CN108189002A - A kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments - Google Patents
A kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments Download PDFInfo
- Publication number
- CN108189002A CN108189002A CN201810061049.6A CN201810061049A CN108189002A CN 108189002 A CN108189002 A CN 108189002A CN 201810061049 A CN201810061049 A CN 201810061049A CN 108189002 A CN108189002 A CN 108189002A
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- CN
- China
- Prior art keywords
- joint arm
- arm
- piezoelectric ultrasonic
- driving
- ultrasonic vibrator
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Abstract
The present invention discloses a kind of driving examining and repairing mechanical arm of the piezoelectric ultrasonic vibrator applied to bad working environments,Including pedestal,Universal caster wheel,Steel wire rope,Rack,Pulley,Piezoelectric ultrasonic vibrator,Turntable bearing,Seven joint arms,L-shaped frame,Expanding table,Handgrip mechanism,Camera,Four universal caster wheels are installed on the downside of pedestal,Rack is equipped with two guide rails,Pulley rotation is installed on the top of cylinder putter,First joint arm forms prismatic pair with rack,The first joint arm of oil cylinder extension and contraction control moves up and down,Each joint arm and the joint arm being attached thereto form revolute pair,6th joint arm forms revolute pair with L-shaped frame,7th joint arm is fastenedly connected with L-shaped frame,7th joint arm forms revolute pair with expanding table,The piezoelectric ultrasonic vibrator driving expanding table rotation being installed in the 7th joint arm,Handgrip mechanism is installed on expanding table,Camera there are two being set in handgrip mechanism,The operating environment around mechanical arm is observed for operator,According to actual job type,Expanding table can also connect other clamping devices,Welding mechanism.
Description
Technical field
The present invention relates to the examining and repairing mechanical arms in a kind of environment applied to unsuitable manual works such as high-intensity magnetic field, intense radiations
Device, and in particular to be a kind of examining and repairing mechanical arm device applied to high-intensity magnetic field intense radiation operating mode.
Background technology
Tokamak device surfaces externally and internally accumulates and volume is larger, and inner wall generally reassembles technological design side using piecemeal manufacture
Method.By taking EAST as an example, the unit block size for forming its inner wall is generally 0.25m2(50cm × 50cm) left and right, weigh tens of public affairs
Jin.To prevent from radiating and occurring leakage accident, it is desirable that welding and the minimum ± 2mm of assembly precision.It is interior after ITER gets into smooth
Wall temperature is up to 120-200 DEG C, up to 5MW/m when heat density starts2, also up to 0.5MW/m during shutdown2, vacuum degree 10- 6Pa, magnetic field intensity are up to 10Gy/h up to 6.2T, γ radiation.This high temperature, high vacuum, highfield and the operating mode of high radiation
Exceedingly odious danger.Even if be in shutdown status because of Maintenance and Repair operation, still remaining larger high energy spoke at inner wall position
The relatively high-intensity magnetic field with electromagnetic radiation and about 3.5T is penetrated, the mankind, which can not be directly entered, wherein carries out operation.
Therefore, tokamak chamber etc. have high-intensity magnetic field, intense radiation bad working environments in, the maintenance of equipment is assembled, is torn open
The operations such as unloading, weld, carrying must use robot arm device to complete.In existing mechanical arm, the rotation in joint is mostly by motor
Driving, high-intensity magnetic field, intense radiation operating mode in, motor very likely occur dropout or interference error situation, this for
Expensive is all breakneck by repair apparatus and the mechanical arm of heavy burden, thus be badly in need of developing can be applied to high-intensity magnetic field,
The robot arm device of intense radiation operating mode.
Invention content
The purpose of the present invention is to provide a kind of driving examining and repairing mechanical arm of the piezoelectric ultrasonic vibrator applied to bad working environments,
High degree of automation, degree of freedom is high, and the rotation in joint is driven by hydraulic motor, stable, and strong antijamming capability can
Be adapted to high-intensity magnetic field, intense radiation working environment.
