CN105921991B - A kind of high-accuracy intelligent mechanical arm and its working method for screw installation - Google Patents
A kind of high-accuracy intelligent mechanical arm and its working method for screw installation Download PDFInfo
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- CN105921991B CN105921991B CN201610479406.1A CN201610479406A CN105921991B CN 105921991 B CN105921991 B CN 105921991B CN 201610479406 A CN201610479406 A CN 201610479406A CN 105921991 B CN105921991 B CN 105921991B
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- 238000009434 installation Methods 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims description 19
- 238000012360 testing method Methods 0.000 claims abstract description 31
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims description 19
- 238000013500 data storage Methods 0.000 claims description 18
- 230000001681 protective effect Effects 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of high-accuracy intelligent mechanical arms for screw installation, including：Pedestal, mechanical arm, axis joint, display device and control device, the axis joint are equipped with handgrip and position detecting device, and the mechanical arm, axis joint, display device and position detecting device are connect with control device；Executing agency, installation testing agency, position detecting mechanism, alarm mechanism and control mechanism are equipped in the control device, the executing agency, installation testing agency, position detecting mechanism and alarm mechanism are connect with control mechanism.The present invention installs screw by handgrip, improve the speed of screw installation, using being detected for installation testing agency, once detecting to install unqualified, so it will be alarmed by alarm mechanism, and, pass through the combination of display device and warning device, the artificial time for excluding exception can be reduced, to effectively raise the efficiency of product installation.
Description
Technical field
The invention belongs to the field of manufacturing, more particularly to a kind of high-accuracy intelligent mechanical arm for screw installation and
Its working method.
Background technology
Screw is not strange for everyone, and desk is installed with screw, to be screwed on computer, it may be said that it is filled
Denounce we live each place, be mostly for fixing, and, need many screws one product could be fixed
Firmly, screw installation is the big engineering of a consumption in the production process of each product.
For most of product all or by manually installing, there are also occasions to use self-tapping screw at present, passes through
Electric screw driver is installed, however either pure craft or electric screw driver are all taking human as standard, in the process of welding
In, since people has uncontrollability, the problems such as causing that loosening or neglected loading are installed, it may result in product installation in this way and do not conform to
Lattice influence the safety that product uses, and for some electric equipment products, may also will produce the problems such as electric leakage, serious threat makes
The safety of user.
At the same time, in the production process of enterprise, the product after processing can be checked by quality inspection personnel, thus
The work of quality inspection staff is very heavy, and the inspection especially for screw even more needs each screw carefully to go to check, even if
After some large enterprises are detected using equipment, but its detection is gone wrong, employee will be investigated one by one, thus can
More times are wasted, employee's more energy can be also expended, thus we need offer one kind to can be good at solving screw
The equipment of installation question.
Invention content
Goal of the invention：In order to overcome the above deficiency, the object of the present invention is to provide a kind of high-precisions for screw installation
Intelligentized mechanical arm, simple in structure, reasonable design is readily produced, high degree of automation, is reduced manual labor amount, is improved
Working efficiency, while also improving the quality of product installation.
Technical solution：To achieve the goals above, the present invention provides a kind of high-accuracy intelligents for screw installation
Mechanical arm, including：Pedestal, mechanical arm, axis joint, display device and control device, wherein the lower part of the mechanical arm is fixed on
On pedestal, the axis joint is fixed on the end of mechanical arm, and the display device is set on the column of mechanical arm, described
Control device is set in pedestal, and, the axis joint is equipped with handgrip and position detecting device, and the mechanical arm, axis close
Section, display device and position detecting device are connect with control device；Executing agency, installation are equipped in the control device
Testing agency, position detecting mechanism, alarm mechanism and control mechanism, the pedestal, mechanical arm, axis joint and position detection
Device with executing agency with connect, the installation testing agency be set to axis joint on, the position detecting mechanism and position
Set detection device connection, the alarm mechanism be set to mechanical arm column on, the executing agency, installation testing agency,
Position detecting mechanism and alarm mechanism are connect with control mechanism.
