CN107322548A - A kind of precisely locating platform - Google Patents
A kind of precisely locating platform Download PDFInfo
- Publication number
- CN107322548A CN107322548A CN201710482228.2A CN201710482228A CN107322548A CN 107322548 A CN107322548 A CN 107322548A CN 201710482228 A CN201710482228 A CN 201710482228A CN 107322548 A CN107322548 A CN 107322548A
- Authority
- CN
- China
- Prior art keywords
- outrigger
- lowering
- hoisting gear
- locating platform
- precisely locating
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/16—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in height
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/06—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of trestle type
Abstract
The invention discloses a kind of precisely locating platform, including translation system, digital control system, jacking system and adhesive system；The translation system is made up of the first outrigger and the second outrigger, and is linked together between first and second outrigger by sliding block right-angled intersection；Jacking system includes four lowering or hoisting gears, i.e. first, second, third and fourth lowering or hoisting gear, first and second lowering or hoisting gear is separately positioned on the two ends of the first outrigger, and third and fourth lowering or hoisting gear is separately positioned on the two ends of the second outrigger；Adhesive system includes four attracting devices, and first, second, third and fourth attracting device, and first and second attracting device is separately positioned on the lower section of first and second lowering or hoisting gear, and third and fourth attracting device is separately positioned on the lower section of third and fourth lowering or hoisting gear；Digital control system is arranged on the fuselage of the second outrigger, for controlling translation, lifting and adhesive action.The platform can realize the precision positioning of a wide range of plane, be adapted to all types of work pieces process.
Description
Technical field
The present invention relates to a kind of precisely locating platform for being adapted to large-scale part processing, belong to Machine Manufacturing Technology neck
Domain.
Background technology
Machinery manufacturing industry occupies very important status in social economy, and processing industry is as inside machinery manufacturing industry
Important component, but there are many limitations in current development.Process equipment structure current first is single, achievable work(
Can be fewer, and can be restricted by many external factors, it can realize that the lathe price of plurality of classes processing is higher.Such as
In order to realize the plane machining of Small Workpieces, generally using flame lathe, and coordinate the base of plane motion, while needs pair
Workpiece is carried；Secondly lathe is inconvenient to move, and the workpiece of special shape is difficult to process；And when processing large-scale workpiece, and it is past
It is limited toward meeting by device travel.
By taking laser cutting machine as an example, to consider that steel market can be provided the width of material during choosing equipment at first point first
Face is if appropriate for while will consider whether loading and unloading facilitate；It is also contemplated that after technology remodeling, also whether existing machine operation table top
It can continue to adapt to the material requirements subsequently to be processed.The most important is that existing laser cutting device price is high, so one
The input of secondary property purchase is very big.
The content of the invention
It is an object of the present invention to provide a kind of precisely locating platform, the platform can realize that the precision of a wide range of plane is determined
Position, is adapted to all types of work pieces process.
To achieve the above object, the technical solution adopted by the present invention is, the invention discloses a kind of precisely locating platform,
Including translation system, digital control system, jacking system and adhesive system；The translation system is by the first outrigger and the second outrigger group
Into, and linked together between first and second outrigger by sliding block right-angled intersection；
The jacking system includes four lowering or hoisting gears, i.e. first and second lifting dress described in first, second, third and fourth lowering or hoisting gear
Put and be separately positioned on the two ends of the first outrigger, third and fourth lowering or hoisting gear is separately positioned on the two ends of the second outrigger；
The adhesive system includes four attracting devices, and first, second, third and fourth attracting device, first and second adhesive
Device is separately positioned on the lower section of first and second lowering or hoisting gear, and third and fourth described attracting device is separately positioned on third and fourth lifting
The lower section of device；
The digital control system is arranged on the fuselage of the second outrigger, for controlling translation, lifting and adhesive action.