The technical solution that the present invention takes is：A kind of driving maintenance machinery of piezoelectric ultrasonic vibrator applied to bad working environments
Arm, including pedestal, universal caster wheel, steel wire rope, rack, guide rail, oil cylinder, pulley, turntable bearing, rotor, piezoelectric ultrasonic vibrator, close
Capping, sliding block, the first joint arm, the second joint arm, third joint arm, the 4th joint arm, the 5th joint arm, the 6th joint arm, the 7th joint arm, L-shaped
Frame, expanding table, handgrip mechanism, left camera, right camera, it is characterised in that：Universal caster wheel has auto-lock function, and four universal
Castor is installed on the downside of pedestal, and pedestal is enable to realize Omni-mobile, operates handrail and clump weight is installed on rear end on the upside of pedestal,
Rack is fixedly installed in pedestal upper front end, and lower end is equipped with steel wire rope connecting seat on rear side of rack, and rack front side vertical direction is equipped with
Two guide rails, oil cylinder are installed on frame central position, and pulley rotation is installed on the top of cylinder putter, and the first joint arm rear end is equipped with
Four sliding blocks, four sliding blocks are installed on two-by-two on two guide rails, and the first joint arm is made to form prismatic pair, steel wire rope one with rack
End is connected to steel wire rope connecting seat, and the other end is connect by pulley with the first joint arm upper end.
Further, as shown in Fig. 2, the piezoelectric ultrasonic vibrator is equipped with driving foot and mounting base, as shown in figure 3,
First joint arm front end vertical direction is equipped with cylindrical cavity, turntable bearing is equipped between the first joint arm and the second joint arm, before making
The two forms revolute pair, and a rotor is fastenedly connected by screw and the second joint arm, and the mounting base of three piezoelectric ultrasonic vibrators is led to
The cavity inner wall that screw is uniformly installed on the first joint arm is crossed, the driving foot of three piezoelectric ultrasonic vibrators connects with rotor inner wall compression
It touches, a sealing cover is installed on the downside of the first joint arm front end, and the cavity of the first joint arm front end and extraneous air are completely cut off, prevent powder
Dustiness contaminates.
Further, as shown in figure 4, the second joint arm front end is vertically to equipped with cylindrical cavity, the second joint arm and the
Turntable bearing between three joint arms is installed, the above two is made to form revolute pair, a rotor is connected by screw and the fastening of third joint arm
It connects, the mounting base of three piezoelectric ultrasonic vibrators is uniformly installed on the cavity inner wall of the second joint arm, three piezoelectric supersonics by screw
The driving of oscillator is pressed into contact with enough with rotor inner wall, and a sealing cover is installed on the downside of the second joint arm front end, the second joint arm, the
Three joint arms, the 4th joint arm, the 5th joint arm structure are identical, connection structure between third joint arm and the 4th joint arm, Section four
The connection structure between connection structure, the 5th joint arm and the 6th joint arm between arm and the 5th joint arm with the second joint arm and third
Connection structure between joint arm is identical, therefore repeats no more.
Further, as shown in figure 5, the 6th joint arm front end horizontal direction is equipped with cylindrical cavity, the 6th joint arm and L-shaped
Turntable bearing between frame is installed, the above two is made to form revolute pair, a rotor is fastenedly connected by screw and L-shaped frame, three
The mounting base of piezoelectric ultrasonic vibrator is uniformly installed on the cavity inner wall of the 6th joint arm, the drive of three piezoelectric ultrasonic vibrators by screw
Action spot is pressed into contact with rotor inner wall, and a sealing cover is installed at the 6th joint arm front end cavities open.
Further, as shown in figure 5, the 7th joint arm is fastenedly connected with L-shaped frame by screw, inside the 7th joint arm
Equipped with cylindrical cavity, there are one turntable bearings for installation between the 7th joint arm front end and expanding table, the above two is made to form revolute pair,
The mounting base of three piezoelectric ultrasonic vibrators is uniformly installed on the cavity inner wall of the 7th joint arm, three piezoelectric ultrasonic vibrators by screw
Driving enough be pressed into contact with rotor inner wall.