Heretofore described a kind of high-accuracy intelligent mechanical arm for screw installation, by the end of axis joint
Handgrip allows it can be as the dynamic installation of human hand during screw is installed, and to screw, there are one grips, can effectively prevent
Only its installation tilts, and to effectively raise the quality of screw installation, solves that screw installing engineering is great to ask well
Topic, meanwhile, also improve the precision of screw installation；The setting of installation testing agency passes through installation after installation is complete for screw
The case where it is installed by testing agency is detected, once detect to install it is unqualified, will by alarm mechanism into
Row alarm, and, by the combination of display device and warning device, the artificial time for excluding exception can be reduced, to effective
Improve the efficiency of product installation.
Heretofore described mechanical arm is made of one group of joint shaft, and the joint shaft is connected by joint connector
It connects, and, the junction between two joint axis is equipped with bracing means, and the setting of the bracing means greatly improves joint shaft
Between the fastness that connects.
It is equipped with supporting rack in heretofore described bracing means and extends shell, the supporting rack is set under joint shaft
Side, the both ends of the extension shell are individually fixed on two connected joint shafts, using Telescopic support, and, it is described to prolong
The inside for stretching shell is equipped with rubber layer, and the rubber layer coordinates with shell phase is extended, support frame as described above and the setting for extending shell, right
Joint shaft connection place plays a very good protection, the setting of the rubber layer, effectively avoid extending shell and joint shaft it
Between wear problem, while also improving the stability of joint axis connection.
The bottom of heretofore described handgrip is equipped with location hole, magnetic location part is equipped in the location hole, into one
Step is corrected screw position.
Heretofore described handgrip at least 2 grabs finger, and, the outside of grabbing fingers is equipped with rubber sleeve, the rubber
The setting of set effectively can avoid axis joint from causing to wear to screw, to play a very good protection to screw.
The surface of heretofore described rubber sleeve is equipped with texture, on rubber sleeve the setting of texture can effectively prevent
Screw slides during the installation process.
The lower section of heretofore described pedestal is equipped with movable pulley, and the outside of the movable pulley is equipped with protective cover, and, institute
Braking vane is carried on the movable pulley stated, the braking vane is matched with movable pulley, and the setting of movable pulley allows it can be according to life
Production needs to move mechanical arm, after it is moved to suitable position, is braked to it by braking vane, effectively
It prevents it arbitrarily mobile during the work time, improves its stability.
Filming apparatus and data storage device, the filming apparatus are equipped in heretofore described installation testing agency
Output end and the input terminal of data storage device connect, the filming apparatus and data storage device connect with control mechanism
It connects.
A kind of working method of heretofore described high-accuracy intelligent mechanical arm for screw installation, specific work
It is as follows to make method：
（1）：Mechanical arm is installed by staff first；
（2）：After mechanical arm installs, bracing means is installed to the joint of mechanical arm；
（3）：It waits in above-mentioned two step, after which installs, working condition will be initially entered；
（4）：During mechanical arm works, first by position detecting device to the position of required installation screw installing hole
It is detected, then sends the information of detection to control mechanism, the position that control mechanism will be detected according to position detecting device
Set the operating position of message command actuating mechanism controls axis joint；
（5）：In the detection process of above-mentioned position detecting device, the handgrip in axis joint will capture screw；
（6）：After handgrip catches screw, it will carry out the correction and fixation of position to screw；
（7）：After handgrip adjusts the position of screw, it will screw is installed to position detecting device and detects and passes through
The specific location for the required installation that control mechanism analysis obtains；
（8）：After after screw in previous step, installation is complete, after the filming apparatus in installation testing agency will be to installation
Screw is shot, and data are transmitted in data storage device, and then data storage device will convey data to control dress
Data processor in the control mechanism set carries out data analysis；
（9）：Testing agency is installed during detection, once situations such as finding neglected loading or setup error, it will
Convey information to control mechanism；
（10）：Then the specific location to go wrong will be passed through display device by control mechanism（4）It is shown, and is led to
It crosses alarm mechanism and carries out warning reminding；
（11）：After the prompting that receives the report for police service, the information that staff provides according to the display device, to the installation situation of screw
Artificial detection is carried out, and problematic screw is reinstalled.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：
1, heretofore described a kind of high-accuracy intelligent mechanical arm for screw installation, by the end of axis joint
Portion's handgrip allows it can be as the dynamic installation of human hand during screw is installed, and to screw, there are one grips, can be effective
It prevents its installation from tilting, to effectively raise the quality of screw installation, it is great to solve screw installing engineering well
Problem, meanwhile, also improve the precision of screw installation.