Preferably, first outrigger includes the first servomotor, the first frame, the first leading screw and the first slide rail；Institute
State and two the first slide rails arranged side by side, first are provided with the end that the first servomotor is arranged on the first frame, the first frame
Thick stick is arranged between two the first slide rails；
Second outrigger is hollow frame structure, and it includes the second servomotor, the second frame, the second leading screw and the
Two slide rails；Second servomotor, which is arranged in the end of the second frame, the second frame, is set side by side with two the second slide rails,
Second leading screw is arranged between two the second slide rails；
First outrigger passes through the second outrigger, and realizes flexible connection by sliding block.
The translation system is by digital control system control, mainly by driving first and second servomotor, so that control first,
The rotation of two leading screws, the motion of respective outrigger is driven by the rotation of first and second screw mandrel.By the motion of the first outrigger when motion
Direction is drafted as X-direction, and the direction of motion of the second outrigger is drafted as Y direction, and the stroke range of both direction is respectively Dx
And Dy.
Preferably, the sliding block includes being each provided with four chutes on slider body, the positive and negative of the slider body
With the chute and the projecting direction of nut on the chute and nut on a nut, and front and reverse side using the center of sliding block as rotation
Rotating shaft is in 90 ° of angles.
Preferably, two nuts on the slider body positive and negative are respectively sleeved at the first screw mandrel and the second leading screw
On, four chutes on its positive and negative are in mating connection with the first slide rail and the second slide rail respectively.
Preferably, also including being provided with laser cutting head on Z axis device, the Z axis device.
Preferably, first, second, third and fourth lowering or hoisting gear provides power using cylinder or motor transmission mechanism, pass through
The control of digital control system, can be achieved " rising " and " decline " two actions.
Preferably, first, second, third and fourth attracting device is realized using electromagnet or vacuum cup, pass through number
" adhesive " and " relieving " two actions can be achieved in the control of control system.
Preferably, first and second servomotor selects either ac or dc power machine.
The motion mode of locating platform of the present invention is as follows：When corresponding lowering or hoisting gear " decline ", attracting device " adhesive ",
Just one in the first outrigger or the second outrigger can be made fixed dead on workbench；When corresponding lowering or hoisting gear " rising ",
It during attracting device " adhesive ", just can lift another outrigger, depart from the contact with workbench.The outrigger just can pass through number
Control system is moved, and then by exchanging role between two outriggers, is changed and " is fixed in the plane " from each other and " lift fortune
It is dynamic " intermitter changes of two states, it is possible to achieve the movement of platform any direction on two dimensional surface.
Beneficial effects of the present invention：(1) precisely locating platform is simple in construction, small volume, it is lightweight, can conveniently remove
Fortune, and do not limited by workplace, or even the precisely locating platform can be fixed in vertical plane as needed,
Circuit completes several work in the range of touching, and this is the action that other equipment for being used to process can not be completed.
(2) when the precisely locating platform is used for processing industry, the limitation of the huge fuselage of conventional process tools has been broken away from, can be with
Go around, equipment migration will not be restricted in processing workpiece surface, and the breadth of workpiece to be machined.
(3) while can complete location tasks, on fuselage region also can be much played to can be used for playing；It can such as fill
Upper manipulator, for realizing the crawl to workpiece；Laser cutting head can also be loaded onto, for the cutting of various large-scale materials, and
And do not influenceed by shape.
Brief description of the drawings
, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical scheme
The accompanying drawing used is briefly described.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the detailed structural representation of all parts of the invention；
Fig. 3 is the structural representation of the first outrigger of the invention；
Fig. 4 is the structural representation of the second outrigger of the invention；、
Fig. 5 is the structural representation of present invention slider；
Fig. 6 is the layout of lowering or hoisting gear of the present invention and attracting device；
Fig. 7 is use state figure of the invention；
Fig. 8 is the structural representation of laser cutting head after present device Aligning control.
