CN108127646A - A kind of regulating arm - Google Patents
A kind of regulating arm Download PDFInfo
- Publication number
- CN108127646A CN108127646A CN201810135711.8A CN201810135711A CN108127646A CN 108127646 A CN108127646 A CN 108127646A CN 201810135711 A CN201810135711 A CN 201810135711A CN 108127646 A CN108127646 A CN 108127646A
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- axis
- mounting portion
- regulating arm
- along
- telescopic component
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- 230000001105 regulatory effect Effects 0.000 title claims abstract description 53
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 239000007787 solid Substances 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 abstract description 3
- 238000003786 synthesis reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of regulating arms, including pedestal and mounting portion, the mounting portion is used to connect external equipment, the regulating device for being connected to the pedestal and the mounting portion is further included, the regulating device is used to drive the mounting portion relative to the pedestal around the rotation of at least one of X-axis, Y-axis and Z axis.In the present invention, by setting regulating device, enable the regulating arm that there is the degree of freedom around three X-axis, Y-axis and Z axis direction rotations, so as to realize rotation of the external equipment along three directions, and the rotation of any direction along space can be realized by the synthesis along three direction rotational motions, and then the position of external equipment can be adjusted as needed, it is to realize the operating position of external equipment corresponding function.
Description
Technical field
The present invention relates to mobile device technology field, more particularly to a kind of regulating arm.
Background technology
In fields such as automobile, electronics, engineering machinery, there are various robots, such as：For arc-welding, spot welding, assembling, spray
The robot of painting for carrying, the robot of loading and unloading, for packing, stacking, the robot of de-stacking and applies for sealing
The robot of glue.In order to realize the specific function of robot, mechanical arm usually can be realized along three X-axis, Y-axis and Z axis sides
To movement.
But in actual mechanical process, only by can not may well realize machine along three moving for direction
The function of people, for example, when the robot needs to realize the operation of similar stubborn screw, above-mentioned mechanical arm obviously cannot meet will
It asks.
In view of this, a kind of mechanical arm how is provided, which can realize the rotational motion along all directions, be ability
The technical issues of field technique personnel are urgently to be resolved hurrily.
Invention content
In order to solve the above technical problems, the purpose of the present invention is provides a kind of regulating arm, it is described including pedestal and mounting portion
Mounting portion further includes the regulating device for being connected to the pedestal and the mounting portion, described adjust fills for connecting external equipment
It puts to drive the mounting portion relative to the pedestal around the rotation of at least one of X-axis, Y-axis and Z axis.
In the present invention, by setting regulating device so that the regulating arm can have around three X-axis, Y-axis and Z axis directions
The degree of freedom of rotation, so as to realize rotation of the external equipment along three directions, and by along three direction rotational motions
Synthesis can realize the rotation of any direction along space, and then can adjust the position of external equipment as needed, make at its
In the operating position that can realize external equipment corresponding function.
Optionally, the regulating device includes fixing axle and at least two groups of telescopic components, and the both ends of the fixing axle are distinguished
The pedestal and the mounting portion are fixed on, each telescopic component is all connected to the mounting portion, and can stretch along Z axis；
In the regulating arm course of work, each telescopic component is not exactly the same along the height of Z axis.
Optionally, the position that the mounting portion is connect with each telescopic component is first position, is connected with the fixing axle
The position connect is the second position, and each first position is uniformly distributed in same circumference, and the second position is located at the circle
The circle centre position in week.
Optionally, the telescopic component includes the leading screw and slide unit that cooperate, further includes actuator, the slide unit and institute
Mounting portion is stated to be connected, the leading screw axially along Z axis, and can be rotated by the actuator, to drive the cunning
Axial linear movement of the platform along the leading screw.
Optionally, the leading screw is connected with the output shaft of stepper motor, and the stepper motor is the actuator.
Optionally, the telescopic component further includes connecting rod, the both ends of the connecting rod in an axial direction respectively with the slide unit and institute
Mounting portion rotation connection is stated, and spherical surface is respectively formed between the connecting rod and the slide unit, between the connecting rod and the mounting portion
It is secondary.
Optionally, the connecting rod is tilted relative to Z axis.
Optionally, the telescopic component further includes at least two leads extended along Z-direction, and the lead passes through
The slide unit, so that the slide unit can be lifted along the lead.
Optionally, the regulating arm further includes several fixed plates being correspondingly arranged with the telescopic component, the fixed plate
It is fixed by fixed frame and the pedestal；
The lead is fixed on the corresponding fixed plate, and the leading screw is rotatablely connected with the corresponding fixed plate.
