CN110421567A - A kind of multirobot process unit of complexity surface parts - Google Patents
A kind of multirobot process unit of complexity surface parts Download PDFInfo
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- CN110421567A CN110421567A CN201910733114.XA CN201910733114A CN110421567A CN 110421567 A CN110421567 A CN 110421567A CN 201910733114 A CN201910733114 A CN 201910733114A CN 110421567 A CN110421567 A CN 110421567A
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- servo motor
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of multirobot process units of complicated surface parts, including equipment support frame, series connection machining robot, support robot in parallel and co-melting control detection system, series connection machining robot includes the first rotary joint, the second rotary joint, third rotary joint and process tool system；Parallel connection support robot includes support base, support platform, PUS drive chain and PU constraint chain, support platform is equipped with support cylinder, cylinder output is supported to connect pneumatic support platform, rotary support table is rotatablely connected by endless glide on pneumatic support platform, support platform bottom is equipped with rotation servo motor, and rotation servo motor output end passes through support platform, pneumatic support platform is connect with rotary support table；This device structure is compact, and kinematic dexterity is good, and machining accuracy is high；The purpose that co-melting, work compound processes Surfaces of Unusual Shape part using multiple robot interactives may be implemented.
Description
Technical field
The present invention relates to multirobot Intelligent Machining equipment technology fields, and in particular to a kind of multimachine device of complexity surface parts
People's process unit.
Background technique
To meet the needs of socio-economic development and national defense construction are to major technologies and equipment, China has been formulated to accelerate new one
Serve as theme for information technology and manufacturing industry depth integration, to push development route of the intelligence manufacture as main direction, robot with
Intelligence manufacture is the major fields of National Technical innovation.In the manufacture field of Surfaces of Unusual Shape part, traditional numerically-controlled machine tool or
Multiple degrees of freedom is connected, and that there is machining accuracies is low for the processing method of mechanical arm, and process unit is heavy, process flexibility difference it is many
Problem is not able to satisfy the development need of prior art requirement.Although mechanical arm machining accuracy of connecting is not high, there is working space
Greatly, the high advantage of flexibility；The advantages of parallel robot has overall mechanism compact, and height is high, kinematic error school, very
Mostly high-accuracy manufacture field has obtained good application.In conjunction with the advantage and disadvantage and co-melting machine of serial manipulator and parallel robot
The development need of people's technology, multi-processing equipment interact, and work compound is one of the developing direction of the following intelligence manufacture industry.
Summary of the invention
For above-mentioned technical deficiency, the object of the present invention is to provide a kind of multirobot processing of complicated surface parts
Equipment, whole equipment configuration is compact, and rigidity is big, and kinematic dexterity is good, and machining accuracy is high；It may be implemented to utilize multiple robots
The purpose that the co-melting, work compound of interaction processes Surfaces of Unusual Shape part, effectively improves the efficiency and intelligence of part process unit
Energyization.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
The present invention provides a kind of multirobot process unit of complicated surface parts, including equipment support frame, series connection processing machine
Device people, support robot in parallel and co-melting control detection system, it is characterised in that: the series connection machining robot includes fixing
In the first servo motor for equipping support frame upper end, it is connect with the first servo motor output end and is equipped with the second servo
First rotary joint of motor, the second rotation for connecting with the second servo motor output end and being equipped with third servo motor are closed
Section, the third rotary joint that is connect with the third servo motor output end and be equipped with the 4th servo motor and with the described 4th
The process tool system of servo motor output end connection；
The support robot in parallel includes the support base for being fixed on the equipment support frame lower end, is located at the support
Support platform above pedestal, several are evenly arranged between the support base and support platform circumferential edge and by the two
The PUS drive chain of connection and the PU constraint chain for being located in the middle part of the support base and support platform and the two connect, it is described
Support platform displays in a ring equipped with several around its center and equally distributed support cylinder, the support cylinder output
It is both connected to a pneumatic support platform bottom, pneumatic support platform upper end is rotatably connected to rotation support by endless glide
Platform, the support platform bottom are fixed with rotation servo motor by servo motor set, and the rotation servo motor output end is worn
It is connect after crossing the support platform, the pneumatic support platform with the rotary support table center.
