CN105965210B - A kind of teaching manipulator manufacture and the moulding process for being assembled into one - Google Patents
A kind of teaching manipulator manufacture and the moulding process for being assembled into one Download PDFInfo
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- CN105965210B CN105965210B CN201610460523.3A CN201610460523A CN105965210B CN 105965210 B CN105965210 B CN 105965210B CN 201610460523 A CN201610460523 A CN 201610460523A CN 105965210 B CN105965210 B CN 105965210B
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- parts
- joint
- connecting portion
- swing arm
- molding part
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Classifications
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- 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
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
-
- 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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
Abstract
The present invention relates to a kind of processing technology of manipulator, a kind of manufacture of teaching manipulator and the moulding process for being assembled into one of espespecially a kind of continuation manufacture part and build-up member, mainly include：1）Modeling：Choose the mould of the joint connecting portion of teaching manipulator；2）Cast molding：Molten aluminium alloy liquid is poured into mould to be molded joint connecting portion by high-voltage high-speed；3）Transmit molding part：Joint connection shaping part is sent to open shop by sealing transport way；4）Punching：Transmitted after flaggy punching is carried out to each molding part respectively or entirety conveys；5）Polishing：Molding part polished and cleaned degreasing flash removed is washed and drained using aluminium alloy magnetic force polissoir；6）Assembling：Assembling joint connecting portion, power set and execution unit are integrated；7）Detection：The manipulator assembled to completion is controlled and performance detection；The present invention is by progressively processing, handling, the process such as assembling using rapid shaping as teaching manipulator.
Description
Technical field
The present invention relates to a kind of processing technology of manipulator, one kind of espespecially a kind of continuation manufacture part and build-up member
Teaching manipulator manufactures the moulding process with being assembled into one.
Background technology
Traditional manipulator processing and forming will be typically processed with assembling separate operation, after batch completes parts machining,
Centralized collection parts are then transferred to assembling position to complete assembly work, though required precision is high, time-consuming for process, work
Sequence is complicated, and its machine-shaping device needs break-off to implement to shift work when shifting parts, hence in so that one complete
Shaping work take longer, operating efficiency is relatively low, and is unfavorable for the long term growth of industrial processes production.
The content of the invention
To solve the above problems, it is contemplated that disclosing a kind of processing technology of manipulator, espespecially a kind of continuation manufactures
A kind of moulding process of teaching manipulator of part and build-up member manufacture with being assembled into one.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of teaching manipulator manufacture and the moulding process for being assembled into one, teaching manipulator mainly include control system
System, power set, joint connecting portion and execution unit, it is characterised in that described moulding process mainly includes the following steps that：
1）Modeling：The mould of the joint connecting portion of the teaching manipulator is chosen, joint connecting portion mainly includes
By power set from bottom up successively link up connect annulus rotating base, the long arm in joint, joint ancon, end swing arm
Portion, it is shaping to choose rotating base lumen type mould, long arm slab type mold, ancon slab type mold, swing arm portion slab type mold respectively
Mould, the forming cavity of each mould respectively with each joint connecting portion form fit；
2）Cast molding：In closing operating room, independent smelting furnace is provided with according to different parts, passes through smelting furnace melting
Aluminum alloy melt, then molten aluminium alloy liquid is poured into by high-voltage high-speed in the mould of selection to be molded joint connecting portion, pressed
Type casting moulding is molding part and sent out after being stripped outside closing operating room；
3）Transmit molding part：After joint connecting portion completes processing and forming, joint connection shaping part is sent to closing
In open shop outside operating room, closing operating room is connected at open shop by sealing transport way, and the two of transport way
