image by display;
Step 3: coordinate data is transferred to Single-chip Controlling and communication system by analysis and display unit, and it receives coordinate data, and MCU driving mechanical arm carries out three-dimensional motion to object coordinate;
Step 4: ultramagnifier compares mechanical arm real time kinematics coordinate and object coordinate and by result feedback to Single-chip Controlling and communication system;
Step 5: Single-chip Controlling and communication system receive ultramagnifier signal, controls mechanical arm and accurately to achieve the goal article coordinate.
As mentioned above, the present invention has following beneficial effect: 1, installation manipulator arm on vehicle repair chair, saves the muscle power of maintainer, only need lean against the enterprising line operate of Deck ckair for automobile repairing; 2, controller can control the movement of mechanical arm more accurately.
Although embodiment of the present invention are open as above, it is not restricted to listed in description and embodiment utilization.It can be applied to various applicable the field of the invention completely.For those skilled in the art, can easily realize other amendment.Therefore do not deviating under the universal that claim and equivalency range limit, the present invention is not limited to specific details and illustrates here and the legend described.
Claims (10)
1. there is a reparing device for vehicle for controllable mechanical arm, it is characterized in that, comprising:
Backrest and base, for support human body, described base has slideway;
Transmission device, it is for adjusting the angle between backrest and base, and described transmission device connects base; And
Mechanical arm, it comprises supporting seat, rotating disk, underarm, upper arm, connection wrist and manipulator,
Supporting seat, its one end is fixedly supported on the slideway of described base, and described supporting seat comprises the first motor;
Rotating disk, on its rotatable other end being arranged on described supporting seat, described first motor can drive rotating disk to rotate around the vertical axis of described supporting seat;
Underarm, the hinged described rotating disk in its one end, one end of described underarm also comprises the second motor, and it drives described underarm around described turntable rotation;
Upper arm, the other end of the hinged described underarm in its one end, the other end of described underarm also comprises the 3rd motor, and it drives described upper arm to rotate;
Connect wrist, the other end of its hinged described upper arm, described upper arm comprises the 4th motor, and it drives and connects wrist rotation;
Manipulator, it comprises palm and finger, can dismantle or mounting parts, described manipulator be connected wrist and be rotatably connected, described connection wrist comprises the 5th motor, and it drives described manipulator to rotate around the axis connecting wrist.
2. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 1, it is characterized in that, also comprise:
Described mechanical arm has folding position, and when being in off working state, the opposite side of described base firmly grasped by described manipulator, is in folding position.
3. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 2, it is characterized in that, also comprise:
Sensor, it takes the image of working region and by image transmitting display unit, described sensor is arranged on base and mechanical arm;
Display unit, by image storage and showing;
Single-chip Controlling and communication system, it can control mechanical arm and transmission mechanism carries out corresponding actions, described Single-chip Controlling and communication system linking parsing and display unit, feedback unit and mechanical arm;
Wherein, display unit also comprises ultramagnifier, and it can compare the error of mechanical arm real time kinematics coordinate and object coordinate and be transferred to single-chip microcomputer.
4. have the reparing device for vehicle of controllable mechanical arm as claimed in claim 3, it is characterized in that, described transmission device comprises:
Gear train, the transmission of backrest rotatory force is given mobile leg by it, and described gear train connects backrest and base by axle;
Mobile leg, its movement in opposite directions moving left and right leg can drive base to raise or reduce, and described mobile leg connects gear train and base.
5. have the reparing device for vehicle of controllable mechanical arm as claimed in claim 3, it is characterized in that, described sensor is matrix CCD.
6. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 5, it is characterized in that, also comprise:
Reclining apparatus, its built-in Serve Motor Control backrest rotates, and lock with wind spring and locate the position of backrest, the symmetrical junction being arranged on backrest and base of described reclining apparatus.
7. there is the reparing device for vehicle of controllable mechanical arm as claimed in claim 4, it is characterized in that, also comprise:
Universal wheel, it drives mobile leg to move, and described universal wheel is fixed on bottom mobile leg.