Optionally, the mounting portion includes at least two mounting blocks being correspondingly arranged with the telescopic component, each peace
It is corresponding with the telescopic component connected to fill block；
The mounting platform for connecting external equipment is further included, each mounting blocks and the fixing axle are both secured to described
Mounting platform.
Description of the drawings
Fig. 1 is the structure diagram of regulating arm provided by the present invention in a specific embodiment；
Fig. 2 is the structure diagram at another visual angle of Fig. 1；
Structure diagram when Fig. 3 is the regulating arm connection charging pipette tips in Fig. 1；
Fig. 4 is the structure diagram at another visual angle of Fig. 3；
Fig. 5 is the partial enlarged view of part in Fig. 4；
Fig. 6 is the front view of Fig. 1；
Fig. 7 is the sectional view along A-A of Fig. 6；
Fig. 8 is the B-B direction sectional view of Fig. 6.
In Fig. 1-8：
1 regulating arm, 11 pedestals, 12 mounting blocks, 13 telescopic components, 131 slide units, 132 connecting rods, 1,321 first spherical surfaces, 1322
Second spherical surface, 133 leading screws, 134 stepper motors, 135 leads, 14 positioning components, 141 fixed plates, 142 fixed frames, 1421 are determined
Position column, 143 fixing axles, 144 fixed blocks, 1441 boss；
2 mounting platforms, 21 mounting holes, 22 locating pieces, 23 dowels；
3 charging pipette tips.
Specific embodiment
It is below in conjunction with the accompanying drawings and specific real in order to which those skilled in the art is made to more fully understand technical scheme of the present invention
Applying example, the present invention is described in further detail.
Attached drawing 1-8 is please referred to, wherein, Fig. 1 shows for the structure of regulating arm provided by the present invention in a specific embodiment
It is intended to；Fig. 2 is the structure diagram at another visual angle of Fig. 1；Structure when Fig. 3 is the regulating arm connection charging pipette tips in Fig. 1 is shown
It is intended to；Fig. 4 is the structure diagram at another visual angle of Fig. 3；Fig. 5 is the partial enlarged view of part in Fig. 4；Fig. 6 is facing for Fig. 1
Figure；Fig. 7 is the sectional view along A-A of Fig. 6；Fig. 8 is the B-B direction sectional view of Fig. 6.
In a specific embodiment, the present invention provides a kind of regulating arm 1, and as depicted in figs. 1 and 2, which includes
Pedestal 11 and mounting portion, wherein, mounting portion realizes external equipment position for connecting external equipment, will pass through the regulating arm 1
Adjustment.Meanwhile the regulating arm 1 further includes the regulating device for being connected to pedestal 11 and mounting portion, wherein, which is used for
Drive mounting portion relative to pedestal 11 around the rotation of at least one of X-axis, Y-axis and Z axis.
In the present invention, by setting regulating device so that the regulating arm 1 can have around three X-axis, Y-axis and Z axis directions
The degree of freedom of rotation, so as to realize rotation of the external equipment along three directions, and by along three direction rotational motions
Synthesis can realize the rotation of any direction along space, and then can adjust the position of external equipment as needed, make at its
In the operating position that can realize external equipment corresponding function.
Specifically, as depicted in figs. 1 and 2, which includes fixing axle 143 and at least two groups of telescopic components 13, should
The both ends difference connect base 11 and mounting portion of fixing axle 143, so that the mounting portion is connected at the position of fixing axle 143
In stationary state；Meanwhile each telescopic component 13 is all connected to mounting portion, and can stretch towards the direction of Z axis, so that the peace
The position that dress portion is connected with extensible member can be lifted with extensible member along the stretching motion of Z axis, and each telescopic component 14, solid
Dead axle 143 is not conllinear with the link position of mounting portion.
Therefore, by setting fixing axle 143 and telescopic component so that a part for the mounting portion is fixed, another part energy
It is enough to be lifted along Z axis.Meanwhile in 1 course of work of regulating arm, each telescopic component 13 is not exactly the same along the height of Z axis, so as to make
It is different along the height of Z-direction obtaining mounting portion, when telescopic component 13 is constantly flexible so that the mounting portion is in rotation status,
And the stroke by changing each telescopic component 13, mounting portion can be realized along different directions, the rotation of different angle.
