CN107650111A - A kind of industrial robot - Google Patents
A kind of industrial robot Download PDFInfo
- Publication number
- CN107650111A CN107650111A CN201610590721.1A CN201610590721A CN107650111A CN 107650111 A CN107650111 A CN 107650111A CN 201610590721 A CN201610590721 A CN 201610590721A CN 107650111 A CN107650111 A CN 107650111A
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- China
- Prior art keywords
- operating
- mounting seat
- slide rail
- operating desk
- industrial robot
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Classifications
-
- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of industrial robot, and it includes workbench and operating desk；Workbench and the neighbouring setting of operating desk；Operating desk sets slide rail, drive device, mounting seat and robotic arm；Robotic arm is fixedly installed on mounting seat；Mounting seat is slideably positioned in slide rail；Drive device connects mounting seat, is slided for drive installation seat in slide rail.Using such scheme, the present invention is by receiving demand information, operation end position is adjusted with this and control operation end performs predetermined registration operation, without manual intervention, make it possible automation mechanized operation, programmable operations, remote reservation operation etc., be particularly suitable for the mechanical automation in industrial 4.0 epoch, coordinate various replaceable operating sides and its trickle control operation, people can the exclusive product of remote customisation oneself, there is market value beyond imagination.
Description
Technical field
The present invention relates to field of machinery automation, more particularly to, a kind of industrial robot.
Background technology
Automation refers to that machine or device are operated automatically in the case of unmanned intervene by predetermined program or instruction
Or the process of control, and mechanical automation is exactly the process that machine or device mechanically realize Automated condtrol.
The earliest time that specific mechanical automation occurs can not be examined, according to《Mo-tse》Record, earliest automation should be
The wooden bird of the Spring and Autumn and the Warring States Periods master craftsman of the Spring and Autumn period manufacture：" public defeated son cuts bamboo and wood and thinks magpie, Cheng Erfei it, three days not under." that is master craftsman of the Spring and Autumn period
It the wooden bird of making, power can soar high into the air, not land with fair wind within three days.So accurate device, wherein must must have what is automatically controlled
Measure inside, is retained without corresponding data and drawing unfortunately.Mechanical automation is answered when really cutting a conspicuous figure
It is the industrial revolution period of Modern West, has just used multiple machine automatizations to control to adjust system in the improved steam engine of watt at that time
System：Centrifugal governor and choke valve etc..Centrifugal governor has started a new milestone of machine automatization control.
The realization of mechanical automation leads machinery production to a new field, by automatic control system, really
Big industrial production is reached and has reduced labor intensity, improved efficiency, made the level of production of All Around The World step and gone up one
New step, and thus extend electric automatization.And current industry-by-industry all too busy to get away automated systems.Slave
From the point of view of tool industry development, the accent product such as printing machinery, Digit Control Machine Tool, generating equipment, engineering machinery prospect is still good.
But the progress and development of state-of-the-art technology how are adapted to, existing mechanical automation product is improved, still
It is to need to solve the problems, such as.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of new industrial robot.
Technical scheme is as follows：A kind of industrial robot, it includes workbench and operating desk；The workbench with
The operating desk is neighbouring to be set；The operating desk sets slide rail, drive device, mounting seat and robotic arm；The automatic machine
Tool arm is fixedly installed on the mounting seat；The mounting seat is slideably positioned in the slide rail；The drive device connects the peace
Seat is filled, for driving the mounting seat to be slided in the slide rail.
As preferable example, the slide rail is linear.
As preferable example, the workbench is arranged side by side with the operating desk.
As preferable example, the slide rail is S-shaped.
As preferable example, the slide rail is annular.
As preferable example, the workbench is set around the operating desk.
As preferable example, the operating desk is set around the workbench.
As preferable example, including multiple operating desks.
As preferable example, each operating desk is set around the workbench.
As preferable example, the bottom of the operating desk is provided with moving structure and fixed structure.