Preferably, the support base includes the upper plate being coaxially set and lower plate, the week of the lower plate and the upper plate
It is linked together to edge by several inclined plates, the inclined plate and the upper plate central axes are at 15 °~50 ° angles.
Preferably, the PUS drive chain includes connecting rod, and described connecting rod one end connects spherical hinge, institute by connector
Connecting rod other end connection Hooke's hinge A is stated, the spherical hinge is installed voussoir by flexural pivot and is fixed in the support platform, described
Hooke's hinge A is by hook hinge mounting base connection sliding block, and the PUS drive chain further includes straight line mould group, the straight line mould group packet
The guide rail being fixed on the inclined plate is included, be slidably connected the sliding block on the guide rail, and the slider bottom is turned by bearing block
Dynamic to be connected with screw rod, wherein one end of the inclined plate is fixed with driving servo motor, and the driving servo motor output end passes through
Shaft coupling is connect with the screw rod.
Preferably, the PU constraint chain includes Hooke's hinge B, reducing sleeve and the rolling for being fixed on servo motor set bottom
Spline pair, the ball spline pair include ball spline and the ball spline sleeve that is adapted to it, and the lower end the Hooke's hinge B passes through
The reducing sleeve is connect with the ball spline, and the ball spline sleeve is fixedly connected with upper plate.
Preferably, the Hooke's hinge A can be replaced by spherical hinge.
Preferably, 2 PUS branches can be mounted side by side in the PUS drive chain, and 3-2PUS+PU type parallel machine is integrally formed
Structure.
Preferably, the co-melting control detection system include industrial personal computer, servo-driver, several displacement sensors,
Several attitude gyroscopes and encoder；One displacement sensor is set in each straight line mould group, institute's displacement sensors
Receiving end and transmitting terminal are separately mounted to correspond on wherein one end and sliding block of the inclined plate, and the attitude gyroscope is uniformly arranged
In pneumatic support platform upper end, first servo motor, the second servo motor, third servo motor, the 4th servo motor, rotation
The input terminal and output shaft of servo motor and driving servo motor are connect with the servo-driver, the encoder respectively,
The process tool system, the servo-driver, the support cylinder, the encoder, the displacement sensing, the posture
Gyroscope is electrically connected with the industrial personal computer respectively；Motion control board, and the motion control board are integrated in the industrial personal computer
Control output will at least reach eight axis.
Preferably, the inclined plate, the PUS drive chain, the straight line mould group, institute's displacement sensors and the posture
The quantity of gyroscope is 3.
The beneficial effects of the present invention are: the present invention to be used for multirobot the Precision Machinings of complex curved surface parts, has
Compact-sized, system overall stiffness is big, and working motion is flexible, the good advantage of interactivity before robot；Series connection machining robot
The co-melting cooperation of robot is supported with parallel connection, the advantage of serial manipulator and parallel robot respectively has been given full play to, has widened zero
The precision machined equipment form of part；The motion control entirely equipped forms closed loop feature, on the one hand greatly improves adding for part
On the other hand work precision has accomplished the system exception protection in process, has improved the safety of system；Entire change system
The co-melting interaction for realizing multirobot, realizes the intelligent machining of part, improves conventional individual device people processing or single
The robot cooperated disadvantage of one form, for pushing the development of intelligence manufacture industry to be of great significance.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of the multirobot process unit of complicated surface parts provided in an embodiment of the present invention；
Fig. 2 is series connection machining robot structural schematic diagram provided in an embodiment of the present invention；
Fig. 3 is support robot architecture's schematic diagram in parallel provided in an embodiment of the present invention；
Fig. 4 is parallel robot support base structural schematic diagram provided in an embodiment of the present invention；
Fig. 5 is parallel robot support platform structural schematic diagram provided in an embodiment of the present invention；
Fig. 6 is co-melting control detection system connection schematic diagram provided in an embodiment of the present invention.