It should be noted that the axial direction of above-mentioned fixing axle 143 and the telescopic direction of telescopic component 13 are not necessarily along Z axis
Direction, also can be along X-axis or Y direction.Meanwhile the height of telescopic component 13 along Z axis refers to the extensible member 13 and installation
Height of portion's connecting place along Z axis.
Certainly, other rotating mechanisms commonly used in the art can also be used in above-mentioned regulating device.For example, mounting portion can connect edge
Three X-axis, Y-axis and Z axis direction setting gear drives, turning for mounting portion is realized by the cooperation of three gear drives
It is dynamic；It is realized alternatively, may also set up hydraulic cylinder-link mechanism, it, being capable of drive link mechanism pendulum when the piston rod of hydraulic cylinder is flexible
It is dynamic, so as to which mounting portion be driven to rotate.
And the regulating device in the present embodiment realizes the rotation of mounting portion by the different telescopic component 13 of several strokes,
Have the advantages that it is simple in structure, take up space it is small.
More specifically, as shown in Figure 1, Figure 2 with shown in Fig. 6, above-mentioned telescopic component 13 includes the leading screw 133 and slide unit that cooperate
131, actuator is further included, wherein, slide unit 131 is connected with mounting portion, and the axis of the leading screw 133, and can be in actuator along Z axis
Be rotated by, so as to which slide unit 131 be driven to move along a straight line along Z axis, so by slide unit 131 drive mounting portion lifted along Z axis.
It is appreciated that the stretching motion of above-mentioned telescopic component 13 is not necessarily realized by leading screw 133 and slide unit 131,
Other mechanisms that can realize straight line fortune work(commonly used in the art can be used, such as：Rack and pinion drive mechanism, tooth can also be used
Item is set along Z axis, and is connected with mounting portion, and gear is connected with actuator, and band carry-over bar is transported along Z axis straight line in gear rotation process
It is dynamic；Alternatively, above-mentioned telescopic component 13 may also comprise hydraulic cylinder, the piston rod of the hydraulic cylinder is set along Z axis, and with mounting portion phase
Even, when piston rod stretches, mounting portion is driven to be lifted along Z axis.
More specifically, the actuator of above-mentioned leading screw 133 is stepper motor 134, and in each telescopic component 13, each stepper motor
134 can accurately control the rotating speed and rotation time of each screw 133, so as to accurately control the rotation of mounting portion, and then improve and are somebody's turn to do
The degree of regulation of regulating arm 1.
In the present embodiment, stepper motor 134 controls the telescopic component 13 of screw 133 and slide unit 131 simple in structure, and is convenient for
Control.
Further, which further includes connecting rod 132, which connects slide unit 131 and installation respectively
Portion, so as to which the linear motion of slide unit 131 is transferred to mounting portion by connecting rod 132.
In the present embodiment, the connecting rod 132 of slide unit 131 and mounting portion is connected by setting, it is direct with slide unit 131 and mounting portion
It compares, driving force can be saved.
Specifically, as shown in fig. 6, the both ends of connecting rod 132 in an axial direction are respectively provided with the first spherical surface 1321 and the second spherical surface
1322, and 1321 and second spherical surface 1322 of the first spherical surface is convex spherical, slide unit 131 is provided with matches with first spherical surface 1321
The concave spherical surface of conjunction, mounting portion are provided with the concave spherical surface coordinated with the second spherical surface 1322, so that 131 and first spherical surface of slide unit
The first spherical pair is formed between 1321, the second spherical pair is formed between mounting portion and the second spherical surface 1322.
Therefore, the both ends of connecting rod 132 are rotatablely connected respectively with slide unit 131 and mounting portion, so that slide unit 131 and installation
It can be relatively rotated between portion, and the transmission moved therebetween is more flexible, and reduce each telescopic component 13 due to stroke
It is different and cause connecting rod 132 by larger torque, so as to play the role of protecting connecting rod 132, to improve the use of each component
Service life.
More specifically, as shown in fig. 6, connecting rod 132 is tilted relative to Z axis, so as to avoid connecting rod 132 in slide unit 131
Stuck phenomenon occurs when movement is transmitted between mounting portion.
Further, as shown in fig. 6, the telescopic component 13 further comprises several leads 135 being extended along Z axis,
In, in same telescopic component 13, lead 135 passes through slide unit 131, so that slide unit 131 can be transported along 135 straight line of lead
It is dynamic.