Using such scheme, the present invention adjusts operation end position with this and control operation end is held by receiving demand information
Row predetermined registration operation, without manual intervention so that automation mechanized operation, programmable operations, remote reservation operation etc. are possibly realized, especially
It is adapted to the mechanical automation in 4.0 epoch of industry, coordinates various replaceable operating sides and its trickle control operation, people can be remote
Journey customizes oneself exclusive product, has market value beyond imagination.
Brief description of the drawings
Fig. 1 is the schematic diagram of one embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is described in detail, and the following examples, which can combine, to be made
With, also, the present invention can be realized using various forms, be not limited to each specific embodiment described by this specification, there is provided
The purpose of these embodiments is that the disclosure more thorough and comprehensive is readily appreciated.Need further exist for explanation
It is directly or indirectly to be fixed on another structure when a certain structure is fixed on another structure, including by the structure, or will
The structure is fixed on another structure by one or more of the other intermediate structure.When a structure connects another structure,
Including the structure is directly or indirectly connected into another structure, or the structure is passed through into one or more of the other middle knot
Structure is connected to another structure.Also, described "and/or" include " and " with two kinds of possible embodiments of "or".
As shown in figure 1, the example of the present invention is a kind of industrial robot, it includes workbench 100 and operating desk
200；The workbench and the neighbouring setting of the operating desk；The operating desk sets slide rail 210, drive device 220, mounting seat
230 with robotic arm 240；The robotic arm is fixedly installed on the mounting seat；The mounting seat is slideably positioned in institute
State slide rail；The drive device connects the mounting seat, for driving the mounting seat to be slided in the slide rail.
As preferable example, the slide rail is linear.For example, the workbench is arranged side by side with the operating desk.
So, the mounting seat on slide rail can quickly and its position of flexible transformation, and it is quick in place to advantageously allow the robotic arm,
It is rapid to carry out corresponding operating.
As preferable example, the slide rail is S-shaped.For example, the workbench is arranged side by side with the operating desk.S-shaped
The design of slide rail so that mounting seat thereon has the distance of change when sliding relative to the operating desk, be adapted to it is described from
Dynamic its position of mechanical arm flexible transformation or pending target.
As preferable example, the slide rail is annular.For example, the workbench is set around the operating desk, and/
Or, the operating desk is set around the workbench.The design of endless glide so that mounting seat thereon slide when have compared with
Big relative distance, bigger workbench is can adapt to, there are more operating spaces and operation target, similar to the revolution longevity
Department so that the robotic arm has to the pending target on workbench preferably obtains effect.
And for example, including multiple operating desks.As preferable example, each operating desk is set around the workbench
Put.So, multiple robotic arms can share a workbench, and use is very flexibly, conveniently.As preferable example, institute
The bottom for stating operating desk is provided with moving structure and fixed structure, for example, moving structure includes roller, roller bearing and its support, Gu
Determining structure includes the support frame of adjustment height up and down, for the terrain clearance by adjusting the operating desk up and down, make roller with
Ground contacts or disengaged, so that the operating desk is removable or irremovable.
For example, drive device order sets drive cylinder and its connecting rod, the mounting seat be fixed on the connecting rod and
It is slideably positioned in the slide rail；And for example, the drive device order sets drive cylinder, connecting rod and wheel group, the mounting seat to consolidate
Due to the wheel group, the wheel group drives slide rail described in lower edge to slide and/or roll in the connecting rod.In other embodiment, institute
Stating drive device can also use existing structure to realize.
For example, the robotic arm, its information receiving module for including being linked in sequence, processing module, drive module with
Operating side；So, by receiving demand information, operation end position is adjusted with this and control operation end performs predetermined registration operation, without
Manual intervention so that automation mechanized operation, programmable operations, remote reservation operation etc. are possibly realized, and are particularly suitable for industrial 4.0 epoch
Mechanical automation；Also, can only replacement operation end when needing upgrading；Drive module and operating side can also be changed；Example
Such as, more set drive modules and operating side are set, a processing module can be used for controlling different drive modules and operating side, so as to
Universal serial product can be formed, is particularly suitable for heavy industrialization application.So, coordinate various replaceable operating sides and its
Trickle control operation, people can the exclusive product of remote customisation oneself, there is market value beyond imagination.