End is respectively arranged with the isolation gate of independent control, wherein an isolation gate locating transmits outlet top in molding part, it is another every
From gate locating outlet ends are transmitted in molding part；When top isolation gate open when, close end isolation gate, molding part from
Outlet top is sent to inside sealing transport way, is then shut off top isolation gate, then opens end isolation gate, by molding part
Beyond from sealing transport way internal transmission to outlet ends, meanwhile, closing inside working chamber maintains the working condition of cast molding,
With this online output molding part；
4）Punching：Work streamline is set in open shop, work streamline is engaged on the end of sealing transport way,
First station line of work streamline includes four parallel punching processing lines, and four punching processing lines are realized processing simultaneously and passed
Defeated, the annulus rotating base to joint connecting portion, the long arm in joint, joint ancon, end swing arm portion carry out flaggy punching respectively
After transmit, so as to form mounting hole, hinged mouth or connector, be then communicated to next station；
5）Polishing：The joint connection shaping part for completing punching processing is transferred to polishing station, and polishing station is closed using aluminium
Golden magnetic force polissoir, molding part is polished-cleaned successively by polissoir what-degreasing-flash removed-was washed and drained
Molding part is transferred to assembly line after process；
6）Assembling：Assembly line be engaged on polishing station stored to receive molding part, while on assembly line power set with
Execution unit is integrated so as to assemble joint connecting portion, power set and execution unit, mainly including following small step：
A, annulus rotating base be arranged on bottom and with its power set drive installation, while square shaft on annulus rotating base
To connection accessory rotating shaft and defeated power ring flange；
B, the long arm in a pair of joints is arranged on defeated power ring flange by a pair of engaging lugs, and engaging lug is fixedly connected vertically
On defeated power ring flange, the long arm in joint is movably arranged on engaging lug；
C, joint ancon is hinged on the end of the long arm in joint, and end swing arm portion, execution unit are movably connected in successively
Joint ancon, the end in end swing arm portion；
D, the power set for assembling the long arm in joint, joint ancon, end swing arm portion and execution unit respectively form driving
The annexation of motion；
7）Detection：Simulation dynamic test is carried out to the teaching manipulator for completing assembling, to be controlled detection and performance
Detection.
In the step 1）In, selected long arm slab type mold, ancon slab type mold, swing arm portion slab type mold are carbon
Plain tool steel mold or alloy structure steel mold, rotating base lumen type mould are high-speed tool steel mold or alloy tool steel
Mould.
In the step 2）In, according to part hardness and exercise intensity requirement, die cast is annulus rotating base, joint
Long arm, joint ancon, the constituent content of aluminium alloy melting in end swing arm portion are respectively：
Annulus rotating base is shaped to circle ring column, mainly by aluminium 77-89 parts, copper 3.1-5.3 parts, silicon 5.8-6.4 parts, magnesium
2.8-3.2 parts, zinc 1.5-1.9 parts, manganese 1.5-2.0 parts, titanium 0.5-1.1 parts, chromium 0.31-0.47 parts, nickel 0.15-0.35 parts and vanadium
0.07-0.28 parts form；
The long arm in joint is shaped to the long plate shape Swing Arm of width gradual change, mainly by aluminium 79-91 parts, iron 5.5-6.7 parts, silicon
3.1-3.9 parts, magnesium 1.7-2.1 parts, zinc 0.5-1.7 parts, manganese 1.9-2.5 parts, titanium 0.09-0.23 parts and nickel 0.07-0.21 part groups
Into；
Joint ancon is shaped to the torsional mode elbow joint being hinged between the long arm in joint and end swing arm portion, mainly by aluminium
77-89 parts, copper 2.3-3.3 parts, iron 2.1-2.9 parts, silicon 2.1-3.1 parts, magnesium 0.9-1.9 parts, zinc 0.5-1.7 parts, chromium 0.07-
0.21 part and strontium 0.07-0.21 parts composition；
End swing arm portion is shaped to the impartial long plate shape Swing Arm of width, mainly by aluminium 79-91 parts, copper 2.3-2.9 parts, silicon
2.1-2.5 parts, iron 1.9-2.3 parts, zinc 0.9-1.7 parts, manganese 0.9-1.7 parts, titanium 0.07-0.19 parts and chromium 0.07-0.19 part groups
Into.
Described execution unit is to be connected to joint connecting portion end to grab with the execution hand of output action, performs hand and grabs as casting
Carbon steel material is made, is formed by die-casting process forming parts and then by parts assembling to be overall.
Described control system is electrically connected with power set and is provided with teaching voice system, and teaching voice system is according to showing
The execution of religion property manipulator acts and exports voice messaging.
