CN109318257B - Buffer device for mechanical arm and control method thereof - Google Patents
Buffer device for mechanical arm and control method thereof Download PDFInfo
- Publication number
- CN109318257B CN109318257B CN201811239675.6A CN201811239675A CN109318257B CN 109318257 B CN109318257 B CN 109318257B CN 201811239675 A CN201811239675 A CN 201811239675A CN 109318257 B CN109318257 B CN 109318257B
- Authority
- CN
- China
- Prior art keywords
- controller
- valve
- cylinder
- mechanical arm
- pressure value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000003584 silencer Effects 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a buffer device for a mechanical arm and a control method thereof, wherein the buffer device comprises the mechanical arm and a controller, the mechanical arm comprises a mechanical telescopic arm and a fixed body, a cylinder is arranged on the fixed body, an air inlet valve and a pressure sensor are arranged on the right side of the upper end of the cylinder, and an exhaust valve is arranged on the right side of the lower end of the cylinder; and the mechanical telescopic arm is provided with a buffer surface. The buffer device can play a role in buffering through the air cylinder and the buffer surface, and can automatically control the device through the controller, and is convenient to operate and high in automation degree.
Description
Technical Field
The invention belongs to the technical field of electricity, and relates to a buffer device for a mechanical arm and a control method thereof.
Background
The mechanical arm is an automatic operation device capable of performing a telescopic action function and used for fixing and carrying objects or operating tools. The method is characterized in that various expected operations can be completed through programming. The mechanical arm can replace heavy labor of people to realize mechanization and automation of production, can be operated under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like. However, there are many drawbacks to the manipulator buffer devices in the prior art, such as:
the prior art is due to the defect of the structure of the prior art when in use, so that the prior art needs a buffer device to control the mechanical stability and stability when in use, thereby increasing the working difficulty, and the prior art is troublesome in debugging too frequently when in use, so that the prior art can not be satisfied.
Disclosure of Invention
In order to solve the problems, the buffer device for the mechanical arm and the control method thereof can play a role in buffering the inertia generated in the process of stopping the movement of the mechanical arm through the air cylinder and the buffer surface, and the device is automatically controlled through the controller, so that the mechanical arm can be stabilized.
The invention particularly relates to a buffer device for a mechanical arm, which comprises the mechanical arm and a controller, wherein the mechanical arm comprises a mechanical telescopic arm and a fixed body, an air cylinder is arranged on the fixed body, an air inlet valve and a pressure sensor are arranged on the right side of the upper end of the air cylinder, and an exhaust valve is arranged on the right side of the lower end of the air cylinder; and the mechanical telescopic arm is provided with a buffer surface.
The controller is further connected with an alternating current power supply 220V, and the back surface of the controller comprises an alternating current power supply output end, a digital quantity output end, an analog quantity output end and an analog quantity input end; the alternating current power supply output end can output alternating current power supply 24V, the digital quantity output end can output direct current power supply 24V, the analog quantity output end can output direct current power supply of 0 to 10V according to control requirements, and the analog quantity input end can detect current signals of 4 to 20 ma.
Compressed air is further connected to the air inlet valve, and the air inlet valve is an electromagnetic one-way valve and comprises a coil and a valve core; the valve of the electromagnetic one-way valve is arranged on the air cylinder, the turn-on voltage of the coil of the electromagnetic one-way valve is 24V of a direct current power supply, and the turn-on voltage of the coil of the electromagnetic one-way valve is electrically connected with the digital quantity output end on the controller through a connecting wire.
Further install muffler and electronic proportional valve on the discharge valve, electronic proportional valve includes power inlet terminal and control end, the power inlet terminal of electronic proportional valve passes through the connecting wire and inserts the last alternating current source 24V of controller, the control end of electronic proportional valve passes through the connecting wire and meets with the analog output electricity of controller.
The pressure sensor is further arranged at the upper right end of the air cylinder, can output a current signal of 4 to 20ma according to pressure, and is electrically connected with the analog input end of the controller through a connecting wire.
The cylinder further comprises a telescopic rod, an adjusting device and a cylinder body, wherein the adjusting device is arranged on the cylinder body through rubber threads; the telescopic link is installed on adjusting device, the telescopic link is I shape structure, and the rubber pad has been installed in the left side of telescopic link, and the piston has been installed on the right side of telescopic link to in the cylinder body.
Further, the buffer surface is made of rubber materials, so that collision between the mechanical arm and the buffer device can be relieved.