Wherein, described information receiving module is used to receive demand information, is transferred to the processing module；For example, information connects
Module connection server, management equipment or control terminal are received, receives and comes from server, management equipment or the demand letter for controlling terminal
Breath；As preferable example, described information receiving module sets radio receiving unit, is needed for being received by wireless communication mode
Seek information.As preferable example, the radio receiving unit is WIFI unit or bluetooth unit.So, by server,
Management equipment or control terminal send demand information to described information receiving module, you can control the industrial robot to hold automatically
Specified predetermined registration operation in row demand information.And for example, server, management equipment or control terminal editor's demand information, send
To described information receiving module.So, demand information is freely edited, and is specified and is sent.For example, the demand information includes mesh
Mark the model and quantity of product；And for example, the demand information includes model, quantity and the deadline of target product；And for example, institute
Stating demand information includes user profile, the model of target product, quantity and deadline；And for example, the demand information includes using
Family information, the model of some target products and its quantity and deadline；By that analogy.As preferable example, described information
Receiving module is provided with station location marker, such as specific IP address etc., and described information receiving module is sent to described for reception
The demand information of station location marker, demand information is then transferred to the processing module.
For example, also include the information sending module that is connected with the processing module, for obtain the processing module according to
The demand information controls the operating side to perform status information and the transmission of predetermined registration operation, for example, being used to be sent to default clothes
Device, the management equipment of being engaged in control terminal.Wherein, the status information, the implementing result of the predetermined registration operation is judged for providing.
The operating side is controlled to perform predetermined registration operation according to the demand information for example, the status information includes the processing module
Initial state information, intermediateness information and end-state information, for provide original state, intermediateness and end-state with
The overall implementing result for judging the predetermined registration operation, also, due to initial state information, intermediateness information and final shape
State information, when contributing to generation problem, there is provided long-range details, so as to start with solution from source, for example, operating side is held
Row predetermined registration operation fails, and is due to initial position failure, intermediate steps failure or finally places failure, these problems can be transferred through
The status information is resolved.As preferable example, described information sending module sets trouble unit, described for judging
When status information meets fault condition, the status information for meeting fault condition is sent by described information sending module.Wherein,
It will be appreciated by those skilled in the art that fault condition can flexibly be set according to product flow or experience.As preferable example,
Described information sending module sets wireless transmission unit, for receiving demand information by wireless communication mode.As preferable
Example, the wireless transmission unit is WIFI unit or bluetooth unit.As preferable example, described information sending module with
Described information receiving module is integrally disposed.For example, described information sending module is integrally disposed for letter with described information receiving module
Transceiver module is ceased, for example, described information transceiver module is radio receiving transmitting module.
The processing module is used to control the drive module to drive the operating side to adjust position according to the demand information
Put；For example, the processing module is provided with cell board, MCU units or CPU element, according to demand information control
Drive module, the operating side adjustment position, the adjustment position, including the adjustment operating side are driven by the drive module
Locus, for example, adjust the operating side in the locus of default three-dimensional cartesian coordinate system, can be close or connect
Touch target to be operated.Also, the processing module is also connected with the operating side, for according to demand information control
Operating side performs predetermined registration operation.That is, processing module difference link information receiving module, drive module and operating side, from
Information receiving module obtains demand information, according to demand information control drive module and operating side.
As preferable example, the processing module sets judging unit, for judging whether the demand information meets
Default tupe, it is then to control the drive module to drive the operating side according to the demand information by the processing module
Predetermined registration operation is performed by the default tupe.For example, the predetermined registration operation includes material processing technique；It is for example, described pre-
If operation includes shaping, connection and surface treatment etc.；And for example, the predetermined registration operation includes bending, stretching, moulding, injection, spray
Painting, injection, fusion sediment, cut, cut, drilling and milling with mill etc..As preferable example, the processing module is set and the judgement
The memory module of unit connection, for storing the default tupe.As preferable example, the memory module is used to deposit
Some default tupes are stored up, the judging unit is used for whether demand information described in contrast judgement one by one to meet any default place
Reason pattern, it is to control the drive module to drive the operating side by being accorded with according to the demand information by the processing module
The default tupe closed performs predetermined registration operation.For example, the default tupe includes performing a certain type products
Complete predetermined registration operation；And for example, the default tupe includes carrying out a certain type product some process processing, each described
Process processing includes performing some predetermined registration operations in order.