Beneficial effects of the present invention are embodied in：It is of the invention to realize manufacture and one line abbreviation easy-formation of assembling, by adding successively
The assembling that the processes such as work, processing, assembling are gradually completing required part and part is overall by teaching manipulator of rapid shaping.This
Invention using aluminium alloy as main material, the hardness requirement required for different joint connecting portions is used different metal ingredients with
Aluminium alloy castings is formed, materials application is extensive, processing cost is low, and its part hardness and working strength are particularly suitable for use in demonstration
Property place or pedagogical place, while also allow for it is general carry or processing occasion uses, while the joint connecting portion of the present invention
Transmitted after completing to manufacture by sealing transport way, processing work is manufactured without suspending, also can be toward unofficial biography when making its on-line machining
Defeated molding part, so as to ensure that the efficiency of processing and assembling；Thus the processing technology of the present invention is applied widely, processing cost
It is low, and shaping efficiency is high.
Embodiment
The following detailed description of the embodiment of the present invention：
A kind of teaching manipulator manufacture and the moulding process for being assembled into one, teaching manipulator mainly include control system
System, power set, joint connecting portion and execution unit, described moulding process mainly include the following steps that：
1）Modeling：The mould of the joint connecting portion of the teaching manipulator is chosen, joint connecting portion mainly includes
By power set from bottom up successively link up connect annulus rotating base, the long arm in joint, joint ancon, end swing arm
Portion, it is shaping to choose rotating base lumen type mould, long arm slab type mold, ancon slab type mold, swing arm portion slab type mold respectively
Mould, the forming cavity of each mould respectively with each joint connecting portion form fit；
2）Cast molding：In closing operating room, independent smelting furnace is provided with according to different parts, passes through smelting furnace melting
Aluminum alloy melt, then molten aluminium alloy liquid is poured into by high-voltage high-speed in the mould of selection to be molded joint connecting portion, pressed
Type casting moulding is molding part and sent out after being stripped outside closing operating room；When closing in operating room, first in selected mould
Then coating demolding material carries out injection molding processing again, when it is profiled part that smelting furnace, which completes aluminum alloy melt melting, outside smelting furnace,
Spread out of again outside closing operating room after the demoulding is completed in closing operating room；Release method can use temperature differential method to be stripped；
3）Transmit molding part：After joint connecting portion completes processing and forming, joint connection shaping part is sent to closing
In open shop outside operating room, closing operating room is connected at open shop by sealing transport way, and the two of transport way
End is respectively arranged with the isolation gate of independent control, wherein an isolation gate locating transmits outlet top in molding part, it is another every
From gate locating outlet ends are transmitted in molding part；When top isolation gate open when, close end isolation gate, molding part from
Outlet top is sent to inside sealing transport way, is then shut off top isolation gate, then opens end isolation gate, by molding part
Beyond from sealing transport way internal transmission to outlet ends, meanwhile, closing inside working chamber maintains the working condition of cast molding,
With this online output molding part；It need to protected because closing work indoor and outdoor air pressure is different, therefore when transmitting molding part therebetween
Card closing operating room is in completely enclosed state, and the air pressure that can ensure to close operating room by two isolation gates is not by shadow
Ring, can also maintain to close working online in operating room, while molding part can also successfully be sent out；
4）Punching：Work streamline is set in open shop, work streamline is engaged on the end of sealing transport way,
First station line of work streamline includes four parallel punching processing lines, and four punching processing lines are realized processing simultaneously and passed
It is defeated, the carry out flaggy punching of the annulus rotating base to joint connecting portion, the long arm in joint, joint ancon, end swing arm portion respectively
Transmission or overall conveying, so as to form mounting hole, hinged mouth or connector, are then communicated to next station behind hole；Institute's punching and
Into mounting hole, hinged mouth or connector be to be connected for joint connecting portion with remaining part, such as power set or execution unit,
Also need to connect by auxiliary accessories；
