CN109093594A - Annular planer-type robot moving system - Google Patents
Annular planer-type robot moving system Download PDFInfo
- Publication number
- CN109093594A CN109093594A CN201811222384.6A CN201811222384A CN109093594A CN 109093594 A CN109093594 A CN 109093594A CN 201811222384 A CN201811222384 A CN 201811222384A CN 109093594 A CN109093594 A CN 109093594A
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- annular
- axis
- planer
- assembly
- moving system
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- 230000000712 assembly Effects 0.000 claims abstract description 12
- 238000000429 assembly Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 38
- 230000000630 rising effect Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 description 6
- 239000012636 effector Substances 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robotic technology field, in particular to a kind of annular planer-type robot moving system.Including beam outside annular, vertical columns, robot executes end, ring assemblies in liftable, transverse beam assembly and Z axis component, wherein the outer beam of annular is supported by vertical columns, the inside of the outer beam of annular is circumferentially laid with multiple groups transverse beam assembly, one end of transverse beam assembly is slidably connected with the outer beam of annular, the center of circle of other end beam to outside annular extends, transverse beam assembly can be circumferentially moved, ring assemblies are set to the inside of the outer beam of annular in liftable, it is used to support the other end of transverse beam assembly, each transverse beam assembly is equipped with the Z axis component that can be moved radially, robot executes end and can be movably set on Z axis component along the vertical direction.This invention ensures that the precision of each axis in varied situations, it is ensured that executing agency is mounted in the end of Z axis, and any position that can be walked in spatial dimension is realized by the cooperation in three directions.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of annular planer-type robot moving system.
Background technique
In the techniques such as welding, the cutting of existing annular workpieces, planer-type robot is mostly used greatly, currently, planer-type machine
People, since the structure of robot itself limits so that robot required arm when weld certain special workpieces open up be not achieved it is suitable
With requiring, and there are obvious defects, and there are change in size caused by the working environment temperature difference, it is difficult to ensure that each axis is not being sympathized with
Precision under condition.Existing planer-type robot welding can not carry out the moving operation of large span, and robot work region is limited,
The impulse stroke of robot or other end effector mechanisms cannot be met the requirements.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of annular planer-type robot moving system, to avoid
The change in size as caused by the working environment temperature difference, to guarantee the precision of each axis in varied situations, it is ensured that executing agency is mounted in Z
The tip of the axis realizes any position that can be walked in spatial dimension by the cooperation in three directions.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of annular planer-type robot moving system, including outside annular beam, vertical columns, robot execute end, can
Ring assemblies, transverse beam assembly and Z axis component in going up and down, wherein the outer beam of annular is by vertical columns support, the outer beam of annular it is interior
Lateral edge is circumferentially laid with multiple groups transverse beam assembly, and one end of the transverse beam assembly is slidably connected with the outer beam of annular, the other end to
The center of circle of the outer beam of annular extends, and the transverse beam assembly can be circumferentially moved, and ring assemblies are set to described in the liftable
The inside of the outer beam of annular, is used to support the other end of the transverse beam assembly, and each transverse beam assembly is equipped with and can move radially
Z axis component, the robot executes end and can movably be set to along the vertical direction on the Z axis component.
The transverse beam assembly includes that upper beam, lower beam and being respectively used to drive the upper beam and mobile upper of lower beam
Beam driving mechanism and lower beam driving mechanism, the upper beam and lower beam are disposed radially, and the upper beam is located at
One end of the top of the lower beam, the upper beam and lower beam is slidably connected with the outer beam of annular, the other end with
The liftable inner ring component slippage after rising connects, and slidably connects a Z axis on the upper beam and lower beam
Component.
The upper beam driving mechanism is identical with the lower beam driving mechanism structure, includes annular girder rack gear and rotation
Motor drive component, wherein annular girder rack gear is set on the outer beam of annular, and the rotating electric machine driving assembly includes setting
In the rotating electric machine on the upper beam or the lower beam and the rotation sliding tooth being set on the rotating electric machine output shaft
Wheel, the rotary drive gear are engaged with the annular girder rack gear.
The outer beam of annular is equipped with the outer ring pair for being slidably connected for the upper beam and lower beam and just laying
Track.
Crossbeam slide plate for installing Z axis component is respectively connected on the upper beam and the lower beam and for driving
That states the movement of Z axis component moves radially driving mechanism.