As preferable example, the processing module sets the authenticating unit being connected with the judging unit, for institute
State demand information to be authenticated, authentication by the judging unit by then judging whether the demand information meets default processing mould
Formula.So, the only user with associated rights, could control the industrial robot to be produced by demand information.Make
For preferable example, the authenticating unit is also connected with the memory module, and the memory module is used to store operating right use
Family, the authenticating unit are used to judge whether the demand information includes the operating right user, are that authentication passes through.As
Preferable example, the memory module are additionally operable to store some operating right users, and the authenticating unit, which is used to compare one by one, to be sentenced
Whether the demand information that breaks includes any operation authority user, is, authentication passes through.As preferable example, the storage mould
Block is additionally operable to store the corresponding operating right of each operating right user institute, and the authenticating unit is used to judge the demand information bag
During the user of authority containing any operation, the operating right whether demand information meets the operating right user is compared one by one,
It is that authentication passes through.For example, different users has different authorities, the industrial robot can be driven to produce or perform
Some special processes.So, each operating right user has identical or different operating right, is especially suitable for done through network
Customize identical or different product so that network directly contacts the industrial robot to carry out production and be possibly realized automatically.
As preferable example, it is a control system that described information receiving module is integrally disposed with the processing module.Make
For preferable example, the drive module setting plug socket, the control system plugged and fixed is in the plug socket.So, may be used
To be conveniently separated setting control system, for example, control system corresponds to the employee either work card of operator or identity；Again
Such as, control system is correspondingly possessed of control power the administrative staff of limit.So, only control system plugged and fixed is when plug socket, institute
Stating industrial robot could controlled operation.Also, when needing to upgrade or changing, it need to only take out at the control system
Reason, it is very convenient.As preferable example, the plug socket sets correction verification module, is for verifying the control system
It is no to match with the drive module, enable when matching or connect the control system, do not provided when not matching that not
The prompting matched somebody with somebody.For example, the plug socket sets correction verification module, for the sequence number or checking mark according to the control system,
Verify whether the control system matches with the drive module, enable when matching or connect the control system,
Unmatched prompting is provided when not matching that.For example, the correction verification module sets indicator lamp, for providing lamp when not matching that
Light indicates that and for example, the correction verification module sets loudspeaker, for providing sound instruction when not matching that.
As preferable example, the plug socket sets inserted terminal and neck, and the control system part is accommodating to be fixed on
The neck, and with the inserted terminal grafting.As preferable example, the inserted terminal is arranged at the bottom of the neck.This
Sample, can easily it connect and the fixed control system.
As preferable example, the control system is a board.As preferable example, the control system is a shifting
Dynamic terminal；For example, the mobile terminal part is accommodating to be fixed on the neck, and with the inserted terminal grafting.And for example, the control
In a mobile terminal, the mobile terminal part is accommodating to be fixed on the neck for the system integration processed, and with the inserted terminal grafting.
So, the control system is realized by the form of mobile terminal so that operation, connection and communication are all very convenient, are also easy to
Update the control system；And applied by the various APP of mobile terminal, it is more multi-functional to assign industrial robot, makes
Realize more multioperation in its operating side.
As preferable example, the robotic arm sets installed part, and the drive module is fixedly installed on the peace
Piece installing；For example, the plug socket is arranged at the installed part.As preferable example, the robotic arm is provided with display
Device, it is used to show current demand information and/or the operation planning according to the demand information.For example, the display is fixed
It is arranged at the installed part.As preferable example, the drive module setting has connection end, and it connects the operating side, this
Sample, a set of operating side can be configured, information and/or flexibly be set according to the operation planning of the demand information or more according to demand
Change corresponding operating side.As preferable example, the operating side sets some operating parts, and the connection end is correspondingly arranged some
Connection terminal, each connection terminal one operating parts of corresponding connection, the processing module are used for according to the demand information control
The drive module is made, the position of its one connection terminal of connection end adjustment is driven by the drive module, so that
The operating side corresponding to it will perform an operating parts adjustment position of predetermined registration operation；The processing module also passes through
The connection end is connected with the operating side, for selecting an operating parts according to the demand information, controls the operation
The operating parts at end performs predetermined registration operation.In this manner it is achieved that complicated multiple operation operation, helps to use an automatic machine
Tool arm carries out numerous operations to the product of different model.