8. have the reparing device for vehicle of controllable mechanical arm as claimed in claim 1, it is characterized in that, described finger comprises:
First knuckle, the hinged palm in its one end, the other end to be rotatably connected second knuckle one end by the first turning cylinder, and described first turning cylinder connects the first drive motors;
Second knuckle, its other end is by the second turning cylinder rotary link third knuckle, and described second turning cylinder connects the second drive motors;
Third knuckle, its end is that ramp structure can capture object, and described third knuckle is arranged on finger foremost.
9. the reparing device for vehicle with controllable mechanical arm according to any one of claim 1-8, is characterized in that, described mechanical arm is multiple, is staggered on described base.
10. the reparing device for vehicle with controllable mechanical arm according to any one of claim 1-8, is characterized in that, described slideway has multiple fixed position, and described mechanical arm can optionally one of multiple fixed position described in fixed bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610005092.1A CN105500339B (en) | 2016-01-05 | 2016-01-05 | A kind of reparing device for vehicle with controllable mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610005092.1A CN105500339B (en) | 2016-01-05 | 2016-01-05 | A kind of reparing device for vehicle with controllable mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105500339A true CN105500339A (en) | 2016-04-20 |
| CN105500339B CN105500339B (en) | 2017-07-04 |
Family
ID=55708833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610005092.1A Expired - Fee Related CN105500339B (en) | 2016-01-05 | 2016-01-05 | A kind of reparing device for vehicle with controllable mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105500339B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110085343A (en) * | 2019-05-16 | 2019-08-02 | 成都南方电子仪表有限公司 | A kind of retired device of radioactivity factory building chimney |
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| CN87208359U (en) * | 1987-05-18 | 1988-03-30 | 华磊明 | Portable twopurpose pad for repairing automobile |
| JP2011042006A (en) * | 2009-08-21 | 2011-03-03 | Honda Motor Co Ltd | Suction device and suction method using the same |
| CN202781175U (en) * | 2012-09-04 | 2013-03-13 | 上海松盛机器人系统有限公司 | Mechanical arm structure for battery change of electric automobile |
| CN202805172U (en) * | 2012-10-19 | 2013-03-20 | 黄启娜 | Maintenance mat special for automotive engineering |
| CN103752967A (en) * | 2014-01-18 | 2014-04-30 | 佳木斯大学 | Wire-electrode cutting robot for machining complex surface |
| CN204487534U (en) * | 2015-03-23 | 2015-07-22 | 杨明平 | A kind of tune back of the body formula hydraulic chair being exclusively used in motor-vehicle chassis maintenance |
| CN205254973U (en) * | 2016-01-05 | 2016-05-25 | 辽宁工业大学 | Car chair is repaiied in removal of make -up machinery hand |
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2016
- 2016-01-05 CN CN201610005092.1A patent/CN105500339B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87208359U (en) * | 1987-05-18 | 1988-03-30 | 华磊明 | Portable twopurpose pad for repairing automobile |
| JP2011042006A (en) * | 2009-08-21 | 2011-03-03 | Honda Motor Co Ltd | Suction device and suction method using the same |
| CN202781175U (en) * | 2012-09-04 | 2013-03-13 | 上海松盛机器人系统有限公司 | Mechanical arm structure for battery change of electric automobile |
| CN202805172U (en) * | 2012-10-19 | 2013-03-20 | 黄启娜 | Maintenance mat special for automotive engineering |
| CN103752967A (en) * | 2014-01-18 | 2014-04-30 | 佳木斯大学 | Wire-electrode cutting robot for machining complex surface |
| CN204487534U (en) * | 2015-03-23 | 2015-07-22 | 杨明平 | A kind of tune back of the body formula hydraulic chair being exclusively used in motor-vehicle chassis maintenance |
| CN205254973U (en) * | 2016-01-05 | 2016-05-25 | 辽宁工业大学 | Car chair is repaiied in removal of make -up machinery hand |
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| CN110085343A (en) * | 2019-05-16 | 2019-08-02 | 成都南方电子仪表有限公司 | A kind of retired device of radioactivity factory building chimney |
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| Publication number | Publication date |
|---|---|
| CN105500339B (en) | 2017-07-04 |
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