Description of symbols:
1, equipment support frame, 2, series connection machining robot, 2-1, first servo motor, 2-2, the first rotary joint, 2-3,
Second rotary joint, 2-4, third rotary joint, 3, process tool system, 4, complex curved surface parts processing sample, 5, branch in parallel
Support robot, 5-1, rotary support table, 5-2, pneumatic support platform, 5-3, support cylinder, 5-4, support platform, 5-5, PUS driving
Chain, 5-5-1, flexural pivot install voussoir, 5-5-2, spherical hinge, 5-5-3, connector, 5-5-4, connecting rod, 5-5-5, Hooke's hinge A, 5-
5-6, hook hinge mounting base, 5-5-7, straight line mould group, 5-6, PU constrain chain, 5-6-1, rotation servo motor, 5-6-2, servo
Motor set, 5-6-3, Hooke's hinge B, 5-6-4, reducing sleeve, 5-6-5, ball spline, 5-6-6, ball spline sleeve, 5-7, support bottom
Seat, 5-7-1, lower plate, 5-7-2, upper plate, 5-7-3, inclined plate, 6-1, attitude gyroscope, 6-2, displacement sensor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1 to Figure 5, wherein, a kind of multirobot process unit of complicated surface parts, including equipment support frame 1, series connection
Machining robot 2, support robot 5 in parallel and co-melting control detection system, it is characterised in that: the series connection machining robot
2 include that the first servo motor 2-1 for being fixed on equipment 1 upper end of support frame and the first servo motor 2-1 output end connect
The first rotary joint 2-2 of the second servo motor is met and be equipped with, is connect with the second servo motor output end and is equipped with third
Second rotary joint 2-3 of servo motor, that the 4th servo motor is connect and be equipped with the third servo motor output end
Three rotary joint 2-4 and the process tool system 3 being connect with the 4th servo motor output end, the series connection processing machine
There are four rotational freedoms for the tool of people 2, can achieve the position of any needs in its joint space, and provide process tool system
Posture required for 3；
The support robot 5 in parallel includes the support base 5-7 for being fixed on equipment 1 lower end of support frame, is located at institute
State the support platform 5-4 above support base 5-7, several be evenly arranged in the support base 5-7 and support platform 5-4 weeks
To between edge and by PUS drive chain 5-5 that the two connects and being located in the middle part of the support base 5-7 and support platform 5-4
And the PU of the two connection is constrained into chain 5-6, the support base 5-7 is spatially at a tetrahedral structure, the PUS driving
Chain 5-5 is for spatial position and posture needed for providing support platform 5-4, and the PU constraint chain 5-6 is for constraining support platform
The some freedom of 5-4.The one-movement-freedom-degree in 1, space direction and the rotation in 2 directions may be implemented in entire parallel robot
Freedom degree, the support platform 5-4 is displayed in a ring equipped with several around its center and equally distributed support cylinder 5-3,
The support cylinder 5-3 output end is both connected to the bottom pneumatic support platform 5-2, and the support cylinder 5-3 can be transported individually
It is dynamic, it at least wants 12 to be evenly arranged around the center of support platform 5-4, realizes point-to-point forms of motion, in process
The distortion inaccuracy of support platform 5-4 is compensated, the upper end pneumatic support platform 5-2 is rotatably connected to rotation support by endless glide
Platform 5-1, the bottom the support platform 5-4 cover 5-6-2 by servo motor and are fixed with rotation servo motor 5-6-1, the rotation
Servo motor 5-6-1 output end pass through the support platform 5-4, the pneumatic support platform 5-2 after with the rotary support table 5-1
Center is connected by shaft coupling, for providing the rotational motion in process, 4 clamping of complex curved surface parts processing sample
On rotary support table 5-2.