The invention also comprises a control method of the buffer device for the mechanical arm, which comprises the following steps:
step 1: according to the actual control requirement of the buffer device, setting a pressure value and an upper limit pressure value in a constant cylinder on a touch screen of the controller;
step 2: according to the actual control requirement of the buffer device, setting the minimum opening degree of the electric proportional valve at the exhaust valve end on the touch screen of the controller;
step 3: according to the pressure value set by the touch screen of the set controller, automatically controlling an electromagnetic one-way valve at the air inlet end to enable the pressure value in the air cylinder to reach the set pressure value;
step 4: when the mechanical arm is retracted, a buffer on the mechanical telescopic arm applies pressure to a telescopic rod of the air cylinder, the pressure value in the air cylinder rises, and the electric proportional valve is slowly opened to the maximum opening degree, so that the pressure value in the air cylinder is kept in a safe range;
step 5: when the mechanical arm is retracted and the pressure in the air cylinder is higher than the upper limit pressure value set in the touch screen of the controller, the electric proportional valve is immediately opened to the maximum opening degree, so that the pressure value in the air cylinder is kept in a safe range;
step 6: when the mechanical arm stops retracting, the electric proportional valve at the exhaust valve end is opened to the minimum opening degree, and the electric one-way valve at the air inlet valve end is opened, so that the pressure value of the air cylinder reaches the pressure value set by the touch screen of the controller;
step 7: under the condition that compressed gas is used for, the cylinder applies pressure to the buffer surface of the mechanical telescopic arm, so that the mechanical arm is stable.
Drawings
FIG. 1 is a schematic view of the overall structure of a buffer device for a mechanical arm;
fig. 2 is a schematic diagram of signal control of a buffer device for a mechanical arm.
In the figure: 1. a mechanical arm; 2. a controller; 3. a telescopic rod; 4. a buffer surface; 5. a mechanical telescopic arm; 6. a cylinder; 7. an intake valve; 8. a pressure sensor; 9. and (5) exhausting the valve.
Detailed Description
The following describes in detail a specific embodiment of a buffer device for a mechanical arm and a control method thereof with reference to the accompanying drawings.
As shown in fig. 1-2, the invention specifically relates to a buffer device for a mechanical arm, the buffer device comprises a mechanical arm 1 and a controller 2, the mechanical arm 1 comprises a mechanical telescopic arm 5 and a fixed body, a cylinder 6 is arranged on the fixed body, an air inlet valve 7 and a pressure sensor 8 are arranged on the right side of the upper end of the cylinder 6, and an exhaust valve 9 is arranged on the right side of the lower end of the cylinder 6; the mechanical telescopic arm 5 is provided with a buffer surface 4.
The controller 2 is connected to an alternating current power supply 220V, and the back surface of the controller 2 comprises an alternating current power supply output end, a digital quantity output end, an analog quantity output end and an analog quantity input end; the alternating current power supply output end can output alternating current power supply 24V, the digital quantity output end can output direct current power supply 24V, the analog quantity output end can output direct current power supply of 0 to 10V according to control requirements, and the analog quantity input end can detect current signals of 4 to 20 ma. The air inlet valve 7 is connected with compressed air, and the air inlet valve 7 is an electromagnetic one-way valve and comprises a coil and a valve core; the valve of the electromagnetic one-way valve is arranged on the air cylinder 6, the turn-on voltage of the coil of the electromagnetic one-way valve is 24V of a direct current power supply, and the turn-on voltage of the coil of the electromagnetic one-way valve is electrically connected with the digital quantity output end on the controller 2 through a connecting wire. The exhaust valve 9 is provided with a silencer and an electric proportional valve, the electric proportional valve comprises a power inlet end and a control end, the power inlet end of the electric proportional valve is connected with an alternating current power supply 24V on the controller 2 through a connecting wire, and the control end of the electric proportional valve is electrically connected with an analog output end of the controller 2 through the connecting wire. The pressure sensor 8 is installed at the upper right end of the air cylinder 6, the pressure sensor 8 can output 4-20 ma current signals according to pressure, and the pressure sensor 8 is electrically connected with an analog input end of the controller 2 through a connecting wire. The cylinder 6 comprises a telescopic rod 3, an adjusting device and a cylinder body, wherein the adjusting device is arranged on the cylinder body through rubber threads; the telescopic rod 3 is arranged on the adjusting device, the telescopic rod 3 is of an I-shaped structure, a rubber pad is arranged on the left side of the telescopic rod 3, and a piston is arranged on the right side of the telescopic rod 3 and in the cylinder body. The buffer surface 4 is made of rubber material, so that collision between the mechanical arm 1 and the buffer device can be relieved.