In figure：1. translation system, 2. digital control systems, 3. jacking systems, 4. adhesive systems, 5. first outriggers, outside 6. second
Frame, 7. first lowering or hoisting gears, 8. second lowering or hoisting gears, 9. the 3rd lowering or hoisting gears, 10. the 4th lowering or hoisting gears, 11. first adhesives dress
Put, 12. second attracting devices, 13. the 3rd attracting devices, 14. the 4th attracting devices, 15. first servomotors, 16. second watch
Take motor, 17. first frames, 18. second frames, 19. first leading screws, 20. second leading screws, 21. first slide rails, 22. second cunnings
Rail, 23. sliding blocks, 24. chutes, 25. nuts, 26.Z shaft devices, 27. laser cutting heads, 28. slider bodies.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the application, below in conjunction with embodiment pair
Technical scheme in the application is clearly and completely described.
As Figure 1-Figure 8, the invention discloses a kind of precisely locating platform, including translation system 1, digital control system 2, liter
Drop system 3 and adhesive system 4；The translation system 1 is made up of the first outrigger 5 and the second outrigger 6, and first and second outrigger 5 and 6
Between linked together by the right-angled intersection of sliding block 23；
The jacking system 3 includes four lowering or hoisting gears, i.e. first, second, third and fourth lowering or hoisting gear 7-10, described first and second
Lifting fills 7 and 8 and is separately positioned on the two ends of the first outrigger 5, and third and fourth lowering or hoisting gear 9 and 10 is separately positioned on the second outrigger 6
Two ends on；
The adhesive system 4 includes four attracting devices, and first, second, third and fourth attracting device 11-14, described first,
Two attracting devices 11 and 12 are separately positioned on the lower section of first and second lowering or hoisting gear 7 and 8, third and fourth described attracting device 13 and 14
It is separately positioned on the lower section of third and fourth lowering or hoisting gear 9 and 10；
The digital control system 2 is arranged on the fuselage of the second outrigger 6, for controlling translation, lifting and adhesive action.
First outrigger 5 includes the first servomotor 15, the first frame 17, the first leading screw 19 and the first slide rail 21；Institute
State and two the first slide rails 21 arranged side by side be provided with the end that the first servomotor 15 is arranged on the first frame 5, the first frame 5,
First leading screw 19 is arranged between two the first slide rails 21；
Second outrigger 6 is hollow frame structure, it include the second servomotor 16, the second frame 18, second
The slide rail 22 of thick stick 20 and second；Second servomotor 16 is arranged in the end of the second frame 18, the second frame 18 and set side by side
Two the second slide rails 22 are equipped with, the second leading screw 20 is arranged between two the second slide rails 22；First outrigger 5 is passed through outside second
Frame 6, and flexible connection is realized by sliding block 23.
The sliding block 23 includes being each provided with four Hes of chute 24 on slider body 28, the positive and negative of the slider body 28
One nut 25, and chute and nut on front and the chute and the projecting direction of nut on reverse side using the center of sliding block to revolve
Rotating shaft is in 90 ° of angles.
Two nuts on the positive and negative of slider body 28 are respectively sleeved on the first screw mandrel 19 and the second leading screw 20, its
Four chutes 24 on positive and negative are in mating connection with the first slide rail 21 and the second slide rail 22 respectively.
X-direction stroke according to present invention is Dx, and Y direction stroke is Dy, the precisely locating platform
Major function is to realize in precision positioning, mainly including X-direction and the positioning campaign of Y-direction and ganged movement.Hereafter with
Movement locus after laser cutting head is installed on platform of the present invention is presentation objects, so as to make more the positioning function of platform
The explanation of image.
Positioning motion：
First by equipment Aligning control, now X-axis Y-axis is returned at setting 0, now, i.e., laser cutting head is located at such as Fig. 8
Shown lower right-hand corner, now coordinate is (0,0).
(1) equipment is moved to X-axis positive direction
Lowering or hoisting gear 7 and lowering or hoisting gear 8 first declines, attracting device 11 and the adhesive of attracting device 12, holds processing plane,
So as to which outrigger 5 is fixed in processing plane.Meanwhile, lowering or hoisting gear 9 and lowering or hoisting gear 10 are in raised configuration, attracting device 13
Relieving state is in attracting device 14, outrigger 6 is hanging.Now, under the conditions of the two are arranged side by side, just it can be driven by digital control system
Dynamic servomotor, screw mandrel, which is rotated, drives outrigger movement, realizes that Y-axis+x directions are moved, so as to realize+x the sides of laser head
To movement.