The support base 5-7 includes the upper plate 5-7-2 being coaxially set and lower plate 5-7-1, the lower plate 5-7-1 and institute
The circumferential edge for stating upper plate 5-7-2 is linked together by several inclined plates 5-7-3, the inclined plate 5-7-3 and the upper plate 5-
The central axes 7-2 are at 15 °~50 ° angles.
The PUS drive chain 5-5 includes connecting rod 5-5-4, and the one end the connecting rod 5-5-4 is connected by connector 5-5-3
Receive hinge 5-5-2, and the connecting rod 5-5-4 other end connects Hooke's hinge A 5-5-5, and the spherical hinge 5-5-2 passes through flexural pivot
Installation voussoir 5-5-1 is fixed on the support platform 5-4, and the Hooke's hinge A 5-5-5 passes through hook hinge mounting base 5-5-6
Connection sliding block, the PUS drive chain 5-5 further include straight line mould group 5-5-7, and the straight line mould group 5-5-7 is described including being fixed on
Guide rail on inclined plate 5-7-3, be slidably connected on the guide rail sliding block, and the slider bottom is rotatably connected to by bearing block
Screw rod, wherein one end of the inclined plate 5-7-3 are fixed with driving servo motor, and the driving servo motor output end passes through shaft coupling
Device is connect with the screw rod；The Hooke's hinge A 5-5-5 can realize the rotational freedom of both direction around its own rotary shaft,
Three rotational freedoms may be implemented in the spherical hinge 5-5-2, so that can to provide space unconfined for entire PUS driving branch
Six-freedom motion.The spherical hinge installation voussoir can make up spherical hinge 5-5-2 itself rotation in 15 degree to 50 degree angle arrangements
The lesser defect of gyration expands the athletic posture space of entire support robot 5 in parallel.
The PU constraint chain 5-6 includes Hooke's hinge B5-6-3, the reducing sleeve for being fixed on the servo motor set bottom 5-6-2
5-6-4 and ball spline pair, the ball spline pair include the ball spline 5-6-5 and ball spline sleeve 5-6- being adapted to it
6, the lower end the Hooke's hinge B5-6-3 is connect by the reducing sleeve 5-6-4 with the ball spline 5-6-5, the ball spline
Set 5-6-6 is fixedly connected with upper plate 5-7-2；Space both direction one-movement-freedom-degree can be constrained in the entire PU constraint chain 5-6
With the rotational freedom in a direction, in conjunction with PUS drive chain 5-5, the support platform 5-4 of entire support robot 5 in parallel can be with
The movement of one, space and two rotational freedoms are realized under the driving of straight line mould group 5-5-7.
The Hooke's hinge A 5-5-5 can be replaced by spherical hinge.
2 PUS branches can be mounted side by side in the PUS drive chain, and 3-2PUS+PU type parallel institution is integrally formed.
Referring to shown in Fig. 6, the co-melting control detection system includes industrial personal computer, servo-driver, several displacement sensings
Device 6-2, several attitude gyroscopes 6-1 and encoder；A displacement sensor 6- is respectively provided on each straight line mould group 5-5-7
2, the receiving end of institute displacement sensors 6-2 and transmitting terminal are separately mounted to correspond to wherein one end and the cunning of the inclined plate 5-7-3
On block, the attitude gyroscope 6-1 is uniformly arranged on the upper end pneumatic support platform 5-2, first servo motor, the second servo electricity
Machine, third servo motor, the 4th servo motor, rotation servo motor and the input terminal and output shaft difference that drive servo motor
It is connect with the servo-driver, the encoder, the process tool system 3, the servo-driver, the support cylinder
5-3, the encoder, the displacement sensing, the attitude gyroscope 6-1 are electrically connected with the industrial personal computer respectively；The work
Motion control board is integrated in control machine, and motion control board card control output will at least reach eight axis；The encoder is used for
The error between each servo motor output end output valve and theoretical value is detected, and is detected signal and is transmitted to industrial personal computer, work
Control machine issues error compensation instruction, compensates to each servo motor kinematic error；Displacement sensor 6-2, attitude gyroscope
6-1 is used to the motion detection of execution unit, while will test signal feedback to industrial personal computer, to the kinematic error of entire robot
It is measured in real time and compensates；Encoder, displacement sensor 6-2, attitude gyroscope 6-1 feedback signal are provided with threshold value, when
When detection signal and theoretical value differ by more than threshold value, industrial personal computer stops the movement of robot in time, guarantees the safety entirely equipped；
In process, workpiece to be added is it is possible that the case where deforming, causes machining accuracy to reduce, industrial personal computer can pass through control
The movement of support cylinder 5-3 compensates the distortion inaccuracy of workpiece in process.
The inclined plate 5-7-3, the PUS drive chain 5-5, the straight line mould group 5-5-7, institute displacement sensors 6-2 with
And the quantity of the attitude gyroscope 6-1 is 3.
The embodiment of the present invention also provides a kind of processing method based on the complexity surface parts multirobot process unit, specifically
The following steps are included:
A. type detection scanning in face is carried out to complex curved surface parts processing sample 4 using three-dimensional imaging scanner, scanning is completed
It afterwards will be on blank clamping to rotary support table 5-1；
B. the processing finished product three-dimensional parameter scanned in step a is input in industrial personal computer, industrial personal computer can automatic root
Compared according to face type detection scanning result and blank and then automatically generate part program, by industrial personal computer servo controller and
Process tool system 3 carries out motion control, and series connection machining robot 2 and support robot 5 in parallel movement cooperate, and realizes zero
The each position pose adjustment of part in process；
C. during processing, encoder examines the output valve and theoretical value of each servo motor output end in real time
It surveys and compares and will test signal Real-time Feedback to industrial personal computer；Simultaneous displacement sensor 6-2 carries out the position of each straight line mould group
Detection, and will test signal Real-time Feedback to industrial personal computer, appearance of the same attitude gyroscope 6-1 to multiple spot pneumatic support platform 5-2
State is measured in real time and feeds back industrial personal computer；Industrial personal computer by feedback signal and theoretical value comparison after, to each kinematic error into
Row amendment in real time, guarantees the precision of part processing；Meanwhile the threshold value of each error is set by intelligent interaction display, work as coding
When device, displacement sensor 6-2 and attitude gyroscope 6-1 detect that signal reaches preset threshold, stop equipment movement in time, and lead to
The alarm of intelligent interaction display is crossed, guarantees the safe and reliable of process；In addition, during processing, according to attitude gyro
The feedback result of instrument 6-1 in real time controls the movement of support cylinder 5-3, compensates the deformation in part process；
D. after processing is completed, control series connection machining robot 2 and support robot 5 in parallel return to initial position.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (8)
1. a kind of multirobot process unit of complexity surface parts, including equipment support frame, series connection machining robot, support in parallel
Robot and co-melting control detection system, it is characterised in that: the series connection machining robot includes being fixed on the equipment branch
The first servo motor of support upper end, the first rotation for being connect with the first servo motor output end and being equipped with the second servo motor
Turn joint, the second rotary joint for being connect with the second servo motor output end and being equipped with third servo motor, with described the
Three servo motor output ends connect and are equipped with the third rotary joint of the 4th servo motor and defeated with the 4th servo motor
The process tool system of outlet connection；
The support robot in parallel includes the support base for being fixed on the equipment support frame lower end, is located at the support base
The support platform of top, several are evenly arranged between the support base and support platform circumferential edge and connect the two
PUS drive chain and the PU constraint chain that is located in the middle part of the support base and support platform and the two connect, the support
Platform displays in a ring equipped with several around its center and equally distributed support cylinder, the support cylinder output connect
It connects a pneumatic support platform bottom, pneumatic support platform upper end is rotatably connected to rotary support table by endless glide, institute
It states support platform bottom and rotation servo motor is fixed with by servo motor set, the rotation servo motor output end passes through described
It is connect after support platform, the pneumatic support platform with the rotary support table center.
2. a kind of multirobot process unit of complicated surface parts as described in claim 1, it is characterised in that: the support bottom
Seat includes that the upper plate being coaxially set and lower plate, the lower plate and the circumferential edge of the upper plate are connected to by several inclined plates
Together, the inclined plate and the upper plate central axes are in 15 °~50 ° angles.
3. a kind of multirobot process unit of complicated surface parts as claimed in claim 2, it is characterised in that: the PUS drives
Dynamic chain includes connecting rod, and described connecting rod one end connects spherical hinge by connector, and the connecting rod other end connects Hooke's hinge
A, the spherical hinge are installed voussoir by flexural pivot and are fixed in the support platform, and the Hooke's hinge A is installed by hook hinge
Seat connection sliding block, the PUS drive chain further includes straight line mould group, and the straight line mould group includes being fixed on leading on the inclined plate
Rail, be slidably connected on the guide rail sliding block, and the slider bottom is rotatably connected to screw rod by bearing block, the inclined plate
Wherein one end is fixed with driving servo motor, and the driving servo motor output end is connect by shaft coupling with the screw rod.
4. a kind of multirobot process unit of complicated surface parts as claimed in claim 2, it is characterised in that: the PU constraint
Chain includes Hooke's hinge B, reducing sleeve and the ball spline pair for being fixed on servo motor set bottom, the ball spline pair packet
The ball spline sleeve for including ball spline and being adapted to it, the lower end the Hooke's hinge B pass through the reducing sleeve and the ball spline
Connection, the ball spline sleeve are fixedly connected with upper plate.
5. a kind of multirobot process unit of complicated surface parts as claimed in claim 2, it is characterised in that: the Hooke's hinge
A can be replaced by spherical hinge.
6. a kind of multirobot process unit of complicated surface parts as claimed in claim 2, it is characterised in that: the PUS drives
2 PUS branches can be mounted side by side in dynamic chain, and 3-2PUS+PU type parallel institution is integrally formed.
7. a kind of multirobot process unit of complicated surface parts as described in claim 1, it is characterised in that: described is co-melting
Controlling detection system includes industrial personal computer, servo-driver, several displacement sensors, several attitude gyroscopes and coding
Device；One displacement sensor is set in each straight line mould group, and the receiving end of institute's displacement sensors and transmitting terminal are separately mounted to
On wherein one end and sliding block of the corresponding inclined plate, the attitude gyroscope is uniformly arranged on pneumatic support platform upper end, the
One servo motor, the second servo motor, third servo motor, the 4th servo motor, rotation servo motor and driving servo electricity
The input terminal and output shaft of machine are connect with the servo-driver, the encoder respectively, and the process tool system described is watched
Take driver, the support cylinder, the encoder, the displacement sensing, the attitude gyroscope respectively with the industrial personal computer
It is electrically connected；Motion control board is integrated in the industrial personal computer, and motion control board card control output will at least reach eight axis.
8. a kind of multirobot process unit of complicated surface parts as claimed in claim 7, it is characterised in that: the inclined plate,
The PUS drive chain, the straight line mould group, the quantity of institute's displacement sensors and the attitude gyroscope are 3.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910733114.XA CN110421567A (en) | 2019-08-09 | 2019-08-09 | A kind of multirobot process unit of complexity surface parts |
| PCT/CN2020/070475 WO2021027245A1 (en) | 2019-08-09 | 2020-01-06 | Multi-robot machining apparatus for complex surface part |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910733114.XA CN110421567A (en) | 2019-08-09 | 2019-08-09 | A kind of multirobot process unit of complexity surface parts |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021027245A1 (en) * | 2019-08-09 | 2021-02-18 | 山东中衡光电科技有限公司 | Multi-robot machining apparatus for complex surface part |
| CN113119065A (en) * | 2021-06-17 | 2021-07-16 | 中国人民解放军国防科技大学 | Multi-degree-of-freedom mechanical arm, moving platform and rescue robot |
| CN113798870A (en) * | 2021-11-18 | 2021-12-17 | 浙江大学杭州国际科创中心 | Processing equipment and processing method |
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