2, the setting of heretofore described installation testing agency, after installation is complete for screw, by installing testing agency pair
The case where it is installed is detected, once detecting to install unqualified, will be alarmed by alarm mechanism, and,
By the combination of display device and warning device, the artificial time for excluding exception can be reduced, to effectively raise product
The efficiency of installation.
3, heretofore described handgrip at least 2 grabs finger, and, the outside of grabbing fingers is equipped with rubber sleeve, the rubber
The setting of gum cover effectively can avoid axis joint from causing to wear to screw, to play a very good protection to screw；
Meanwhile the surface of the rubber sleeve is equipped with texture, on rubber sleeve the setting of texture can effectively prevent from installing in screw
It slides in the process.
4, the working method of heretofore described a kind of high-accuracy intelligent mechanical arm for screw installation, structure
Simply, easy to operate, screw is installed by handgrip, and is detected by installing testing agency, and pass through display device
The result of detection is shown, the troubleshooting procedure for the problem of employee detects installation testing agency can be reduced, to more
One step alleviates the workload of employee, and a more step improves the quality and speed of product installation, to better meet enterprise's life
The demand of production.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
In figure：Pedestal -1, mechanical arm -2, axis joint -3, display device -4, control device -5, handgrip -6, position detection dress
Set -7, bracing means -8, filming apparatus -9.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated.
Embodiment
A kind of high-accuracy intelligent mechanical arm for screw installation as shown in the figure, including：Pedestal 1, mechanical arm 2, axis
Joint 3, display device 4 and control device 5 are equipped with executing agency, installation testing agency, position inspection in the control device 5
Survey mechanism, alarm mechanism and control mechanism；
The relationship of above-mentioned each component is as follows：
Wherein, the lower part of the mechanical arm 2 is fixed on pedestal 1, and the axis joint 3 is fixed on the end of mechanical arm 2,
The display device 4 is set on the column of mechanical arm 2, and the control device 5 is set in pedestal, and, the axis joint 3
It is equipped with handgrip 6 and position detecting device 7, the mechanical arm 2, axis joint 3, display device 4 and position detecting device 7 are equal
It is connect with control device 5；Pedestal, mechanical arm 2, axis joint 3 and the position detecting device 7 with executing agency and company
It connects, the installation testing agency is set in axis joint 3, and the position detecting mechanism is connect with position detecting device 7, described
Alarm mechanism be set on the column of mechanical arm 2, the executing agency, installation testing agency, position detecting mechanism and report
Alert mechanism is connect with control mechanism.
Mechanical arm 2 described in the present embodiment is made of one group of joint shaft, and the joint shaft passes through joint connector
Connection, and, the junction between two joint axis is equipped with bracing means 8；Supporting rack and extension are equipped in the bracing means 8
Shell, the supporting rack are set to the lower section of joint shaft, and the both ends of the extension shell are individually fixed in two connected joint shafts
On, using Telescopic support, and, the inside for extending shell is equipped with rubber layer, and the rubber layer coordinates with shell phase is extended.
The bottom of handgrip 6 described in the present embodiment is equipped with location hole, and magnetic location part, institute are equipped in the location hole
The handgrip 6 stated at least 2 grabs finger, and, the outside of grabbing fingers is equipped with rubber sleeve, and the surface of the rubber sleeve is equipped with line
Reason.
The lower section of pedestal 1 described in the present embodiment is equipped with movable pulley, and the outside of the movable pulley is equipped with protective cover,
And braking vane is carried on the movable pulley, the braking vane is matched with movable pulley.
Filming apparatus 9 and data storage device, the shooting are equipped in installation testing agency described in the present embodiment
The input terminal of the output end of device 9 and data storage device connects, the filming apparatus 9 and data storage device with control
Mechanism connects.
Embodiment 2
Machine in a kind of working method of high-accuracy intelligent mechanical arm for screw installation described in the present embodiment
Tool arm is identical as the structure in embodiment 1.