(2) equipment is moved to X-axis negative direction
The 3rd lowering or hoisting gear 9 and the 4th lowering or hoisting gear 10 decline first, the 3rd attracting device 13 and the 4th attracting device 14
Adhesive, holds processing plane, so that the second outrigger 6 is fixed in processing plane.Meanwhile, the first lowering or hoisting gear 7 and second liter
Falling unit 8 is in raised configuration, and the first attracting device 11 and the second attracting device 12 are in relieving state, and the first outrigger 5 is hanging.
Now, under the conditions of the two are arranged side by side, the first servomotor just can be driven by digital control system 2, the first screw mandrel, which is rotated, drives the
One outrigger is moved, and realizes that X axis-x directions are moved.After X-axis has moved stroke Dx, laser cutting head is not towards X-axis losing side
To realizing mobile, it is necessary to complete another step, the first lowering or hoisting gear 7 and the second lowering or hoisting gear 8 are put down, the He of attracting device 11
The adhesive of attracting device 12, holds processing plane, so that the first outrigger 5 is fixed in processing plane.Meanwhile, first by the 3rd adhesive
The attracting device 14 of device 13 and the 4th is decontroled, then the 3rd lowering or hoisting gear 9 and the 4th lowering or hoisting gear 10 are risen, and makes the second outrigger 6
Vacantly.Servomotor just can be driven by digital control system under the conditions of as above, the second screw mandrel, which is rotated, drives the movement of the second outrigger, real
Existing Y-axis-x directions movement, so as to realize that-x the directions of laser head are moved.
(3) equipment is moved to Y-axis positive direction
First lowering or hoisting gear 7 first and the second lowering or hoisting gear 8 are put down, and the first attracting device 11 and the second attracting device 12 are inhaled
Close, hold processing plane, so that the first outrigger 5 is fixed in processing plane.Meanwhile, the 3rd lowering or hoisting gear 9 and the 4th lifting
Device 10 is in raised configuration, and the 3rd attracting device 13 and the 4th attracting device 14 are in relieving state, and the second outrigger 6 is hanging.
Now, under the conditions of the two are arranged side by side, servomotor just can be driven by digital control system, the second screw mandrel, which is rotated, drives the second outrigger
It is mobile, realize that Y-axis +Y direction is moved, so as to realize that the +Y direction of laser head is moved.
(4) equipment is moved to Y-axis negative direction
The 3rd lowering or hoisting gear 9 and the 4th attracting device 10 are put down first, the 3rd attracting device 13 and the 4th attracting device 14
Adhesive, holds processing plane, so that the second outrigger 6 is fixed in processing plane.Meanwhile, the first lowering or hoisting gear 7 and second liter
Falling unit 8 is in raised configuration, and the first attracting device 11 and the second attracting device 12 are in relieving state, and the first outrigger 5 is hanging.
Now, under the conditions of the two are arranged side by side, servomotor just can be driven by digital control system, screw mandrel, which is rotated, drives outrigger movement, real
Existing X axis-y directions movement.After X-axis has moved stroke Dy, laser cutting head is not realized towards y-axis negative direction and moved, and is needed
Another step is completed, the first lowering or hoisting gear 7 and the second lowering or hoisting gear 8 are put down, the first attracting device 11 and the second adhesive
The adhesive of device 12, holds processing plane, so that the first outrigger 5 is fixed in processing plane.Meanwhile, first by the 3rd attracting device
13 and the 4th attracting device 14 decontrol, then the 3rd lowering or hoisting gear 9 and the 4th attracting device 10 are risen, make the second outrigger 6 hanging.
Now, under the conditions of the two are arranged side by side, servomotor just can be driven by digital control system, screw mandrel, which is rotated, drives outrigger movement, real
Existing Y-axis-y directions movement, so as to realize the-y directions movement of laser head.