5）Polishing：The joint connection shaping part for completing punching processing is transferred to polishing station, and polishing station is closed using aluminium
Golden magnetic force polissoir, molding part is polished-cleaned successively by polissoir what-degreasing-flash removed-was washed and drained
Molding part is transferred to assembly line after process；, can be by multiplexing when the aluminium alloy magnetic force polissoir of use is polished work
Sequence step concentrates integrated polishing, complete after integrated polishing by molding part by the positioning action of fixture with
The transmitting effect of slide rail is sent to assembly line；
6）Assembling：Assembly line is engaged on polishing station to receive molding part, is transmitted by transfer conveying frame during transfer defeated
Send；Power set are stored on assembly line simultaneously with execution unit so as to assemble joint connecting portion, power set and execution unit
It is integrated, mainly including following small step：
A, annulus rotating base be arranged on bottom and with its power set drive installation, while square shaft on annulus rotating base
To connection accessory rotating shaft and defeated power ring flange；
B, the long arm in a pair of joints is arranged on defeated power ring flange by a pair of engaging lugs, and engaging lug is fixedly connected vertically
On defeated power ring flange, the long arm in joint is movably arranged on engaging lug；
C, joint ancon is hinged on the end of the long arm in joint, and end swing arm portion, execution unit are movably connected in successively
Joint ancon, the end in end swing arm portion；
D, the power set for assembling the long arm in joint, joint ancon, end swing arm portion and execution unit respectively form driving
The annexation of motion；
Assembly line be followed successively by the first assembly line, the second assembly line, the 3rd assembly line, the 4th assembly line, the 5th assembly line and
6th assemble mechanism；First assembly line is mainly made up of annulus rotating base transport way and accessory clips cooperating, is being transmitted
During by assembling fittings on annulus rotating base；Second assembly line is engaged on the end of the first assembly line, mainly by joint
Long arm Efferent tube, mounting seat and assembly Efferent tube cooperating form, the outlet of the long arm Efferent tube in joint with first group
The terminal abutment of wiring, mounting seat is arranged on the junction of the long arm Efferent tube outlet in joint and the first assembly line end, for group
It is defeated with the installation station of annulus rotating base to fill the long arm in joint, the 3rd assembling is transferred to from assembly Efferent tube after installation
At line；3rd assembly line is engaged on after the second assembly line by the transport way of matching block or assembly with by the long arm in joint
Defeated, annulus rotating base assembly and joint ancon continue to be assembled into one；4th assembly line, the 5th assembly line are connected successively
After the 3rd assembly line, and according to foregoing work fit system successively by end swing arm portion, execution unit and the 3rd assembling
The assembly of line is assembled into entirety；Each power set are finally arranged on each portion in assembly in the 6th assemble mechanism
On part；
7）Detection：Simulation dynamic test is carried out to the teaching manipulator for completing assembling, to be controlled detection and performance
Detection.
In the step 1）In, selected long arm slab type mold, ancon slab type mold, swing arm portion slab type mold are carbon
Plain tool steel mold or alloy structure steel mold, rotating base lumen type mould are high-speed tool steel mold or alloy tool steel
Mould；
In the step 2）In, according to part hardness and exercise intensity requirement, die cast is annulus rotating base, joint
Long arm, joint ancon, the constituent content of aluminium alloy melting in end swing arm portion are respectively：
Annulus rotating base is shaped to circle ring column, mainly by aluminium 77-89 parts, copper 3.1-5.3 parts, silicon 5.8-6.4 parts, magnesium
2.8-3.2 parts, zinc 1.5-1.9 parts, manganese 1.5-2.0 parts, titanium 0.5-1.1 parts, chromium 0.31-0.47 parts, nickel 0.15-0.35 parts and vanadium
0.07-0.28 parts form；
The long arm in joint is shaped to the long plate shape Swing Arm of width gradual change, mainly by aluminium 79-91 parts, iron 5.5-6.7 parts, silicon
3.1-3.9 parts, magnesium 1.7-2.1 parts, zinc 0.5-1.7 parts, manganese 1.9-2.5 parts, titanium 0.09-0.23 parts and nickel 0.07-0.21 part groups
Into；
Joint ancon is shaped to the torsional mode elbow joint being hinged between the long arm in joint and end swing arm portion, mainly by aluminium
77-89 parts, copper 2.3-3.3 parts, iron 2.1-2.9 parts, silicon 2.1-3.1 parts, magnesium 0.9-1.9 parts, zinc 0.5-1.7 parts, chromium 0.07-
0.21 part and strontium 0.07-0.21 parts composition；
End swing arm portion is shaped to the impartial long plate shape Swing Arm of width, mainly by aluminium 79-91 parts, copper 2.3-2.9 parts, silicon
2.1-2.5 parts, iron 1.9-2.3 parts, zinc 0.9-1.7 parts, manganese 0.9-1.7 parts, titanium 0.07-0.19 parts and chromium 0.07-0.19 part groups
Into.
Described execution unit is to be connected to joint connecting portion end to grab with the execution hand of output action, performs hand and grabs as casting
Carbon steel material is made, is formed by die-casting process forming parts and then by parts assembling to be overall, parts therein also wrap
Include articulations digitorum manus and articulations digitorum manus attachment structure etc..
Described control system is electrically connected with power set and is provided with teaching voice system, and teaching voice system is according to showing
The execution of religion property manipulator acts and exports voice messaging；Described teaching voice system includes performing voice messaging, operation guide
Voice messaging, maloperation feedback voice messaging, teaching voice system according to the length of runs of power set in time by voice feedback extremely
In control system, while the control program of control system exports voice message also through teaching voice system, is passed with two-way signaling
It is defeated.
It is described above, only it is presently preferred embodiments of the present invention, is not intended to limit the scope of the present invention, one's own profession
The technical staff of industry, under the inspiration of the technical program, some deformations and modification, every technology according to the present invention can be made
Any modification, equivalent variations and the modification that embodiment of the essence to more than is made, still fall within the scope of technical solution of the present invention
It is interior.
Claims (5)
1. a kind of teaching manipulator manufacture and the moulding process for being assembled into one, teaching manipulator mainly include control system
System, power set, joint connecting portion and execution unit, it is characterised in that described moulding process mainly includes the following steps that：
1）Modeling：The mould of the joint connecting portion of the teaching manipulator is chosen, joint connecting portion mainly includes passing through
Power set from bottom up successively link up connect annulus rotating base, the long arm in joint, joint ancon, end swing arm portion,
It is shaping mould to choose rotating base lumen type mould, long arm slab type mold, ancon slab type mold, swing arm portion slab type mold respectively
Tool, the forming cavity of each mould respectively with each joint connecting portion form fit；
2）Cast molding：In closing operating room, independent smelting furnace is provided with according to different parts, is closed by smelting furnace smelting aluminum
Golden liquid, then molten aluminium alloy liquid is poured into the mould of selection to be molded joint connecting portion by high-voltage high-speed, is cast into
Type is molding part and sent out after being stripped outside closing operating room；
3）Transmit molding part：After joint connecting portion completes processing and forming, joint connection shaping part is sent to closing work
In outdoor open shop, closing operating room is connected at open shop by sealing transport way, the both ends point of transport way
The isolation gate of independent control is not provided with, wherein an isolation gate locating transmits outlet top, another isolation lock in molding part
Door is arranged on molding part transmission outlet ends；When isolation gate is opened when top, end isolation gate is closed, molding part is from outlet
Top is sent to inside sealing transport way, is then shut off top isolation gate, then opens end isolation gate, by molding part from close
Transport way internal transmission is sealed to beyond outlet ends, meanwhile, closing inside working chamber maintains the working condition of cast molding, with this
Online output molding part；
4）Punching：Work streamline is set in open shop, and work streamline is engaged on the end of sealing transport way, work
First station line of streamline includes four parallel punching processing lines, and four punching processing lines realize processing simultaneously and transmission, point
It is other to the annulus rotating base of joint connecting portion, the long arm in joint, joint ancon, end swing arm portion carry out flaggy punching after pass
It is defeated, so as to form mounting hole, hinged mouth or connector, it is then communicated to next station；
5）Polishing：The joint connection shaping part for completing punching processing is transferred to polishing station, and polishing station uses aluminium alloy magnetic
Power polissoir, molding part is polished-cleaned successively by polissoir-degreasing-flash removed-process washed and drained
Molding part is transferred to assembly line afterwards；
6）Assembling：Assembly line is engaged on polishing station and power set is stored to receive molding part, while on assembly line with performing
Part is integrated so as to assemble joint connecting portion, power set and execution unit, mainly including following small step：
A, annulus rotating base be arranged on bottom and with its power set drive installation, while annulus rotating base above axially connect
Connect accessory rotating shaft and defeated power ring flange；
B, the long arm in a pair of joints is arranged on defeated power ring flange by a pair of engaging lugs, and engaging lug is fixedly connected on defeated vertically
On power ring flange, the long arm in joint is movably arranged on engaging lug；
C, joint ancon is hinged on the end of the long arm in joint, and end swing arm portion, execution unit are movably connected in joint successively
Ancon, the end in end swing arm portion；
D, the power set for assembling the long arm in joint, joint ancon, end swing arm portion and execution unit respectively form powered motion
Annexation；
7）Detection：Simulation dynamic test is carried out to the teaching manipulator for completing assembling, to be controlled detection and performance detection.