The invention also comprises a control method of the buffer device for the mechanical arm, which comprises the following steps:
step 1: according to the actual control requirement of the buffer device, setting a pressure value and an upper limit pressure value in a constant cylinder 6 on a touch screen of the controller 2;
step 2: according to the actual control requirement of the buffer device, setting the minimum opening degree of the electric proportional valve at the end of the exhaust valve 9 on the touch screen of the controller 2;
step 3: according to the pressure value set by the touch screen of the set controller 2, the electromagnetic one-way valve of the air inlet end 7 is automatically controlled, so that the pressure value in the air cylinder 6 reaches the set pressure value;
step 4: when the mechanical arm 1 is retracted, the buffer surface 4 on the mechanical telescopic arm 5 applies pressure to the telescopic rod 3 of the air cylinder 6, the pressure value in the air cylinder 6 rises, and the electric proportional valve is slowly opened to the maximum opening degree, so that the pressure value in the air cylinder 6 is kept in a safe range;
step 5: when the mechanical arm 1 is retracted and the pressure in the air cylinder 6 is higher than the upper limit pressure value set in the touch screen of the controller 2, the electric proportional valve is immediately opened to the maximum opening degree, so that the pressure value in the air cylinder 6 is kept in a safe range;
step 6: when the mechanical arm 1 stops retracting, the electric proportional valve at the end of the exhaust valve 9 is opened to the minimum opening degree, and the electric one-way valve at the end of the air inlet valve 7 is opened, so that the pressure value of the air cylinder 6 reaches the pressure value set by the touch screen of the controller 2;
step 7: under the use of compressed gas, the cylinder 6 applies pressure to the buffer surface 4 of the mechanical telescopic arm 5, and resets the mechanical arm 1.
Finally, it should be noted that the above-mentioned embodiments are merely illustrative of the technical solution of the invention and not limiting thereof. It will be understood by those skilled in the art that modifications and equivalents may be made to the particular embodiments of the invention, which are within the scope of the claims appended hereto.
Claims (4)
1. The buffer device for the mechanical arm is characterized by comprising the mechanical arm and a controller, wherein the mechanical arm comprises a mechanical telescopic arm and a fixed body, a cylinder is arranged on the fixed body, an air inlet valve and a pressure sensor are arranged on the right side of the upper end of the cylinder, and an exhaust valve is arranged on the right side of the lower end of the cylinder; the mechanical telescopic arm is provided with a buffer surface;
compressed air is connected to the air inlet valve, and the air inlet valve is an electromagnetic one-way valve and comprises a coil and a valve core; the valve of the electromagnetic one-way valve is arranged on the air cylinder, the turn-on voltage of the coil of the electromagnetic one-way valve is 24V of a direct current power supply, and the turn-on voltage of the coil of the electromagnetic one-way valve is electrically connected with the digital quantity output end on the controller through a connecting wire;
the cylinder comprises a telescopic rod, an adjusting device and a cylinder body, and the adjusting device is arranged on the cylinder body through rubber threads; the telescopic rod is arranged on the adjusting device, is of an I-shaped structure, is provided with a rubber pad on the left side, is provided with a piston on the right side and is arranged in the cylinder body;
the control method of the buffer device comprises the following steps:
step 1: according to the actual control requirement of the buffer device, setting a pressure value and an upper limit pressure value in a constant cylinder on a touch screen of the controller;
step 2: according to the actual control requirement of the buffer device, setting the minimum opening degree of the electric proportional valve at the exhaust valve end on the touch screen of the controller;
step 3: according to the pressure value set by the touch screen of the set controller, automatically controlling an electromagnetic one-way valve at the air inlet end to enable the pressure value in the air cylinder to reach the set pressure value;
step 4: when the mechanical arm is retracted, a buffer on the mechanical telescopic arm applies pressure to a telescopic rod of the air cylinder, the pressure value in the air cylinder rises, and the electric proportional valve is slowly opened to the maximum opening degree, so that the pressure value in the air cylinder is kept in a safe range;
step 5: when the mechanical arm is retracted and the pressure in the air cylinder is higher than the upper limit pressure value set in the touch screen of the controller, the electric proportional valve is immediately opened to the maximum opening degree, so that the pressure value in the air cylinder is kept in a safe range;
step 6: when the mechanical arm stops retracting, the electric proportional valve at the exhaust valve end is opened to the minimum opening degree, and the electric one-way valve at the air inlet valve end is opened, so that the pressure value of the air cylinder reaches the pressure value set by the touch screen of the controller;
step 7: the cylinder applies pressure to the buffer surface of the mechanical telescopic arm under the action of compressed gas, so that the mechanical arm is stable.