A kind of high-accuracy intelligent mechanical arm for screw installation as shown in the figure, including：Pedestal 1, mechanical arm 2, axis
Joint 3, display device 4 and control device 5 are equipped with executing agency, installation testing agency, position inspection in the control device 5
Survey mechanism, alarm mechanism and control mechanism；
The relationship of above-mentioned each component is as follows：
Wherein, the lower part of the mechanical arm 2 is fixed on pedestal 1, and the axis joint 3 is fixed on the end of mechanical arm 2,
The display device 4 is set on the column of mechanical arm 2, and the control device 5 is set in pedestal, and, the axis joint 3
It is equipped with handgrip 6 and position detecting device 7, the mechanical arm 2, axis joint 3, display device 4 and position detecting device 7 are equal
It is connect with control device 5；Pedestal, mechanical arm 2, axis joint 3 and the position detecting device 7 with executing agency and company
It connects, the installation testing agency is set in axis joint 3, and the position detecting mechanism is connect with position detecting device 7, described
Alarm mechanism be set on the column of mechanical arm 2, the executing agency, installation testing agency, position detecting mechanism and report
Alert mechanism is connect with control mechanism.
Mechanical arm 2 described in the present embodiment is made of one group of joint shaft, and the joint shaft passes through joint connector
Connection, and, the junction between two joint axis is equipped with bracing means 8；Supporting rack and extension are equipped in the bracing means 8
Shell, the supporting rack are set to the lower section of joint shaft, and the both ends of the extension shell are individually fixed in two connected joint shafts
On, using Telescopic support, and, the inside for extending shell is equipped with rubber layer, and the rubber layer coordinates with shell phase is extended.
The bottom of handgrip 6 described in the present embodiment is equipped with location hole, and magnetic location part, institute are equipped in the location hole
The handgrip 6 stated at least 2 grabs finger, and, the outside of grabbing fingers is equipped with rubber sleeve, and the surface of the rubber sleeve is equipped with line
Reason.
The lower section of pedestal 1 described in the present embodiment is equipped with movable pulley, and the outside of the movable pulley is equipped with protective cover,
And braking vane is carried on the movable pulley, the braking vane is matched with movable pulley.
Filming apparatus 9 and data storage device, the shooting are equipped in installation testing agency described in the present embodiment
The input terminal of the output end of device 9 and data storage device connects, the filming apparatus 9 and data storage device with control
Mechanism connects.
A kind of working method of high-accuracy intelligent mechanical arm for screw installation described in the present embodiment, specifically
Working method is as follows：
（1）：Mechanical arm is installed by staff first；
（2）：After mechanical arm installs, bracing means 8 is installed to the joint of mechanical arm；
（3）：It waits in above-mentioned two step, after which installs, working condition will be initially entered；
（4）：During mechanical arm works, first by position detecting device 7 to the position of required installation screw installing hole
It sets and is detected, then send the information of detection to control mechanism, what control mechanism will be detected according to position detecting device 7
The operating position of location information order actuating mechanism controls axis joint 3；
（5）：In the detection process of above-mentioned position detecting device 7, the handgrip 6 in axis joint 3 will capture screw；
（6）：After handgrip 6 catches screw, it will carry out the correction and fixation of position to screw；
（7）：After handgrip 6 adjusts the position of screw, it will screw is installed to the detection of position detecting device 7 and is led to
Cross the specific location for the required installation that control mechanism analysis obtains；
（8）：After installation is complete after screw in previous step, the filming apparatus in testing agency is installed（9）It will be to installation
Screw afterwards is shot, and data are transmitted in data storage device, and then data storage device will convey data to control
Data processor in control mechanism in device processed carries out data analysis；
（9）：Testing agency is installed during detection, once situations such as finding neglected loading or setup error, it will
Convey information to control mechanism；
（10）：Then the specific location to go wrong will be passed through display device by control mechanism（4）It is shown, and is led to
It crosses alarm mechanism and carries out warning reminding；
（11）：After the prompting that receives the report for police service, staff according to the display device 4 provide information, to the installation feelings of screw
Condition carries out artificial detection, and is reinstalled to problematic screw.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as the present invention's
Protection domain.