(5) ganged movement：
When X-axis moves to region fore correct position to be processed, (Dx) X (Dy) areal extent is all that Y-axis can herein
With the scope touched.Now, the first lowering or hoisting gear 7 and the second lowering or hoisting gear 8 are put down, the first attracting device 11 and the second adhesive
The adhesive of device 12, holds processing plane, so that the first outrigger 5 is fixed in processing plane.Meanwhile, the He of the 3rd lowering or hoisting gear 9
4th lowering or hoisting gear 10 is in raised configuration, and the first attracting device 13 and the 4th attracting device 14 are in outside relieving state, second
Frame 6 is hanging, and Y-axis can be moved freely.Now, servomotor just can be driven by digital control system, screw mandrel, which is rotated, drives outrigger to move
It is dynamic, realize that Y-axis+x ,-x ,+y and-y four direction is linked, so as to realize cutting of the laser cutting head 27 in this region
Action.
The precisely locating platform is simple in construction, small volume, it is lightweight, can conveniently carry, and do not limited by workplace
System, or even the precisely locating platform can be fixed in vertical plane as needed, complete many in the range of circuit is touched
Operation is planted, this is the action that other equipment for being used to process can not be completed.
When the precisely locating platform is used for processing industry, the limitation of the huge fuselage of conventional process tools has been broken away from, can be anti-
Its road and go, allow equipment migration in processing workpiece surface, and the breadth of workpiece to be machined will not be restricted.
Region also can be much played while can complete location tasks, on fuselage to can be used for playing；It can such as load onto
Manipulator, for realizing the crawl to workpiece；Laser cutting head can also be loaded onto, for the cutting of various large-scale materials, and
Do not influenceed by shape.
Described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based in the present invention
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made,
Belong to the scope of protection of the invention.
Claims (8)
1. a kind of precisely locating platform, it is characterised in that including translation system (1), digital control system (2), jacking system (3) and suction
Syzygy unites (4)；The translation system (1) is made up of the first outrigger (5) and the second outrigger (6), and first and second outrigger (5,6) it
Between linked together by sliding block (23) right-angled intersection；
The jacking system (3) includes four lowering or hoisting gears, i.e. first, second, third and fourth lowering or hoisting gear (7,8,9,10) described the
First, two lowering or hoisting gears (7,8) are separately positioned on the two ends of the first outrigger (5), and third and fourth lowering or hoisting gear (9,10) is set respectively
On the two ends of the second outrigger (6)；
The adhesive system (4) includes four attracting devices, and first, second, third and fourth attracting device (11,12,13,14), described
First and second attracting device (11,12) is separately positioned on the lower section of first and second lowering or hoisting gear (7,8), third and fourth adhesive dress
Put the lower section that (13,14) are separately positioned on third and fourth lowering or hoisting gear (9,10)；
The digital control system (2) is arranged on the fuselage of the second outrigger (6), for controlling translation, lifting and adhesive action.
2. precisely locating platform according to claim 1, it is characterised in that first outrigger (5) includes the first servo
Motor (15), the first frame (17), the first leading screw (19) and the first slide rail (21)；First servomotor (15) is arranged on
Two the first slide rails (21) arranged side by side are provided with the end of one frame (17), the first frame (17), the first leading screw (19) is set
Between two the first slide rails (21)；
Second outrigger (6) is hollow frame structure, and it includes the second servomotor (16), the second frame (18), second
Leading screw (20) and the second slide rail (22)；Second servomotor (16) is arranged on the end of the second frame (18), the second frame
(18) two the second slide rails (22) are set side by side with, the second leading screw (20) is arranged between two the second slide rails (22)；
First outrigger (5) passes through the second outrigger (6), and realizes flexible connection by sliding block (23).
3. precisely locating platform according to claim 2, it is characterised in that the sliding block (23) includes slider body
(28) four chutes (24) and a nut (25), are each provided with the positive and negative of the slider body (28), and on front
Chute (24) and nut (25) are with the chute (24) and the projecting direction of nut (25) on reverse side using the center of sliding block (23) as rotation
Rotating shaft is in 90 ° of angles.