The driving mechanism that moves radially includes crossbeam rack gear, radial drive motor and radial drive gear, the crossbeam
Rack gear is set on the upper beam or the lower beam, and the radial drive motor is set on the crossbeam slide plate, described
Radial drive gear is set on the output shaft of the radial drive motor and engages with the crossbeam rack gear.
The Z axis component includes Z axis, Z axis slide plate and Z axis driving mechanism, and wherein Z axis slide plate can along the vertical direction slidably
It is connect with Z axis, the Z axis driving mechanism is set on Z axis and connect with the Z axis slide plate, for driving the Z axis slide plate
Sliding, the robot execute end and are set on the Z axis slide plate.
Ring assemblies include annular inner beam and multiple inner ring lifting columns for connecting with the annular inner beam in the liftable,
The annular inner beam is arranged concentrically with the outer beam of annular and can be driven by multiple inner ring lifting columns and risen or fallen
Movement.
The annular inner beam is equipped with the annular two-orbit for being slidably connected with the transverse beam assembly and height is laid.
The vertical columns are set to an opposite sides of the outer beam of annular, another opposite sides of the outer beam of annular
Lower section be equipped with liftable outer ring lifting column.
The invention has the advantages and beneficial effects that: the present invention is tri- axis walking mechanism of XYZ, and X-axis is annular design, is avoided
The change in size as caused by the working environment temperature difference, Y-axis and Z axis variation synchronous with workpiece, to ensure that each axis in different situations
Under precision, it is ensured that executing agency be mounted in Z axis end, the spatial dimension that can walk is realized by the cooperation in three directions
Interior any position.
The present invention works as robot or other ends execution machine in the case where workpiece is welded, cuts or carried, for making up
The impulse stroke of structure cannot be met the requirements, this structure is capable of the stroke range of expanding machinery people or other end effector mechanisms.
Detailed description of the invention
Fig. 1 is axonometric drawing of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is the top view of Fig. 2.
In figure: 1 is the outer beam of annular, and 2 be annular inner beam, and 3 be vertical columns, and 4 be upper beam, and 5 be lower beam, and 6 be Z axis, 7
It is inner ring lifting column for Z axis rack gear, 8,9 be outer ring lifting column, and 10 execute end for robot, and 11 be annular girder rack gear,
12 be rotating electric machine driving assembly, and 13 be crossbeam rack gear, and 14 be upper beam slide plate, and 15 be lower beam slide plate, and 16 be hydraulic leveling
Device.
Specific embodiment
The equipment of existing planer type structure is in the techniques such as welding, the cutting of annular workpieces, because there are the working environment temperature difference
Caused by change in size, it is difficult to ensure that the precision of each axis in varied situations, while robot or other end effector mechanisms
Impulse stroke cannot be met the requirements.
For problem of the existing technology, the present invention uses tri- axis walking mechanism of XYZ, and wherein X-axis is annular design,
The variation synchronous with workpiece of the change in size as caused by the working environment temperature difference, Y-axis and Z axis is avoided, to ensure that each axis not
With the precision in situation.
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1-3, a kind of annular planer-type robot moving system provided by the invention, including it is beam 1 outside annular, solid
Determine column 3, robot executes end 10, ring assemblies, transverse beam assembly and Z axis component in liftable, wherein the outer beam 1 of annular is by consolidating
Determine the support of column 3, the inside of the outer beam 1 of annular is circumferentially laid with multiple groups transverse beam assembly, one end of transverse beam assembly and the outer beam 1 of annular
It is slidably connected, the center of circle of other end beam 1 to outside annular extends, and transverse beam assembly can be circumferentially moved.Ring assemblies are arranged in liftable
In the inside of beam 1 outside annular, it is used to support the other end of transverse beam assembly, each transverse beam assembly is equipped with the Z axis that can be moved radially
Component, robot execute end 10 and can be movably set on Z axis component along the vertical direction.
Ring assemblies include annular inner beam 2 and multiple inner ring lifting columns 8 for connecting with annular inner beam 2 in liftable, annular
Inner beam 2 and the outer beam 1 of annular are arranged concentrically and can be driven by multiple inner ring lifting columns 8 and carry out rising or falling movement.