In the present embodiment, which includes two leads 135, and the section of each lead 135 is circle, when
When two leads 135 are set, it can prevent slide unit 131 from rotating, so as to which ensure only can be along guiding in its course of work
Column 135 moves along a straight line.Certainly, a lead also can only be included, and the section of the lead is rectangular or polygon, at this point,
The lead equally can prevent slide unit 131 from rotating.But in the present embodiment, section is led for circular lead 135 playing
To while acting on and prevent rotation, the abrasion between lead in 131 linear motion of slide unit can be reduced.
In the above various embodiments, for mounting portion, the position being connected with each telescopic component 13 is first position, with consolidating
The connected position of dead axle 143 is the second position, and each first position is uniformly distributed on same circumference, and the second position is located at the circle
The circle centre position in week.Therefore, in the plane perpendicular to Z axis, the distance between fixing axle 143 and each telescopic component 13 are equal.
In the present embodiment, when each telescopic component 13 be uniformly distributed and it is identical with the distance between fixing axle 143 when so that
The rotation of the regulating arm 1 is more prone to control, and the high stability during each component working.
Embodiment as shown in figures 1-8, the regulating arm 1 include 3 telescopic components 13, and between each telescopic component 13 into
The distribution of 120 degree of angles, fixing axle 143 are set to the center of circle for the circumference that three telescopic components 13 surround, with each telescopic component 13 it
Between distance be the circumference radius.Certainly, which may also set up 4 groups of telescopic components 13 or more, the present invention
In the number of telescopic component 13 is not construed as limiting.
On the other hand, as shown in figures 1-8, above-mentioned regulating device further includes positioning component 14, for positioning telescopic component 13
Each component.Specifically, as shown in fig. 6, the positioning component 14 includes several fixed plates 141 and fixed frame 142, each fixed plate
141 quantity is no less than the quantity of telescopic component 13, and each fixed plate 141 is fixed by fixed frame 142 and pedestal 11, each to be oriented to
Column 135 is fixed on corresponding fixed plate 141, meanwhile, each leading screw 133 is rotatablely connected with corresponding fixed plate 141, so that should
Leading screw 133 can be freely rotated.
Meanwhile as shown in fig. 6, each fixed plate 141 between mounting portion and pedestal 11, and along Z axis between mounting portion
Direction has preset distance, i.e. the height of fixed plate 141 is less than mounting portion.
Specifically, as depicted in figs. 1 and 2, it is each in order to improve it since above-mentioned telescopic component 13 is larger along the size of Z axis
The mounting stability of component, which includes three-decker, and passes through positioning column 1421 and pedestal 11 between each layer structure
It is connected.Meanwhile the fixed frame 142 further includes the motor fixing frame for fixing motor 143, which is used for motor
143 are fixed on pedestal 11.
In the various embodiments described above, as shown in Figure 3 and Figure 4, which further includes puts down for the installation for installing external equipment
Platform 2, so that external equipment can adjust operating position by the regulating arm 1.
Meanwhile as depicted in figs. 1 and 2, above-mentioned mounting portion include at least two mounting blocks 12, each mounting blocks 12 with flexible group
Part 13 is correspondingly arranged, and is corresponded and be connected, so that each mounting blocks 12 have under the driving of telescopic component 13 along Z-direction
There is different height, and the mounting platform 2 is fixedly connected with each mounting blocks 12, so as to when each 12 height of mounting blocks is different, be somebody's turn to do
Mounting platform 2 can rotate.
Specifically, as shown in Figure 4 and Figure 5, which concretely offers the platy structure of mounting hole 21, and
21 middle part of mounting hole is provided with locating piece 22, passes through several 23 phases of dowel between the locating piece 22 and 21 side wall of mounting hole
Even, so that the mounting hole 21 includes several apertures divided by dowel 23.
Meanwhile as shown in figure 5, above-mentioned each mounting blocks 12 are fixed on the entity part in 21 outside of mounting hole, above-mentioned fixing axle
143 tops are connected with fixed block 144, which has several boss 1441 radially protruded, and this is fixed
Block 144 is adapted and is fixedly connected with the locating piece 22 of mounting platform 2, meanwhile, each boss 1441 and corresponding 23 phase of dowel
It supports and is fixedly connected, so as to fulfill the fixation between fixing axle 143 and mounting platform 2.
In embodiment shown in Fig. 3-7 of the present invention, the mounting platform 2 is for connection charging pipette tips 3,3 energy of charging pipette tips
The charging of electrical equipment is enough in, particularly moves electrical equipment, such as electric vehicle etc., by being connected with the regulating arm 1, energy
Enough adjustment that 3 position of charging pipette tips is realized by rotating, to facilitate the charging process for realizing electrical equipment.