2. The buffer device for the mechanical arm according to claim 1, wherein the controller is connected to an alternating current power supply 220V, and the back surface of the controller comprises an alternating current power supply output end, a digital quantity output end, an analog quantity output end and an analog quantity input end; the alternating current power supply output end can output alternating current power supply 24V, the digital quantity output end can output direct current power supply 24V, the analog quantity output end can output direct current power supply of 0 to 10V according to control requirements, and the analog quantity input end can detect current signals of 4 to 20 ma.
3. The buffer device for the mechanical arm according to claim 1, wherein the exhaust valve is provided with a silencer and an electric proportional valve, the electric proportional valve comprises a power inlet end and a control end, the power inlet end of the electric proportional valve is connected with an alternating current power supply 24V on the controller through a connecting wire, and the control end of the electric proportional valve is electrically connected with an analog output end of the controller through the connecting wire.
4. The buffer device for the mechanical arm according to claim 1, wherein the pressure sensor is installed at the upper right end of the cylinder, the pressure sensor can output a current signal of 4 to 20ma according to pressure, and the pressure sensor is electrically connected with an analog input end of the controller through a connecting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811239675.6A CN109318257B (en) | 2018-10-24 | 2018-10-24 | Buffer device for mechanical arm and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811239675.6A CN109318257B (en) | 2018-10-24 | 2018-10-24 | Buffer device for mechanical arm and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109318257A CN109318257A (en) | 2019-02-12 |
| CN109318257B true CN109318257B (en) | 2024-04-09 |
Family
ID=65262636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811239675.6A Active CN109318257B (en) | 2018-10-24 | 2018-10-24 | Buffer device for mechanical arm and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109318257B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110792655A (en) * | 2019-11-27 | 2020-02-14 | 国网江苏省电力有限公司南通供电分公司 | Hydraulic positioning device and control method thereof |
| CN110842906B (en) * | 2019-11-27 | 2023-09-26 | 国网江苏省电力有限公司盐城供电分公司 | Pressing device for mechanical arm and control method thereof |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1416221A (en) * | 1973-01-31 | 1975-12-03 | Seiko Instr & Electronics | Pneumatically operated devices for gripping articles |
| DE10047045A1 (en) * | 2000-09-22 | 2002-05-02 | Thomas Magnete Gmbh | Control device for attainment of specified output pressure of magnet pump has displacement sensor determining displacement of its armature assigned to pressure magnet and magnet coil is acted upon by control device |
| CN103372866A (en) * | 2012-04-30 | 2013-10-30 | 扬州市江洋塑料冲压配件厂 | Rotary buffer pneumatic mechanical arm |
| CN103846928A (en) * | 2012-11-29 | 2014-06-11 | 许俊荣 | Limit and slide mechanism |
| CN204735375U (en) * | 2015-06-23 | 2015-11-04 | 上海汇众汽车制造有限公司 | Area buffering detection device's servo sharp actuating mechanism and wax spray workstation thereof |
| CN105276064A (en) * | 2015-10-27 | 2016-01-27 | 江苏今达纺织实业有限公司 | Let-off mechanism buffer with adjustable response speed and application method thereof |
| KR101665602B1 (en) * | 2016-06-29 | 2016-10-12 | 주식회사 윈텍오토메이션 | Carbide inserts grip equipment |
| CN205704199U (en) * | 2016-06-30 | 2016-11-23 | 吴玉顺 | A kind of hydraulic efficiency manipulator |
| CN206317069U (en) * | 2016-12-21 | 2017-07-11 | 佛山市天汇汽车电子有限公司 | A kind of Pneumatic manipulator |
| CN206828386U (en) * | 2017-04-07 | 2018-01-02 | 巨石集团成都有限公司 | A kind of wire-drawing machine lead screw attachment means |
| CN207673647U (en) * | 2017-12-29 | 2018-07-31 | 云内动力达州汽车有限公司 | A kind of hydraulic cylinder of efficient range-adjustable |
| CN108547827A (en) * | 2018-06-29 | 2018-09-18 | 北京精密机电控制设备研究所 | A kind of built-in gas-liquid mixed buffering retraction type high-speed cylinder |