4. precisely locating platform according to claim 3, it is characterised in that two on slider body (28) positive and negative
Individual nut (25) is respectively sleeved on the first screw mandrel (19) and the second leading screw (20), and four chutes (24) on its positive and negative are respectively
It is in mating connection with the first slide rail (21) and the second slide rail (22).
5. the precisely locating platform according to claim any one of 1-4, it is characterised in that also including Z axis device (26), institute
State and laser cutting head (27) is provided with Z axis device (26).
6. precisely locating platform according to claim 5, it is characterised in that first, second, third and fourth lowering or hoisting gear (7,
8,9,10) power is provided using cylinder or motor transmission mechanism.
7. precisely locating platform according to claim 6, it is characterised in that first, second, third and fourth attracting device
(11,12,13,14) controlled using electromagnet or vacuum cup.
8. precisely locating platform according to claim 7, it is characterised in that first and second servomotor (15, the 16) choosing
Use either ac or dc power machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710482228.2A CN107322548A (en) | 2017-06-22 | 2017-06-22 | A kind of precisely locating platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710482228.2A CN107322548A (en) | 2017-06-22 | 2017-06-22 | A kind of precisely locating platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107322548A true CN107322548A (en) | 2017-11-07 |
Family
ID=60194306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710482228.2A Pending CN107322548A (en) | 2017-06-22 | 2017-06-22 | A kind of precisely locating platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107322548A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994783A (en) * | 2018-07-13 | 2018-12-14 | 东莞市瑞沧机械设备有限公司 | Electromagnetic stationary type automatic centering mobile platform |
| CN112721425A (en) * | 2020-12-28 | 2021-04-30 | 淳华科技(昆山)有限公司 | Solder mask printing machine |
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| JPH09123033A (en) * | 1995-10-30 | 1997-05-13 | Tanaka Seisakusho Kk | Nc machining device |
| US20040041103A1 (en) * | 2002-08-30 | 2004-03-04 | Canon Kabushiki Kaisha | Positioning apparatus, charged-particle-beam exposure apparatus, and device manufacturing method |
| CN102107371A (en) * | 2010-12-07 | 2011-06-29 | 中国商用飞机有限责任公司 | Walking and positioning device for walking and positioning on workpiece |
| CN102745275A (en) * | 2012-07-19 | 2012-10-24 | 魏小钢 | Walking robot and walking method thereof |
| CN103084913A (en) * | 2013-01-28 | 2013-05-08 | 南京航空航天大学 | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture |
| CN103769377A (en) * | 2014-01-24 | 2014-05-07 | 国家电网公司 | Large-scale photovoltaic array water-free cleaning system |
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2017
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09123033A (en) * | 1995-10-30 | 1997-05-13 | Tanaka Seisakusho Kk | Nc machining device |
| US20040041103A1 (en) * | 2002-08-30 | 2004-03-04 | Canon Kabushiki Kaisha | Positioning apparatus, charged-particle-beam exposure apparatus, and device manufacturing method |
| CN102107371A (en) * | 2010-12-07 | 2011-06-29 | 中国商用飞机有限责任公司 | Walking and positioning device for walking and positioning on workpiece |
| CN102745275A (en) * | 2012-07-19 | 2012-10-24 | 魏小钢 | Walking robot and walking method thereof |
| CN103084913A (en) * | 2013-01-28 | 2013-05-08 | 南京航空航天大学 | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture |
| CN103769377A (en) * | 2014-01-24 | 2014-05-07 | 国家电网公司 | Large-scale photovoltaic array water-free cleaning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994783A (en) * | 2018-07-13 | 2018-12-14 | 东莞市瑞沧机械设备有限公司 | Electromagnetic stationary type automatic centering mobile platform |
| CN112721425A (en) * | 2020-12-28 | 2021-04-30 | 淳华科技(昆山)有限公司 | Solder mask printing machine |
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Application publication date: 20171107 |