Transverse beam assembly includes upper beam 4, lower beam 5 and the upper beam for being respectively used to driving upper beam 4 and the movement of lower beam 5
Driving mechanism and lower beam driving mechanism, upper beam 4 and lower beam 5 are disposed radially, and upper beam 4 is located at lower beam 5
One end of top, upper beam 4 and lower beam 5 is slidably connected with beam 1 outside annular, the other end with the annular inner beam 2 after rising
It is slidably connected, can radially be slidably connected on upper beam 4 and lower beam 5 has a Z axis component.
The outer beam 1 of annular is equipped with to be slidably connected and the outer ring of high outside and low outside laying pair for upper beam 4 and lower beam 5
One end of track, upper beam 4 and lower beam 5 passes through idler wheel or universal wheel respectively and connect with outer ring two-orbit.
Annular inner beam 2 is equipped with for being slidably connected with upper beam 4 and lower beam 5 and the annular of low inside and high outside laying is double
The other end of track, crossbeam 4 and lower beam 5 passes through idler wheel or universal wheel respectively and connect with annular two-orbit.
Upper beam driving mechanism is identical with lower beam driving mechanism structure, includes that annular girder rack gear 11 and rotating electric machine drive
Dynamic component 12, wherein annular girder rack gear 11 is set on the outer beam 1 of annular, and rotating electric machine driving assembly 12 includes being set to upper beam
4 or the rotating electric machine on lower beam 5 and the rotary drive gear being set on rotating electric machine output shaft, rotary drive gear and ring
Ellbeam rack gear 11 engages.Rotating electric machine drives rotary drive gear rotation, because rotary drive gear is engaged with annular girder rack gear 11,
So driving upper beam 4 and crossbeam 5 circumferentially moved.
In the embodiment of the present invention, upper beam 4 and lower beam 5 are hollow structure, and rotating electric machine is placed in 4 He of upper beam
In the cavity of lower beam 5.
Crossbeam slide plate for installing Z axis component is respectively connected on upper beam 4 and lower beam 5 and for driving Z axis component
Move radially driving mechanism, crossbeam slide plate and the Z axis component moved radially can edge by moving radially the driving of driving mechanism
It moves radially.Specifically: it is connected with upper beam slide plate 14 on upper beam 4 and above moves radially driving mechanism, above moves radially drive
Motivation structure drives upper beam slide plate 14 to slide along upper beam 4；It is connected with lower beam slide plate 15 on lower beam 5 and moves radially drive under
Motivation structure, under move radially driving mechanism driving lower beam slide plate 15 along lower beam 5 slide.
On move radially driving mechanism to move radially driving mechanism structure under identical, include crossbeam rack gear 13, radial
Driving motor and radial drive gear, crossbeam rack gear 13 are set on upper beam 4 or lower beam 5, and radial drive motor is set to
On upper beam slide plate or lower beam slide plate, radial drive gear be set on the output shaft of radial drive motor and with crossbeam tooth
Item 13 engages.
Z axis component includes Z axis 6, Z axis slide plate and Z axis driving mechanism, wherein Z axis slide plate can along the vertical direction slidably with Z
Axis 6 connects, and Z axis driving mechanism is set on Z axis 6 and connect with Z axis slide plate, and for driving Z axis slide plate slides, robot is held
Row end 10 is set on Z axis slide plate.
In the embodiment of the present invention, Z axis driving mechanism includes that Z axis driving motor, Z axis rack gear 7 and Z axis drive gear,
Middle Z axis rack gear 7 is set to along the vertical direction on Z axis 6, and Z axis driving motor is set on Z axis slide plate and output shaft and Z axis drive
Gear connection, Z axis driving gear are engaged with Z axis rack gear 7.Z axis driving motor drives the rotation of Z axis sliding tooth wheel, because of Z axis sliding tooth
Wheel is engaged with Z axis rack gear 7, is moved up and down so Z axis slide plate and robot is driven to execute end 10.
For the ease of loading and unloading annular workpieces, vertical columns 3 are set to an opposite sides of the outer beam 1 of annular, the outer beam 1 of annular
The lower section of another opposite sides is equipped with liftable outer ring lifting column 9.Inner ring lifting column 8 and outer ring lifting column 9 are
It is made of hydraulic cylinder and servo-control system, servo-control system issues corresponding according to the position of upper beam 4 and lower beam 5
Instruction, adjusts the state of hydraulic cylinder.