Further, the handgrip mechanism is fastenedly connected by screw and expanding table, in handgrip mechanism there are two installations
Camera observes the operating environment around mechanical arm for operator, and according to actual job type, expanding table can also connect other
Clamping device, welding mechanism.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is piezoelectric ultrasonic vibrator structure diagram in the present invention.
Fig. 3 is the first joint arm and the part section structural representation of the second joint arm link position in the present invention.
Fig. 4 is the part section structural representation in the vertical median plane of the present invention.
Fig. 5 is the part section structural representation in horizontal plane of the present invention.
Fig. 6 is any posture schematic diagram of the present invention.
Drawing reference numeral：It is 0.1 driving foot, 0.2 piezoelectric ceramic piece, 0.3 mounting base, 0.4 metallic matrix, 1 pedestal, 1.1 universal
Castor, 1.2 clump weights, 1.3 operation handrails, 2 steel wire ropes, 3 racks, 3.1 steel wire rope connecting seats, 3.2 guide rails, 4 oil cylinders, 4.1 are slided
Wheel, 5 first joint arms, 5.1 turntable bearings, 5.2 rotors, 5.3 piezoelectric ultrasonic vibrators, 5.4 sealing covers, 5.5 sliding blocks, 6 second joint arms,
6.1 turntable bearings, 6.2 rotors, 6.3 piezoelectric ultrasonic vibrators, 6.4 sealing covers, 7 third joint arms, 8 the 4th joint arms, 9 the 5th joint arms,
9.2 rotors, 9.3 piezoelectric ultrasonic vibrators, 10 the 6th joint arms, 10.1 turntable bearings, 10.2 rotors, 10.3 piezoelectric ultrasonic vibrators,
10.4 sealing covers, 11L shapes frame, 12 the 7th joint arms, 12.1 turntable bearings, 12.2 rotors, 12.3 piezoelectric ultrasonic vibrators, 13 extensions
Platform, 14 handgrip mechanisms, 15.1 left cameras, 15.2 right cameras.
Specific embodiment
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, a kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments, including pedestal 1,
Universal caster wheel 1.1, steel wire rope 2, rack 3, guide rail 3.2, oil cylinder 4, pulley 4.1, turntable bearing (5.1,6.1,10.1,12.1),
Rotor (5.2,6.2,9.2,10.2,12.2), piezoelectric ultrasonic vibrator (5.3,6.3,9.3,10.3,12.3), sealing cover (5.4,
6.4th, 10.4), sliding block 5.5, the first joint arm 5, the second joint arm 6, third joint arm 7, the 4th joint arm 8, the 5th joint arm 9, the 6th joint arm
10th, the 7th joint arm 12, L-shaped frame 11, expanding table 13, handgrip mechanism 14, left camera 15.1, right camera 15.2, feature exist
In：Universal caster wheel 1.1 has auto-lock function, and four universal caster wheels 1.1 are installed on 1 downside of pedestal, pedestal 1 is enable to realize omnidirectional
It is mobile, it operates handrail 1.3 and clump weight 1.2 is installed on 1 upside rear end of pedestal, rack 3 is fixedly installed in 1 upper front end of pedestal,
3 rear side lower end of rack is equipped with steel wire rope connecting seat 3.1, and 3 front side vertical direction of rack is equipped with two guide rails 3.2, and oil cylinder 4 is installed on
3 center of rack, pulley 4.1 are rotatablely installed in the top of 4 push rod of oil cylinder, and 5 rear end of the first joint arm is set there are four sliding block 5.5,
Four sliding blocks 5.5 are installed on two-by-two on two guide rails 3.2, and the first joint arm 5 is made to form prismatic pair, steel wire rope 2 one with rack 3
End is connected to steel wire rope connecting seat 3.1, and the other end is connect by pulley 4.1 with 5 upper end of the first joint arm.