Certainly, the mounting platform 2 of the regulating arm 1 can also be used for connecting other external equipments for needing to adjust position, not
It is only limitted to for robot, therefore, the present invention is not construed as limiting the use scope of the regulating arm 1.
A kind of regulating arm provided by the present invention is described in detail above.Specific case used herein is to this
The principle and embodiment of invention is expounded, the explanation of above example is only intended to help understand the present invention method and
Its core concept.It should be pointed out that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, can also to the present invention some improvement and modification can also be carried out, these improvement and modification also fall into the protection of the claims in the present invention
In the range of.
Claims (10)
1. a kind of regulating arm, including pedestal (11) and mounting portion, the mounting portion is used to connect external equipment, which is characterized in that
The regulating device for being connected to the pedestal (11) and the mounting portion is further included, the regulating device is used to drive the mounting portion
Relative to the pedestal (11) around the rotation of at least one of X-axis, Y-axis and Z axis.
2. regulating arm according to claim 1, which is characterized in that the regulating device is including fixing axle (143) and at least
Two groups of telescopic components (13), the both ends of the fixing axle (143) are individually fixed in the pedestal (11) and the mounting portion, each institute
It states telescopic component (13) and is all connected to the mounting portion, and can stretch along Z axis；
In regulating arm (1) course of work, each telescopic component (13) is not exactly the same along the height of Z axis.
3. regulating arm according to claim 2, which is characterized in that the mounting portion is connect with each telescopic component (13)
Position for first position, position connect with the fixing axle (143) is the second position, and each first position is uniformly distributed
In same circumference, and the second position is located at the circle centre position of the circumference.
4. regulating arm according to claim 2, which is characterized in that the leading screw of the telescopic component (13) including mutual cooperation
(133) and slide unit (131), actuator is further included, the slide unit (133) is connected with the mounting portion, the axis of the leading screw (133)
It to along Z axis, and can be rotated by the actuator, to drive axis of the slide unit (131) along the leading screw (133)
To linear motion.
5. regulating arm according to claim 4, which is characterized in that the leading screw (133) and the output of stepper motor (134)
Axis is connected, and the stepper motor (134) is the actuator.
6. regulating arm according to claim 4, which is characterized in that the telescopic component (13) further includes connecting rod (132), institute
The both ends of connecting rod (132) in an axial direction are stated to be rotatablely connected with the slide unit (131) and the mounting portion respectively, and the connecting rod
(132) it is respectively formed spherical pair between the slide unit (131), between the connecting rod (132) and the mounting portion.
7. regulating arm according to claim 6, which is characterized in that the connecting rod (132) tilts relative to Z axis.
8. regulating arm according to claim 4, which is characterized in that the telescopic component (13) further includes at least two along Z
The lead (135) of axis direction extension, the lead (135) is across the slide unit (131), so that the slide unit (131) energy
It is enough to be lifted along the lead (135).
9. regulating arm according to claim 8, which is characterized in that the regulating arm (1) further includes and the telescopic component
(13) several fixed plates (141) being correspondingly arranged, the fixed plate (141) are solid by fixed frame (142) and the pedestal (11)
It is fixed；
The lead (135) is fixed on the corresponding fixed plate (141), the leading screw (133) and the corresponding fixation
Plate (141) is rotatablely connected.
10. according to the regulating arm described in any one of claim 2-9, which is characterized in that the mounting portion includes stretching with described
At least two mounting blocks (12) that contracting component (13) is correspondingly arranged, each mounting blocks (12) are corresponding with the telescopic component (13)
It is connected；
The mounting platform (2) for connecting external equipment is further included, each mounting blocks (12) and the fixing axle (143) are solid
Due to the mounting platform (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810135711.8A CN108127646A (en) | 2018-02-09 | 2018-02-09 | A kind of regulating arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810135711.8A CN108127646A (en) | 2018-02-09 | 2018-02-09 | A kind of regulating arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108127646A true CN108127646A (en) | 2018-06-08 |
Family
ID=62430962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810135711.8A Pending CN108127646A (en) | 2018-02-09 | 2018-02-09 | A kind of regulating arm |
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| Country | Link |
|---|---|
| CN (1) | CN108127646A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110152108A (en) * | 2019-06-27 | 2019-08-23 | 青岛大学附属医院 | A kind of radiation enhancing infusion connector Automatic Link Establishment |
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