For example, also include the identification module being connected with the processing module, for identifying the mode of operation of the operating side,
It is transferred to the processing module.For example, the identification module includes camera.As preferable example, the identification module bag
Include multiple cameras.So, by obtaining and identify the mode of operation of the operating side, the processing module is transferred to,
Judged by the processing module whether normal relative to current demand information, the mode of operation of the operating side.As preferred
Example, in addition to the alarm module being connected with the identification module, for being reported when the mode of operation occurs abnormal
It is alert.As preferable example, the alarm module sets long-range output unit, for remotely exporting alarm signal when being alarmed
Number.So, when the mode of operation of the operating side occurs abnormal, administrative staff can be notified in time, avoid accident or wave
Take.For example, the identification module includes camera, location identification unit, action recognition unit and transmission unit, wherein, it is described
Location identification unit and the action recognition unit connect the camera and the transmission unit respectively, for being taken the photograph according to
The position of the operating side as acquired in head and action, position identification and action recognition are carried out respectively, obtains the operating side
Mode of operation, the processing module is transferred to by the transmission unit.As preferable example, the identification module also wraps
Sensor is included, for obtaining the ambient condition of the operating side, is transferred to the processing module, phase is judged by the processing module
For current demand information, whether the operating environment of the operating side is normal.For example, the sensor includes TEMP
Device.As preferable example, the temperature sensor is arranged at the connection end.As preferable example, each connection
One temperature sensor is set at terminal.As preferable example, the sensor also includes smell sensor.
As preferable example, the drive module setting rotary unit, for being rotated under processing module control.
As preferable example, the rotary unit includes the horizontal rotation structure to interfix and vertical rotary structure, is respectively used to
Horizontal rotation and vertical rotary.For example, the robotic arm also includes base, for the robotic arm to be fixedly mounted,
The rotary unit is rotatably connected with the base.For example, the vertical rotary structure rotates with the base in vertical angle
Connection, the horizontal rotation structure is rotatably connected with the vertical rotary structure in level angle, so as to realize space omnidirectional
The effect of rotation.As preferable example, the drive module setting telescopic unit, for being stretched under processing module control
Contracting.For example, the telescopic unit is provided with stepping controlling structure for telescopic handle, stretched for stepping under being controlled in the processing module.
For example, the telescopic unit is arranged in series multiple stretching structures, it is flexible over long distances to realize.For example, the plug socket is arranged at
On the base.And for example, the plug socket is arranged at the vertical rotary structure or the horizontal rotation structure.Rotary unit with
The cooperation of telescopic unit so that the drive module can drive the operating side to be directed to target to be operated and suitably adjust position
Put, thus allow for effectively operating.
As preferable example, the operating side sets grip unit, pre- for being performed under processing module control
If clipping operation.For example, the grip unit sets gripper cylinder and its supporting rod；For example, the grip unit sets C clamp
Hold portion.And/or the grip unit sets resilient clamp end.For example, the grip unit sets C-shaped clamping end, wherein
The both ends of C-shaped are the resilient clamp end.And for example, the operating side sets suction unit, in the processing module
Control is lower to perform default suction operation, for example, the suction unit, which is set, draws cylinder and its suction pipe or sucker, using air-breathing side
Formula performs default suction operation.And for example, the operating side is E shapes or euro shapes, and its middle part is suction unit, and both ends are clamping
Unit.So, extraordinary fixed effect can be obtained so that the operating side can securely fix pending target.Example
Such as, some operating parts are E shapes, and some operating parts are C-shaped；And/or some operating parts are euro shapes.And for example, institute
State operating side setting and support unit, operation is supported for performing to preset under processing module control, for example, described support list
Member includes force side and a force side, force side be used for the pending target that is pointed between force side and force side to
Force side applies pressure so that pending target is held between force side and force side securely；So, can obtain more
Firm fixed effect.For example, at least one operating parts is grip unit；At least one operating parts is suction unit；Extremely
To support unit, multiple operating parts coordinate, and pending target is fixed a few operating parts.