As shown in Fig. 2, the piezoelectric ultrasonic vibrator (5.3,6.3,9.3,10.3,12.3) is equipped with driving 0.1 He of foot
Mounting base 0.3, as shown in figure 3,5 front end vertical direction of the first joint arm is equipped with cylindrical cavity, the first joint arm 5 and the second joint arm 6
Between turntable bearing 5.1 is installed, the above two is made to form revolute pair, a rotor 5.2 passes through screw and the second joint arm 6 fastening company
It connects, the mounting base 0.3 of three piezoelectric ultrasonic vibrators 5.3 is uniformly installed on the cavity inner wall of the first joint arm 5, three pressures by screw
The driving foot 0.1 of electric ultrasonic vibrator 5.3 is pressed into contact with 5.2 inner wall of rotor, and a sealing cover 5.4 is installed on the first joint arm 5
On the downside of front end, the cavity of 5 front end of the first joint arm and extraneous air are completely cut off, prevent dust pollution.
As shown in figure 4,6 front end of the second joint arm is vertically to equipped with cylindrical cavity, the second joint arm 6 and third joint arm 7
Between turntable bearing 6.1 is installed, the above two is made to form revolute pair, a rotor 6.2 passes through the fastening of screw and third joint arm 7 and connects
It connects, the mounting base 0.3 of three piezoelectric ultrasonic vibrators 6.3 is uniformly installed on the cavity inner wall of the second joint arm 6, three pressures by screw
The driving foot 0.1 of electric ultrasonic vibrator 6.3 is pressed into contact with 6.2 inner wall of rotor, and a sealing cover 6.4 is installed on the second joint arm 6
On the downside of front end, the second joint arm 6, third joint arm 7, the 4th joint arm 8,9 structure of the 5th joint arm are identical, third joint arm 7 and the 4th
Connection structure, the 5th joint arm 9 and the 6th joint arm 10 between connection structure, the 4th joint arm 8 and the 5th joint arm 9 between joint arm 8
Between connection structure of the connection structure between the second joint arm 6 and third joint arm 7 it is identical, therefore repeat no more.
As shown in figure 5, the 10 front end horizontal direction of the 6th joint arm is equipped with cylindrical cavity, the 6th joint arm 10 and L-shaped frame 11
Between turntable bearing 10.1 is installed, the above two is made to form revolute pair, a rotor 10.2 passes through the fastening of screw and L-shaped frame 11 and connects
It connects, the mounting base 0.3 of three piezoelectric ultrasonic vibrators 10.3 is uniformly installed on the cavity inner wall of the 6th joint arm 10 by screw, three
The driving foot 0.1 of piezoelectric ultrasonic vibrator 10.3 is pressed into contact with 10.2 inner wall of rotor, and a sealing cover 10.4 is installed on the 6th
At 10 front end cavities open of joint arm.
As shown in figure 5, the 7th joint arm 12 is fastenedly connected with L-shaped frame 11 by screw, set inside the 7th joint arm 12
There is cylindrical cavity, there are one turntable bearings 12.1 for installation between 12 front end of the 7th joint arm and expanding table 13, form the above two
Revolute pair, the mounting base 0.3 of three piezoelectric ultrasonic vibrators 12.3 are uniformly installed on the cavity inner wall of the 7th joint arm 12 by screw,
The driving foot 0.1 of three piezoelectric ultrasonic vibrators 12.3 is pressed into contact with 12.2 inner wall of rotor.
The handgrip mechanism 14 is fastenedly connected by screw and expanding table 13, and there are two image for installation in handgrip mechanism 14
Head (15.1,15.2) observes the operating environment around mechanical arm for operator, and according to actual job type, expanding table 13 also may be used
With the other clamping devices of connection, welding mechanism.
The embodiment of the present invention：
As shown in figure 4, operation handrail 1.3 can manipulate examining and repairing mechanical arm (present invention) arbitrarily mobile and rotation on the ground
Turn, oil cylinder 4 it is flexible, can realize the raising and lowering of each joint arm, two set cameras in handgrip mechanism 14 (15.1,
15.2) picture taken can be timely feedbacked to operator, under the cooperation driving of oil cylinder 4 and each piezoelectric ultrasonic vibrator, expanded
Exhibition booth 13 can realize six-freedom degree, so as to enable the handgrip mechanism being installed on expanding table 13 14 in severe work condition environment
In, neatly complete maintenance task.