2. a kind of teaching manipulator manufacture according to claim 1 and the moulding process for being assembled into one, its feature exist
In in the step 1）In, selected long arm slab type mold, ancon slab type mold, swing arm portion slab type mold are carbon work
It is high-speed tool steel mold or alloy tool punching block to have steel mold or alloy structure steel mold, rotating base lumen type mould
Tool.
3. a kind of teaching manipulator manufacture according to claim 1 and the moulding process for being assembled into one, its feature exist
In in the step 2）In, according to part hardness and exercise intensity requirement, die cast is annulus rotating base, joint is long-armed
Portion, joint ancon, the constituent content of aluminium alloy melting in end swing arm portion are respectively：
Annulus rotating base is shaped to circle ring column, mainly by aluminium 77-89 parts, copper 3.1-5.3 parts, silicon 5.8-6.4 parts, magnesium 2.8-
3.2 parts, zinc 1.5-1.9 parts, manganese 1.5-2.0 parts, titanium 0.5-1.1 parts, chromium 0.31-0.47 parts, nickel 0.15-0.35 parts and vanadium
0.07-0.28 parts form；
The long arm in joint is shaped to the long plate shape Swing Arm of width gradual change, mainly by aluminium 79-91 parts, iron 5.5-6.7 parts, silicon 3.1-
3.9 parts, magnesium 1.7-2.1 parts, zinc 0.5-1.7 parts, manganese 1.9-2.5 parts, titanium 0.09-0.23 parts and nickel 0.07-0.21 parts composition；
Joint ancon is shaped to the torsional mode elbow joint being hinged between the long arm in joint and end swing arm portion, mainly by aluminium 77-
89 parts, copper 2.3-3.3 parts, iron 2.1-2.9 parts, silicon 2.1-3.1 parts, magnesium 0.9-1.9 parts, zinc 0.5-1.7 parts, chromium 0.07-0.21
Part and strontium 0.07-0.21 parts composition；
End swing arm portion is shaped to the impartial long plate shape Swing Arm of width, mainly by aluminium 79-91 parts, copper 2.3-2.9 parts, silicon 2.1-
2.5 parts, iron 1.9-2.3 parts, zinc 0.9-1.7 parts, manganese 0.9-1.7 parts, titanium 0.07-0.19 parts and chromium 0.07-0.19 parts composition.
4. a kind of teaching manipulator manufacture according to claim 1 and the moulding process for being assembled into one, its feature exist
In described execution unit is to be connected to joint connecting portion end to grab with the execution hand of output action, performs hand and grabs to cast carbon
Steel material, formed by die-casting process forming parts and then by parts assembling to be overall.
5. a kind of teaching manipulator manufacture according to claim 1 and the moulding process for being assembled into one, its feature exist
In described control system is electrically connected with power set and is provided with teaching voice system, and teaching voice system is according to teaching
Manipulator execution acts and exports voice messaging.
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| CN108170177A (en) * | 2017-12-25 | 2018-06-15 | 天津百利机械装备集团有限公司中央研究院 | The chamfered edge robot taught point constant force control method of manual teaching |
| CN111922717B (en) * | 2020-09-17 | 2021-03-12 | 佛山隆深机器人有限公司 | Assembly line type assembling method for manipulator |
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| CN105458210A (en) * | 2016-01-19 | 2016-04-06 | 东南大学 | Automatic production system for die casting and press fitting of conical rotor of motor |
| CN105619390A (en) * | 2016-03-18 | 2016-06-01 | 北京格物明理教育咨询有限公司 | Manufacturing method for ten-degree-of-freedom robot |
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| CN105965210A (en) | 2016-09-28 |
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