In the embodiment of the present invention, the outer beam 1 of annular is supported by being distributed in four vertical columns 3 of two sides, two fixations
The centre of 45 ° of angle between column 3, the outer beam 1 of annular is supported by symmetrically arranged two outer ring lifting columns 9.When needing to fill
When unloading workpiece, ring assemblies are contracted under earth's surface in outer ring lifting column 9 and liftable；After loading finished piece(s), outer ring lifting column 9
It is stretched out with ring assemblies in liftable, respectively the outer beam 1 of support annular and transverse beam assembly.
The working principle of the invention is:
Four vertical columns 3 are symmetrically installed two-by-two, are used to support the outer beam 1 of stationary annular, outer ring lifting column 9 is for assisting
The outer beam 1 of support annular.Inner ring lifting column 8 is used to support annular inner beam 2, and annular inner beam 2 is used to support transverse beam assembly, inner ring liter
Drop column 8 and outer ring lifting column 9 avoid the handling of annular workpieces by going up and down.Upper beam 4 passes through rotating electric machine sliding tooth
Rackwork is taken turns, upper beam 4 is driven circumferentially to walk along the double guide rails of inside and outside annular；Lower beam 5 drives gear by rotating electric machine
Rackwork drives lower beam 5 circumferentially to walk along the double guide rails of inside and outside annular.Z axis component passes through radial drive motor driven tooth
Rackwork is taken turns, drives Z axis component mobile along upper beam 4 and lower beam 5 (radially).Robot executes end 10 and passes through Z axis
Driving mechanism is walked along Z-direction.
Before workpiece is packed into and locks, outer ring lifting column 9 and inner ring lifting column 8 drive annular inner beam 2 to be in earth's surface
Hereinafter, transverse beam assembly is in cantilever position；After Workpiece clamping is fixed, outer ring lifting column 9 rises to be contacted with the outer beam 1 of annular,
Annular inner beam 2 is driven to rise by inner ring lifting column 8 and be contacted with transverse beam assembly, and the both ends of transverse beam assembly are by universal wheel in ring
It is moved on shape inner beam 2 and the outer beam 1 of annular, finally by lifting column leveling retaining mechanism stationary annular inner beam 2 and the outer beam of annular
1。
The present invention is directed to the girth joint and longitudinal seam of annular workpieces, and gantry structure and workpiece use profile of the same race, and heat expansion is cold
Contracting coefficient is the same, so that the design of inner and outer ring ellbeam solves the precision problem of unexpected winner structure caused by the temperature difference from structure；On
The design of the up-down structure of crossbeam 4 and lower beam 5 and the mounting design of Z axis component solve asking for synchronous welding inside and outside annular workpieces
Topic.
Annular planer-type robot moving system provided by the invention is tri- axis walking mechanism of XYZ, and X-axis is annular design,
The variation synchronous with workpiece of the change in size as caused by the working environment temperature difference, Y-axis and Z axis is avoided, to ensure that each axis not
With the precision in situation, it is ensured that executing agency is mounted in the end of Z axis, and the sky that can walk is realized by the cooperation in three directions
Between any position in range.
The present invention is overcome using annular gantry form expand with heat and contract with cold caused by positioning accuracy problem, in addition, workpiece and dragon
Door uses profile of the same race, and coefficient of thermal expansion and contraction is the same, to improve positioning accuracy.The present invention is welded, cuts or is carried in workpiece
In the case where, work as the impulse stroke of robot or other end effector mechanisms for making up and cannot meet the requirements, this structure can
The stroke range of expanding machinery people or other end effector mechanisms.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of annular planer-type robot moving system, which is characterized in that including beam outside annular (1), vertical columns (3), machine
Ring assemblies, transverse beam assembly and Z axis component in device people execution end (10), liftable, wherein the outer beam (1) of annular passes through vertical columns
(3) it supports, the inside of the outer beam of annular (1) is circumferentially laid with multiple groups transverse beam assembly, one end of the transverse beam assembly and institute
It states the outer beam (1) of annular to be slidably connected, the other end extends to the center of circle of the outer beam of annular (1), and the transverse beam assembly can be circumferentially
Mobile, ring assemblies are set to the inside of the outer beam of annular (1) in the liftable, are used to support the another of the transverse beam assembly
End, each transverse beam assembly are equipped with the Z axis component that can be moved radially, and the robot executes end (10) can be along vertical side
To being movably set on the Z axis component.