According to actual condition, examining and repairing mechanical arm (present invention) can also increase or decrease joint arm quantity, to increase or reduce
The working space of examining and repairing mechanical arm (present invention).
Claims (7)
1. a kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments, including pedestal (1), universal caster wheel
(1.1), steel wire rope (2), rack (3), guide rail (3.2), oil cylinder (4), pulley (4.1), turntable bearing (5.1,6.1,10.1,
12.1), rotor (5.2,6.2,9.2,10.2,12.2), piezoelectric ultrasonic vibrator (5.3,6.3,9.3,10.3,12.3), sealing cover
(5.4,6.4,10.4), sliding block (5.5), the first joint arm (5), the second joint arm (6), third joint arm (7), the 4th joint arm (8), the 5th
Joint arm (9), the 6th joint arm (10), the 7th joint arm (12), L-shaped frame (11), expanding table (13), handgrip mechanism (14), left camera
(15.1), right camera (15.2), it is characterised in that：Four universal caster wheels (1.1) are installed on the downside of pedestal (1), and rack (3) is solid
Dingan County is loaded on pedestal (1) upper front end, and lower end is equipped with steel wire rope connecting seat (3.1), rack (3) front side vertical on rear side of rack (3)
Direction is equipped with two guide rails (3.2), and oil cylinder (4) is installed on rack (3) center, and pulley (4.1) is rotatablely installed in oil cylinder (4)
The top of push rod, the first joint arm (5) rear end are set there are four sliding block (5.5), and four sliding blocks (5.5) are installed on two and lead two-by-two
On rail (3.2), the first joint arm (5) is made to form prismatic pair with rack (3), steel wire rope (2) one end is connected to steel wire rope connecting seat
(3.1), the other end is connect by pulley (4.1) with the first joint arm (5) upper end.
2. a kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments as described in claim 1, special
Sign is：Piezoelectric ultrasonic vibrator (5.3,6.3,9.3,10.3,12.3), which is equipped with, drives foot (0.1) and mounting base (0.3), and first
Joint arm (5) front end vertical direction is equipped with cylindrical cavity, and turntable bearing is equipped between the first joint arm (5) and the second joint arm (6)
(5.1), the above two is made to form revolute pair, a rotor (5.2) is fastenedly connected by screw and the second joint arm (6), three piezoelectricity
The mounting base (0.3) of ultrasonic vibrator (5.3) is uniformly installed on the cavity inner wall of the first joint arm (5) by screw, and three piezoelectricity surpass
The driving foot (0.1) of sound and vibration (5.3) is pressed into contact with rotor (5.2) inner wall, and a sealing cover (5.4) is installed on first segment
On the downside of arm (5) front end, the cavity of the first joint arm (5) front end and extraneous air are completely cut off, prevent dust pollution.
3. a kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments as described in claim 1, special
Sign is：Turntable bearing (6.1) is installed between the second joint arm (6) and third joint arm (7), make the above two form revolute pair, one
A rotor (6.2) is fastenedly connected by screw and third joint arm (7), and the mounting base (0.3) of three piezoelectric ultrasonic vibrators (6.3) is logical
Cross the cavity inner wall that screw is uniformly installed on the second joint arm (6), the driving foots (0.1) of three piezoelectric ultrasonic vibrators (6.3) with
Rotor (6.2) inner wall is pressed into contact with, and a sealing cover (6.4) is installed on the downside of the second joint arm (6) front end.
4. a kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments as described in claim 1, special
Sign is：Second joint arm (6), third joint arm (7), the 4th joint arm (8), the 5th joint arm (9) structure are identical, third joint arm
(7) connection structure between the connection structure between the 4th joint arm (8), the 4th joint arm (8) and the 5th joint arm (9), Section five
Connection structure phase of the connection structure between the second joint arm (6) and third joint arm (7) between arm (9) and the 6th joint arm (10)
Together.