Claims (3)
1. a kind of working method of high-accuracy intelligent mechanical arm for screw installation, it is characterised in that：It is installed for screw
High-accuracy intelligent mechanical arm include：Pedestal（1）, mechanical arm（2）, axis joint（3）, display device（4）And control device
（5）, wherein the mechanical arm（2）Lower part be fixed on pedestal（1）On, the axis joint（3）It is fixed on mechanical arm（2）'s
End, the display device（4）Set on mechanical arm（2）Column on, the control device（5）In pedestal, and, institute
The axis joint stated（3）It is equipped with handgrip（6）And position detecting device（7）, the mechanical arm（2）, axis joint（3）, display dress
It sets（4）And position detecting device（7）And control device（5）Connection；
The control device（5）In be equipped with executing agency, installation testing agency, position detecting mechanism, alarm mechanism and control
Mechanism, the pedestal, mechanical arm（2）, axis joint（3）And position detecting device（7）With executing agency with connect, it is described
Installation testing agency be set to axis joint（3）On, the position detecting mechanism and position detecting device（7）Connection, it is described
Alarm mechanism is set to mechanical arm（2）Column on, the executing agency, installation testing agency, position detecting mechanism and report
Alert mechanism is connect with control mechanism；The mechanical arm（2）It is made of one group of joint shaft, the joint shaft is connected by joint
Connection device connects, and, the junction between two joint axis is equipped with bracing means（8）；The bracing means（8）In be equipped with support
Frame and extension shell, the supporting rack are set to the lower section of joint shaft, and the both ends of the extension shell are individually fixed in connected two
On a joint shaft, using Telescopic support, and, the inside for extending shell is equipped with rubber layer, the rubber layer and extension
Shell phase coordinates；The handgrip（6）Bottom be equipped with location hole, magnetic location part is equipped in the location hole；Described grabs
Hand（6）At least 2 are grabbed finger, and, the outside of grabbing fingers is equipped with rubber sleeve；Shooting dress is equipped in the installation testing agency
It sets（9）And data storage device, the filming apparatus（9）Output end and data storage device input terminal connect, it is described
Filming apparatus（9）It is connect with control mechanism with data storage device；
Specific working method is as follows：
（1）：Mechanical arm is installed by staff first；
（2）：After mechanical arm installs, by bracing means（8）It is installed to the joint of mechanical arm；
（3）：It waits in above-mentioned two step, after which installs, working condition will be initially entered；
（4）：During mechanical arm works, first by position detecting device（7）To the position of required installation screw installing hole
It is detected, then sends the information of detection to control mechanism, control mechanism will be according to position detecting device（7）Detection
Location information order actuating mechanism controls axis joint（3）Operating position；
（5）：In above-mentioned position detecting device（7）Detection process in, axis joint（3）On handgrip（6）Screw will be captured；
（6）：Wait for handgrip（6）After catching screw, it will carry out the correction and fixation of position to screw；
（7）：Wait for handgrip（6）After the position of screw is adjusted, it will screw is installed to position detecting device（7）It detects and leads to
Cross the specific location for the required installation that control mechanism analysis obtains；
（8）：After installation is complete after screw in previous step, the filming apparatus in testing agency is installed（9）After will be to installation
Screw is shot, and data are transmitted in data storage device, and then data storage device will convey data to control dress
Data processor in the control mechanism set carries out data analysis；
（9）：Testing agency is installed during detection, once find neglected loading either setup error situation, it will information
Pass to control mechanism；
（10）：Then the specific location to go wrong will be passed through display device by control mechanism（4）It is shown, and passes through report
Alert mechanism carries out warning reminding；
（11）：After the prompting that receives the report for police service, staff is according to the display device（4）The information of offer, to the installation situation of screw
Artificial detection is carried out, and problematic screw is reinstalled.
2. the working method of the high-accuracy intelligent mechanical arm according to claim 1 for screw installation, feature exist
In：The surface of the rubber sleeve is equipped with texture.
3. the working method of the high-accuracy intelligent mechanical arm according to claim 1 for screw installation, feature exist
In：The pedestal（1）Lower section be equipped with movable pulley, the outside of the movable pulley is equipped with protective cover, and, the movable pulley
Upper to carry braking vane, the braking vane is matched with movable pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610479406.1A CN105921991B (en) | 2016-06-28 | 2016-06-28 | A kind of high-accuracy intelligent mechanical arm and its working method for screw installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610479406.1A CN105921991B (en) | 2016-06-28 | 2016-06-28 | A kind of high-accuracy intelligent mechanical arm and its working method for screw installation |
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| CN105921991A CN105921991A (en) | 2016-09-07 |
| CN105921991B true CN105921991B (en) | 2018-08-07 |
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| CN105921991A (en) | 2016-09-07 |
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