2. annular planer-type robot moving system according to claim 1, which is characterized in that the transverse beam assembly includes
Upper beam (4), lower beam (5) and being respectively used to drive the upper beam (4) and the mobile upper beam driving mechanism of lower beam (5)
With lower beam driving mechanism, the upper beam (4) and lower beam (5) are disposed radially, and the upper beam (4) is positioned at described
One end of the top of lower beam (5), the upper beam (4) and lower beam (5) is slidably connected with the outer beam of annular (1), separately
One end is connect with the liftable inner ring component slippage after rising, and sliding connects on the upper beam (4) and lower beam (5)
It is connected to a Z axis component.
3. annular planer-type robot moving system according to claim 2, which is characterized in that the upper beam driving machine
Structure is identical with the lower beam driving mechanism structure, include annular girder rack gear (11) and rotating electric machine driving assembly (12),
Middle annular girder rack gear (11) is set on the outer beam of annular (1), and the rotating electric machine driving assembly (12) includes being set to institute
State upper beam (4) or rotating electric machine on the lower beam (5) and the rotation being set on rotating electric machine output shaft driving
Gear, the rotary drive gear are engaged with the annular girder rack gear (11).
4. annular planer-type robot moving system according to claim 2, which is characterized in that the outer beam of annular (1)
It is equipped with the outer ring two-orbit for being slidably connected for the upper beam (4) and lower beam (5) and just laying.
5. annular planer-type robot moving system according to claim 2, which is characterized in that the upper beam (4) and
The crossbeam slide plate for installing Z axis component and the diameter for driving the Z axis component mobile are respectively connected on the lower beam (5)
To moving drive mechanism.
6. annular planer-type robot moving system according to claim 5, which is characterized in that described to move radially driving
Mechanism includes crossbeam rack gear (13), radial drive motor and radial drive gear, and the crossbeam rack gear (13) is set on described
On crossbeam (4) or the lower beam (5), the radial drive motor is set on the crossbeam slide plate, the radial drive tooth
Wheel is set on the output shaft of the radial drive motor and engages with the crossbeam rack gear (13).
7. annular planer-type robot moving system according to claim 1, which is characterized in that the Z axis component includes Z
Axis (6), Z axis slide plate and Z axis driving mechanism, wherein Z axis slide plate can slidably be connect with Z axis (6) along the vertical direction, the Z axis
Driving mechanism is set on Z axis (6) and connect with the Z axis slide plate, for driving the Z axis slide plate slides, the robot
End (10) are executed to be set on the Z axis slide plate.
8. annular planer-type robot moving system according to claim 1, which is characterized in that the liftable inner ring group
Part includes annular inner beam (2) and the multiple inner ring lifting columns (8) connecting with the annular inner beam (2), the annular inner beam (2)
It is arranged concentrically and can be driven by multiple inner ring lifting columns (8) with the outer beam of annular (1) and carry out rising or falling movement.
9. annular planer-type robot moving system according to claim 8, which is characterized in that the annular inner beam (2)
It is equipped with the annular two-orbit for being slidably connected with the transverse beam assembly and height is laid.
10. annular planer-type robot moving system according to claim 1, which is characterized in that the vertical columns (3)
It is set to an opposite sides of the outer beam of annular (1), the lower section of another opposite sides of the outer beam of annular (1) is equipped with and can rise
The outer ring lifting column (9) of drop.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811222384.6A CN109093594A (en) | 2018-10-19 | 2018-10-19 | Annular planer-type robot moving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811222384.6A CN109093594A (en) | 2018-10-19 | 2018-10-19 | Annular planer-type robot moving system |
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| CN109093594A true CN109093594A (en) | 2018-12-28 |
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| CN201811222384.6A Pending CN109093594A (en) | 2018-10-19 | 2018-10-19 | Annular planer-type robot moving system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238673A (en) * | 2019-06-16 | 2019-09-17 | 白音洁 | A kind of pressure apparatus for fastening of electromechanical integration processing |
| CN110714220A (en) * | 2019-11-12 | 2020-01-21 | 温州宏量机械科技有限公司 | A drying system for automobile parts electrophoresis film |
| CN111267068A (en) * | 2020-03-27 | 2020-06-12 | 天津航天机电设备研究所 | Self-balancing universal hoisting robot and use method thereof |
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