5. a kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments as described in claim 1, special
Sign is：Turntable bearing (10.1) is installed between 6th joint arm (10) and L-shaped frame (11), make the above two form revolute pair, one
A rotor (10.2) is fastenedly connected by screw and L-shaped frame (11), and the mounting base (0.3) of three piezoelectric ultrasonic vibrators (10.3) is logical
The cavity inner wall that screw is uniformly installed on the 6th joint arm (10) is crossed, the driving foot (0.1) of three piezoelectric ultrasonic vibrators (10.3) is equal
It is pressed into contact with rotor (10.2) inner wall, a sealing cover (10.4) is installed at the 6th joint arm (10) front end cavities open.
6. a kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments as described in claim 1, special
Sign is：7th joint arm (12) is fastenedly connected with L-shaped frame (11) by screw, the 7th joint arm (12) front end and expanding table (13) it
Between installation there are one turntable bearing (12.1), the above two is made to form revolute pair, the mounting base of three piezoelectric ultrasonic vibrators (12.3)
(0.3) cavity inner wall of the 7th joint arm (12), the driving foot of three piezoelectric ultrasonic vibrators (12.3) are uniformly installed on by screw
(0.1) it is pressed into contact with rotor (12.2) inner wall.
7. a kind of driving examining and repairing mechanical arm of piezoelectric ultrasonic vibrator applied to bad working environments as described in claim 1, special
Sign is：Handgrip mechanism (14) is fastenedly connected by screw and expanding table (13), and there are two image for installation in handgrip mechanism (14)
Head (15.1,15.2) observes the operating environment around mechanical arm, according to actual job type, expanding table (13) for operator
Other clamping devices, welding mechanism can be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810061049.6A CN108189002B (en) | 2018-01-23 | 2018-01-23 | Piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810061049.6A CN108189002B (en) | 2018-01-23 | 2018-01-23 | Piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108189002A true CN108189002A (en) | 2018-06-22 |
| CN108189002B CN108189002B (en) | 2021-01-01 |
Family
ID=62590335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810061049.6A Active CN108189002B (en) | 2018-01-23 | 2018-01-23 | Piezoelectric ultrasonic vibrator driving type maintenance mechanical arm applied to severe working conditions |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238864A (en) * | 2019-07-09 | 2019-09-17 | 西拓能源集团有限公司 | Steam power plant's aquation workshop accident emergency device |
| CN113059556A (en) * | 2021-04-02 | 2021-07-02 | 江苏大学附属医院 | Multi-joint multi-degree-of-freedom medical piezoelectric micro-mechanical manipulator |
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| US4507046A (en) * | 1980-07-21 | 1985-03-26 | Hitachi, Ltd. | Articulated industrial robot |
| US4662814A (en) * | 1983-10-05 | 1987-05-05 | Hitachi, Ltd. | Manipulator |
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| CN110238864A (en) * | 2019-07-09 | 2019-09-17 | 西拓能源集团有限公司 | Steam power plant's aquation workshop accident emergency device |
| CN113059556A (en) * | 2021-04-02 | 2021-07-02 | 江苏大学附属医院 | Multi-joint multi-degree-of-freedom medical piezoelectric micro-mechanical manipulator |
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| Publication number | Publication date |
|---|---|
| CN108189002B (en) | 2021-01-01 |
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Effective date of registration: 20201214 Address after: No.128 Changjiang West Road, Hai'an town, Hai'an City, Nantong City, Jiangsu Province 226600 Applicant after: JIANGSU TIEMAO GLASS Co.,Ltd. Address before: Room 10, unit 393003, beishuiyuan, Zhongshui Town, Tianjin Applicant before: Lian Xuefang |
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Address after: No.128 Changjiang West Road, Hai'an town, Hai'an City, Nantong City, Jiangsu Province 226600 Patentee after: Jiangsu Iron Anchor Technology Co.,Ltd. Address before: No.128 Changjiang West Road, Hai'an town, Hai'an City, Nantong City, Jiangsu Province 226600 Patentee before: JIANGSU TIEMAO GLASS Co.,Ltd. |
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