As preferable example, the operating side sets fixation kit and operating assembly, and the fixation kit sets clamping
Unit, suction unit and/or support unit；For example, the fixation kit sets some operating parts respectively with the operating assembly,
In the fixation kit, at least one operating parts is grip unit；At least one operating parts is suction unit；At least one institute
Operating parts is stated to support unit；The operating parts in the operating assembly include bool, tensioning member, styling members, injection member,
Spray piece, jet member, fusion sediment part, cut piece, cutting members, diamond piece, milling part are respectively used to by the processing module root with grinding part etc.
The drive module is controlled to drive the operating side corresponding default by the default tupe execution according to the demand information
Operation.Specific control is realized, is referred to industrial corresponding operating and is performed.
Further, embodiments of the invention also include, and each technical characteristic of the various embodiments described above, are mutually combined what is formed
Industrial robot or intelligent industrial robot or automatic intelligent commercial plant.
It should be noted that above-mentioned each technical characteristic continues to be mutually combined, the various embodiments not being enumerated above are formed,
It is accordingly to be regarded as the scope of description of the invention record；Also, for those of ordinary skills, it can add according to the above description
To improve or convert, and all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of industrial robot, it is characterised in that including workbench and operating desk；
The workbench and the neighbouring setting of the operating desk；
The operating desk sets slide rail, drive device, mounting seat and robotic arm；
The robotic arm is fixedly installed on the mounting seat；
The mounting seat is slideably positioned in the slide rail；
The drive device connects the mounting seat, for driving the mounting seat to be slided in the slide rail.
2. industrial robot according to claim 1, it is characterised in that the slide rail is linear.
3. industrial robot according to claim 2, it is characterised in that the workbench is arranged side by side with the operating desk.
4. industrial robot according to claim 1, it is characterised in that the slide rail is S-shaped.
5. industrial robot according to claim 1, it is characterised in that the slide rail is annular.
6. industrial robot according to claim 5, it is characterised in that the workbench is set around the operating desk.
7. industrial robot according to claim 5, it is characterised in that the operating desk is set around the workbench.
8. industrial robot according to claim 1, it is characterised in that including multiple operating desks.
9. industrial robot according to claim 8, it is characterised in that each operating desk is set around the workbench.
10. industrial robot according to claim 9, it is characterised in that the bottom of the operating desk is provided with moving structure
With fixed structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610590721.1A CN107650111A (en) | 2016-07-26 | 2016-07-26 | A kind of industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610590721.1A CN107650111A (en) | 2016-07-26 | 2016-07-26 | A kind of industrial robot |
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| CN107650111A true CN107650111A (en) | 2018-02-02 |
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| CN201610590721.1A Pending CN107650111A (en) | 2016-07-26 | 2016-07-26 | A kind of industrial robot |
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| CN108806013A (en) * | 2018-04-04 | 2018-11-13 | 昆山市工研院智能制造技术有限公司 | The patrol robot ecosystem |
| CN109029814A (en) * | 2018-07-27 | 2018-12-18 | 重庆东登科技有限公司 | Thrust cylinder body test macro and test method |
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| CN101118436A (en) * | 2007-09-03 | 2008-02-06 | 石毅 | New style open type numerical control system realizing method based on multiple CPU parallel processing technology |
| KR20100111187A (en) * | 2009-04-06 | 2010-10-14 | 삼성중공업 주식회사 | Blasting apparatus mounted on tendon controlled mobile platform and tendon controlled mobile platform have the same |
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| CN103760820A (en) * | 2014-02-15 | 2014-04-30 | 华中科技大学 | Evaluation device of state information of machining process of numerical control milling machine |
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