| CN108582064A (en) * | 2018-06-14 | 2018-09-28 | 常州信息职业技术学院 | A kind of automatic liquid press mechanical pressing arm |
| CN209319820U (en) * | 2018-10-24 | 2019-08-30 | 国网江苏省电力有限公司徐州供电分公司 | A kind of buffer unit for mechanical arm |
-
2018
- 2018-10-24 CN CN201811239675.6A patent/CN109318257B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1416221A (en) * | 1973-01-31 | 1975-12-03 | Seiko Instr & Electronics | Pneumatically operated devices for gripping articles |
| DE10047045A1 (en) * | 2000-09-22 | 2002-05-02 | Thomas Magnete Gmbh | Control device for attainment of specified output pressure of magnet pump has displacement sensor determining displacement of its armature assigned to pressure magnet and magnet coil is acted upon by control device |
| CN103372866A (en) * | 2012-04-30 | 2013-10-30 | 扬州市江洋塑料冲压配件厂 | Rotary buffer pneumatic mechanical arm |
| CN103846928A (en) * | 2012-11-29 | 2014-06-11 | 许俊荣 | Limit and slide mechanism |
| CN204735375U (en) * | 2015-06-23 | 2015-11-04 | 上海汇众汽车制造有限公司 | Area buffering detection device's servo sharp actuating mechanism and wax spray workstation thereof |
| CN105276064A (en) * | 2015-10-27 | 2016-01-27 | 江苏今达纺织实业有限公司 | Let-off mechanism buffer with adjustable response speed and application method thereof |
| KR101665602B1 (en) * | 2016-06-29 | 2016-10-12 | 주식회사 윈텍오토메이션 | Carbide inserts grip equipment |
| CN205704199U (en) * | 2016-06-30 | 2016-11-23 | 吴玉顺 | A kind of hydraulic efficiency manipulator |
| CN206317069U (en) * | 2016-12-21 | 2017-07-11 | 佛山市天汇汽车电子有限公司 | A kind of Pneumatic manipulator |
| CN206828386U (en) * | 2017-04-07 | 2018-01-02 | 巨石集团成都有限公司 | A kind of wire-drawing machine lead screw attachment means |
| CN207673647U (en) * | 2017-12-29 | 2018-07-31 | 云内动力达州汽车有限公司 | A kind of hydraulic cylinder of efficient range-adjustable |
| CN108582064A (en) * | 2018-06-14 | 2018-09-28 | 常州信息职业技术学院 | A kind of automatic liquid press mechanical pressing arm |
| CN108547827A (en) * | 2018-06-29 | 2018-09-18 | 北京精密机电控制设备研究所 | A kind of built-in gas-liquid mixed buffering retraction type high-speed cylinder |
| CN209319820U (en) * | 2018-10-24 | 2019-08-30 | 国网江苏省电力有限公司徐州供电分公司 | A kind of buffer unit for mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109318257A (en) | 2019-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109318257B (en) | Buffer device for mechanical arm and control method thereof | |
| CN101650555B (en) | Intelligent electric valve positioner | |
| CN206270021U (en) | Big stroke pneumatic load charger | |
| CN106813007A (en) | A kind of intelligent valve positioner | |
| CN209319820U (en) | A kind of buffer unit for mechanical arm | |
| CN107150905B (en) | Material sucking device, powder tank truck with same and material sucking method | |
| CN108644454B (en) | Electrical integrated control system for adjusting type pneumatic actuating mechanism | |
| CN110842906B (en) | Pressing device for mechanical arm and control method thereof | |
| CN204878957U (en) | Intelligent valve locator | |
| CN202357170U (en) | Single armed manipulator of optical glass cleaning equipment | |
| CN208595287U (en) | A kind of electrical integrated control system of adjustment type pneumatic actuator | |
| CN207336029U (en) | The dropout force test device of breaker | |
| CN211590114U (en) | Pressing device for mechanical arm | |
| CN205663459U (en) | Steam distribution device's servomotor device and steam turbine speed control system | |
| CN205247229U (en) | Device of gaseous decompression of pulsewidth modulation | |
| CN205438600U (en) | Electromagnetism adsorption apparatus tool hand | |
| CN212207594U (en) | Handheld check rod for checking opening and closing conditions of cylinder lifting valve | |
| CN201401551Y (en) | Air valve opening indication and stroke control device | |
| CN211398119U (en) | Hydraulic positioning device | |
| CN113119062A (en) | Robot mechanical arm for fire rescue | |
| CN207841366U (en) | A kind of manipulator for drawing sealing ring | |
| CN208534897U (en) | Positioning cylinder | |
| CN207393620U (en) | hydraulic displacement control system | |
| CN202883534U (en) | Steam driving cylinder module and installation structure thereof for robot | |
| CN110792655A (en) | Hydraulic positioning device and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |