CN110480610A - A kind of laboratory four axis robots of auxiliary of full coverage type - Google Patents
A kind of laboratory four axis robots of auxiliary of full coverage type Download PDFInfo
- Publication number
- CN110480610A CN110480610A CN201910784743.5A CN201910784743A CN110480610A CN 110480610 A CN110480610 A CN 110480610A CN 201910784743 A CN201910784743 A CN 201910784743A CN 110480610 A CN110480610 A CN 110480610A
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- fixedly connected
- resistance
- electric machine
- laboratory
- controller
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
- B25J9/123—Linear actuators
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of laboratories of full coverage type to assist four axis robots, comprising: cladding system, level are fixed on the ceiling in laboratory；It is moved forward and backward device, is connected on cladding system；Device is moved left and right, is connected to and is moved forward and backward on device；Robot device is connected to and moves left and right on device；Robot device includes: lifting assembly, and upper end, which is connected to, to be moved left and right on device and be arranged towards ground direction；Rotary components are connected to lifting assembly lower end；Grabbing device is connected on rotary components and is arranged towards ground direction；Controller is arranged in laboratory, the controller respectively with the back-and-forth motion device, move left and right device, lifting assembly, rotary components, grabbing device and be electrically connected.Functional of the present invention, it is easy to use, laboratory is able to satisfy to cover type auxiliary operation in certain area.
Description
Technical field
The present invention relates to robotic device fields, and in particular, to a kind of laboratory four shaft mechanicals of auxiliary of full coverage type
Hand.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.Manipulator is mainly by executing agency, driving mechanism and control system three parts
Composition.Hand is the component for grasping workpiece (or tool), according to by the shape of grasping object, size, weight, material and work
Industry requires and there are many structure types, such as clamp-type, holding type and absorbent-type.Movement mechanism makes hand complete various rotations
(swing), mobile or compound motion realize defined movement, change by the position of grasping object and posture.The liter of movement mechanism
The self-movements mode, the referred to as freedom degree of manipulator such as drop, flexible, rotation.In order to grab any position and orientation in space
Object need to have 6 freedom degrees.Freedom degree is the key parameter of manipulator design.Freedom degree is more, and the flexibility of manipulator is got over
Greatly, versatility is wider, and structure is also more complicated.General special manipulator has 2 to 3 freedom degrees.Control system is by machine
The control of the motor of each freedom degree of tool hand, to complete specific action.The information of receiving sensor feedback simultaneously, forms stable
Closed-loop control.The core of control system is usually to be made of microcontroller chips such as single-chip microcontroller or dsp, realizes institute by programming to it
Want function.
Joint Manipulator is also referred to as joint arm manipulator or joint Manipulator arm, is the most common work in current industrial circle
One of the form of industry manipulator, suitable for the mechanical automation operation of many industrial circles, as automatic assembling, spray painting, carrying,
The work such as welding.When the number of axle of manipulator increases, manipulator just has higher flexibility, and common manipulator has four axis robots
With six axis robot etc., wherein four axis robots are to pick and place operation specifically for high speed and design, and six axis robot then mentions
Higher production kinematic dexterity is supplied.
Four axis are designed to pick and place operation at a high speed, have very strong rigidity, to allow them to competent high speed
With the work of high duplication, four axis robots are good at high speed and are picked and placed and other materials processing task.But four traditional shaft mechanicals
Hand can only often work in regional area, in the lab, four axis robot to be used be needed to have special requirement,
Needs are tested to meet, according to the actual situation, four axis robots are wanted to work in the larger context, i.e. its operation model
The spreadability that have in all directions is enclosed, for this case, it is necessary to improve to existing four axis robot, to meet reality
Test the specific use demand in room.
Summary of the invention
In view of the deficiencies of the prior art, the laboratory that the present invention provides a kind of full coverage type assists four axis robots, can be full
Sufficient laboratory is to cover type auxiliary operation in certain area.
A kind of laboratory of full coverage type disclosed by the invention assists four axis robots, comprising:
Cladding system, the cladding system level are fixed on the ceiling in laboratory；
It is moved forward and backward device, the back-and-forth motion device is connected on cladding system；
Device is moved left and right, the device that moves left and right is connected on back-and-forth motion device；
Robot device, the robot device, which is connected to, to be moved left and right on device；
The robot device includes: lifting assembly, and the lifting assembly upper end, which is connected to, to be moved left and right on device and court
Direction is arranged to the ground；Rotary components, the rotary components are connected to lifting assembly lower end；Grabbing device, the grabbing device
It is connected on rotary components and is arranged towards ground direction；
Controller, the controller are arranged in laboratory, the controller respectively with the back-and-forths motion device, control
Mobile device, lifting assembly, rotary components, grabbing device electrical connection.
Preferably, the cladding system includes: first level mounting plate, and first level mounting plate top is fixedly connected
There is the connecting bracket being vertically arranged, the connecting bracket top is fixedly connected with the ceiling in laboratory；Two the first sliding rails, institute
State that two the first sliding rails are horizontally set on first level mounting plate top along the longitudinal direction and two the first sliding rails are mutually flat
Row；
The back-and-forth motion device includes: the second horizontal mounting plate, and second horizontal mounting plate bottom end is fixedly connected with
Two sliding blocks, described two sliding blocks are slidably connected at respectively in described two first sliding rails；
Two first movement components, described two first movement components are symmetricly set on first level mounting plate top
End and two outsides for being located at two the first sliding rails；
The first movement component includes: two the first fixing seats, one of them first fixing seat is fixedly connected with first
Bearing block；First screw rod, first screw rod are parallel to the setting of the first sliding rail；First rotary electric machine, first rotary electric machine
It is fixedly connected in another first fixing seat, the output shaft edge of first rotary electric machine is parallel to the first slide direction and sets
It sets, first screw rod one end is fixedly connected with the first rotary electric machine output shaft, the first screw rod other end fixing sleeve
The bearing inner race in the first bearing seat is connect, first rotary electric machine is electrically connected with the controller；First mounting blocks, institute
It states the first mounting blocks screw thread to be socketed on the first screw rod, first mounting blocks top is fixedly connected on second and is horizontally mounted board bottom
Face；
Two the second sliding rails, described two second sliding rails are horizontally set on the second horizontal mounting plate top in left-right direction
It holds and two the second sliding rails is parallel to each other, second sliding rail is vertical with the first sliding rail；
The first level mounting plate is correspondingly provided between two the first sliding rails with second horizontal mounting plate logical
Hole, the through-hole be used to pass through for the robot device and along the longitudinal direction, left and right directions it is mobile.
Preferably, the device that moves left and right includes:
Third horizontal mounting plate, third horizontal mounting plate bottom end are fixedly connected there are two idler wheel, described two idler wheels
It is connected in described two second sliding rails；
Two the second moving assemblies, described two second moving assemblies are symmetricly set on second horizontal mounting plate top
End and two outsides for being located at two the second sliding rails；
Second moving assembly includes: two the second fixing seats, one of them second fixing seat is fixedly connected with second
Bearing block；Second screw rod, second screw rod are parallel to the setting of the second sliding rail；Second rotary electric machine, second rotary electric machine
It is fixedly connected in another second fixing seat, the output shaft edge of second rotary electric machine is parallel to the second slide direction and sets
It sets, second screw rod one end is fixedly connected with the second rotary electric machine output shaft, the second screw rod other end fixing sleeve
The bearing inner race in the second bearing seat is connect, second rotary electric machine is electrically connected with the controller；Second mounting blocks, institute
It states the second mounting blocks screw thread to be socketed on the second screw rod, second mounting blocks top is fixedly connected on third and is horizontally mounted board bottom
Face；
The robot device is connected to third horizontal mounting plate bottom surface and is located between two idler wheels.
Preferably, the lifting assembly includes: lifting hydraulic cylinder, and the lifting hydraulic cylinder, which is fixedly connected on, moves left and right dress
The output shaft at bottom set end, the lifting hydraulic cylinder is arranged downwards, and the lifting hydraulic cylinder is electrically connected with the controller.
Preferably, the rotary components include: third rotary electric machine, and the third rotary electric machine and hydraulic cylinder output shaft are solid
Fixed connection, downwards, the third rotary electric machine is electrically connected the output end of the third rotary electric machine with the controller；Turn
Disk, the turntable are fixedly connected with the output end of third rotary electric machine, and the grabbing device is arranged on the turntable.
Preferably, the quantity of the grabbing device is multiple, and multiple grabbing devices are along turntable circumferential direction uniform intervals
It is arranged on turntable；
The grabbing device includes: that the grabbing device includes: mechanical arm, the mechanical arm fixing end and the fixed company of turntable
It connects；
Several gripper jaws, several gripper jaws are arranged in mechanical arm turning end, and the gripper jaw includes: interconnecting piece, institute
It states interconnecting piece upper end and mechanical arm turning end is hinged；Driving portion, the driving portion upper end are fixedly connected with interconnecting piece lower end；Clamping
Portion, the clamping part upper end are fixedly connected with driving portion lower end；Cylinder is driven, the driving cylinder output and fixing end are equal
It is fixedly connected with connecting rod, the other end and mechanical arm turning end of the connecting rod of cylinder fixing end connection are hinged, cylinder output
The connecting rod other end and the driving portion of connection are hinged.
Preferably, infrared position sensor is provided on the rotary components, the infrared position sensor is located at crawl
Device side and it is arranged downward；
The controller is connect by detection circuit with infrared position sensor；
The detection circuit includes:
Second resistance, the second resistance first end are connect with infrared position sensor；
First resistor, the first resistor first end are connect with second resistance second end, and the first resistor second terminates
Ground；
3rd resistor, the 3rd resistor first end are connect with second resistance second end；
First capacitor, described first capacitor one end are connect with 3rd resistor second end, the other end and first resistor second end
Connection；
First operational amplifier, the 3rd resistor second end is connect with the first operational amplifier non-inverting input terminal, described
The power end of first operational amplifier connects power supply, the ground terminal ground connection of first operational amplifier, and first operation is put
The inverting input terminal of big device is connect with its output end；
4th resistance, the 4th resistance first end are connect with the output end of the first operational amplifier, the 4th resistance
Second end connect with controller；
Zener diode, the Zener diode cathode are connect with the 4th resistance second end, the Zener diode
Plus earth；
The controller power source end is connect by overvoltage crowbar with controller power source, the overvoltage crowbar packet
It includes:
The anode of crystal diode, the crystal diode connects the controller power source, the yin of the crystal diode
Pole connects the cathode of adjustable reference voltage source by the 8th resistance；
The reference pole of the adjustable reference voltage source connects the cathode of itself, and the anode of the adjustable reference voltage source connects
Ground；
The cathode of second operational amplifier, the adjustable reference voltage source is also connected with the negative input of second operational amplifier
End；
7th resistance, described 7th resistance one end connect the positive input terminal and the 5th resistance one of the second operational amplifier
End, the 5th resistance other end are separately connected the negative output terminal of the overvoltage crowbar, the adjustable reference voltage source
Anode and ground connection, the 7th resistance other end connect the controller power source；
6th resistance, the 6th resistance are connected across between the positive input terminal and output end of the second operational amplifier；
The source electrode of field effect transistor, the field effect transistor connects the controller, the second operational amplifier
Output end connect the grid of the field effect transistor, it is negative that the drain electrode of the field effect transistor connects the crystal diode
Pole；
9th resistance, the 9th resistance are connected across between the drain electrode and grid of the field effect transistor.
It preferably, further include dust-extraction unit, the dust-extraction unit includes:
Shell, the shell are upper and lower ends hatch frame, and the shell upper end is fixedly connected on rotary components lower end, institute
Grabbing device is stated to be located in the shell and close to housing forward end；
Electrostatic generator, the electrostatic generator are fixedly connected on case top inner wall and close to housing rear ends；
Lifting motor, the lifting motor are fixedly connected on case top inner wall and close to housing rear end, the lifting electricity
The output shaft of machine is downwards；
Horizontal connecting plate, the horizontal connecting plate upper end are fixedly connected with the output shaft of lifting motor；
Two vertical connecting plates, described two vertical connecting plates are separately positioned at left and right sides of horizontal connecting plate, described perpendicular
Direct-connected fishplate bar upper end is fixedly connected with horizontal connecting plate lower end, and described two vertical connecting plates are located at grabbing device two
Side；
The vertical connecting plates are set close to the side of grabbing device there are two mounting groove, are pacified respectively in described two mounting grooves
Equipped with positive plate, negative plate, the positive plate and negative plate input terminal are electrically connected with electrostatic generator output end respectively；
Two electric telescopic rods, described two electric telescopic rods are vertically arranged on horizontal connecting plate and are located at two
A vertical connecting plates are close to the side of grabbing device；
Two hairbrush, described two hairbrush are connected to two electric telescopic rod lower ends, the brush end court of the hairbrush
It is arranged to the side of positive plate, the close grabbing device of negative plate, for cleaning positive plate, the dust on negative plate；
The electrostatic generator, lifting motor, electric telescopic rod are electrically connected with the controller respectively.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is top view of the present invention；
Fig. 3 is first level mounting plates structure schematic diagram of the present invention；
The structural schematic diagram that Fig. 4 connects for the second fixing seat of the invention, the second screw rod, the second driving motor；
Fig. 5 is detection circuit of the present invention, overvoltage crowbar figure；
Fig. 6 is the structural schematic diagram of dust-extraction unit of the present invention.
Description of symbols:
1, cladding system；11, first level mounting plate；111, through-hole；12, connecting bracket；13, the first sliding rail；2, front and back
Mobile device；21, the second horizontal mounting plate；22, sliding block；23, the first fixing seat；24, the first screw rod；25, the first rotary electric machine；
26, the first mounting blocks；27, the second sliding rail；3, device is moved left and right；31, third horizontal mounting plate；32, idler wheel；33, second is solid
Reservation；34, the second screw rod；35, the second rotary electric machine；36, the second mounting blocks；4, lifting assembly；41, raise-lower hydraulic bar cylinder；5,
Rotary components；51, third rotary electric machine；52, turntable；6, grabbing device；61, gripper jaw；611, interconnecting piece；612, driving portion；
613, clamping part；62, cylinder is driven；7, dust-extraction unit；71, shell；72, electrostatic generator；73, lifting motor；74, horizontal to connect
Fishplate bar；75, vertical connecting plates；76, positive plate；77, negative plate；78, electric telescopic rod；79, hairbrush；10, the second operation amplifier
Device；20, the first operational amplifier；30, Zener diode, 40, field effect transistor, 50, crystal diode, 60, adjustable reference
Voltage source；R1, first resistor；R2, second resistance；R3,3rd resistor；R4, the 4th resistance；R5, the 5th resistance；R6, the 6th electricity
Resistance；R7, the 7th resistance；R8, the 8th resistance；R20, the 9th resistance；C1, first capacitor.
Specific embodiment
Multiple embodiments of the invention will be disclosed with schema below, as clearly stated, the details in many practices
It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also
It is to say, in some embodiments of the invention, the details in these practices is non-essential.In addition, for the sake of simplifying schema,
Some known usual structures and component will be painted it in the drawings in simply illustrative mode.
In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, not especially censure
The meaning of order or cis-position, also non-to limit the present invention, the component described just for the sake of difference with same technique term
Or operation, it is not understood to indicate or imply its relative importance or implicitly indicates the number of indicated technical characteristic
Amount." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one of the features.In addition, each
Technical solution and technical characteristic between a embodiment can be combined with each other, but must be with those of ordinary skill in the art
Based on can be realized, this technical solution will be understood that when conflicting or cannot achieve when occurs in the combination of technical solution
In conjunction with being not present, also not the present invention claims protection scope within.
A kind of laboratory four axis robots of auxiliary of full coverage type, as shown in Figs 1-4, comprising:
Cladding system 1,1 level of cladding system are fixed on the ceiling in laboratory；Preferably, cladding system
1 can be set as needed along the size of laboratory front-rear direction, left and right directions, such as be needed according to laboratory using the laboratory
The position (i.e. laboratory working area) of four axis robots is assisted to be arranged, all standing laboratory needs to assist using the laboratory
The position of four axis robots；
It is moved forward and backward device 2, the back-and-forth motion device 2 is connected on cladding system 1；
Device 3 is moved left and right, the device 3 that moves left and right is connected on back-and-forth motion device 2；
Robot device, the robot device, which is connected to, to be moved left and right on device 3；
The robot device includes: lifting assembly 4,4 upper end of lifting assembly be connected to move left and right on device 3,
And it is arranged towards ground direction；Rotary components 5, the rotary components 5 are connected to 4 lower end of lifting assembly；Grabbing device 6, it is described
Grabbing device 6 is connected on rotary components 5 and is arranged towards ground direction；
Controller, the controller are arranged in laboratory, the controller respectively with the back-and-forths motion device 2, a left side
Device 3, lifting assembly 4, rotary components 5, grabbing device 6 is moved right to be electrically connected.Preferably, rotary components 5 include: along level side
What it is to rotation revolving part (revolving part such as following figure turntable 52 and third rotary electric machine 51) and the mechanical arm that connect with revolving part, is led to
The angle of mechanical arm adjustment grabbing device 6 is crossed, mechanical arm is electrically connected with the controller, and mechanical arm (not shown) can be existing machine
Tool arm；The control panel that may be disposed at controller electrical connection controls controller work by operating on the control panel；This hair
Bright described front-rear direction, left and right directions refer both to the front-rear direction and left and right directions in laboratory；
The working principle of above-mentioned technical proposal and have the beneficial effect that the present invention use in the lab, auxiliary tested
Cladding system 1, is mounted on the ceiling in laboratory by operation first；The back-and-forth motion device 2 connected on cladding system 1, can
To drive the device 3 that moves left and right for being moved forward and backward and connecting on device 2 to move back and forth in front-rear direction, moving left and right device 3 again can
To drive the robot device being mounted thereon to move back and forth in front-rear direction；It moves left and right device 3 and can also drive and connect thereon
The robot device connect moves back and forth in left and right directions；Compared with four axis robots of traditional fixation, the present apparatus has covering real
The function of room working region is tested, it can be achieved that less important work in a certain range, flexible and changeable, it is real convenient for coping with a variety of situations
It is strong with property, wherein in the case where being moved forward and backward device 2 and moving left and right the cooperation of device 3, rotating machinery arm device is moved to target
Above object, then, controller controls the starting of lifting assembly 4, makes rotary components 5, the grabbing device 6 above lifting assembly 4
Lifting moving is carried out in the vertical direction, reaches crawl station, rotary components 5 can rotate to so that grabbing device 6 and object
Suitable angle is between body, after the completion of crawl, lifting device rises, and it is synchronous with device 3 is moved left and right to be moved forward and backward device 2
Object is moved to specified place by cooperation, rotary components 5, and grabbing device 6 puts down object, and the function of auxiliary is played in experiment, this
Inventive functionality is strong, by controller control it is easy to control, to easy to use, be able to satisfy laboratory to covering in certain area
Formula auxiliary operation.
In one embodiment, as shown in Figs 1-4, the cladding system 1 includes: first level mounting plate 11, and described
One horizontal mounting plate, 11 top is fixedly connected with the connecting bracket 12 being vertically arranged, 12 top of connecting bracket and laboratory
Ceiling is fixedly connected；Two the first sliding rails 13, described two first sliding rails 13 are horizontally set on the first water along the longitudinal direction
11 top of safety loading board and two the first sliding rails 13 are parallel to each other；Wherein between connecting bracket 12 and first level mounting plate 11
Vertical direction distance, which can be installed, moves left and right device 3 and robot device；Preferably, two the first sliding rails 13 are in the first water
It is symmetrical arranged in safety loading board 11, to improve structural stability；
The back-and-forth motion device 2 includes: the second horizontal mounting plate 21, and 21 bottom end of the second horizontal mounting plate is fixed to be connected
It connects there are two sliding block 22, described two sliding blocks 22 are slidably connected at respectively in described two first sliding rails 13；Preferably, two
One sliding block 22 is symmetrical arranged on the second horizontal mounting plate 21, to improve structural stability；
Two first movement components, described two first movement components are symmetricly set on the first level mounting plate 11 and push up
End and two outsides for being located at two the first sliding rails 13；Two first movement components may be alternatively located at two the first sliding rails 13
Two insides；
The first movement component includes: two the first fixing seats 23, one of them first fixing seat 23 is fixedly connected with
First bearing seat；First screw rod 24, first screw rod 24 are parallel to the setting of the first sliding rail 13；First rotary electric machine 25, it is described
First rotary electric machine 25 is fixedly connected in another first fixing seat 23, and the output shaft of first rotary electric machine 25 is along parallel
It is arranged in 13 direction of the first sliding rail, described first screw rod, 24 one end is fixedly connected with 25 output shaft of the first rotary electric machine, institute
State the bearing inner race that 24 other end of the first screw rod is fixedly attached to the first bearing seat, first rotary electric machine 25 with it is described
Controller electrical connection；First mounting blocks 26,26 screw thread of the first mounting blocks are socketed on the first screw rod 24, first installation
26 top of block is fixedly connected on 21 bottom surface of the second horizontal mounting plate；It preferably, can also be in the fixing seat for connecting the first rotary electric machine
On be set to the first rotary electric machine output end cooperation bearing block；
Two the second sliding rails 27, described two second sliding rails 27 are horizontally set on the second horizontal mounting plate in left-right direction
21 tops and two the second sliding rails 27 are parallel to each other, second sliding rail 27 is vertical with the first sliding rail 13；Preferably, two
Two sliding rails 27 are symmetrical arranged on the second horizontal mounting plate 21, to improve structural stability；
The first level mounting plate 11 is located at corresponding with second horizontal mounting plate 21 between two the first sliding rails 13
Equipped with through-hole 111, the through-hole 111 be used to pass through for the robot device and along the longitudinal direction, left and right directions it is mobile.
It the working principle of above-mentioned technical proposal and has the beneficial effect that when robot device needs to move back and forth, controller
The rotation of the first rotary electric machine 25 is controlled, the rotation of the first rotary electric machine 25 drives the rotation of the first screw rod 24, and the on the first screw rod 24
One mounting blocks 26 are mobile along the first screw rod 24 (front-rear direction) on the first screw rod 24, thus before driving the second horizontal mounting plate 21
After move；Be arranged above-mentioned two first movement component it is easy to support and drive the second horizontal mounting plate 21 movement, improve device
Structural stability.
In one embodiment, as shown in Figs 1-4, the device 3 that moves left and right includes:
Third horizontal mounting plate 31,31 bottom end of third horizontal mounting plate are fixedly connected there are two idler wheel 32, and described two
A idler wheel 32 is connected in described two second sliding rails 27；Preferably, two idler wheels 32 are on third horizontal mounting plate 31
It is symmetrical arranged, to improve structural stability；
Two the second moving assemblies, described two second moving assemblies are symmetricly set on second horizontal mounting plate 21 and push up
End and two outsides for being located at two the second sliding rails 27；Two the second moving assemblies may be alternatively located at two 27 liang of the second sliding rails
Inside；
Second moving assembly includes: two the second fixing seats 33, one of them second fixing seat 33 is fixedly connected with
Second bearing seat；Second screw rod 34, second screw rod 34 are parallel to the setting of the second sliding rail 27；Second rotary electric machine 35, it is described
Second rotary electric machine 35 is fixedly connected in another second fixing seat 33, and the output shaft of second rotary electric machine 35 is along parallel
It is arranged in 27 direction of the second sliding rail, described second screw rod, 34 one end is fixedly connected with 35 output shaft of the second rotary electric machine, institute
State the bearing inner race that 34 other end of the second screw rod is fixedly attached to the second bearing seat, second rotary electric machine 35 with it is described
Controller electrical connection；Second mounting blocks 36,36 screw thread of the second mounting blocks are socketed on the second screw rod 34, second installation
36 top of block is fixedly connected on 31 bottom surface of third horizontal mounting plate；It preferably, can also be in the fixing seat for connecting the second rotary electric machine
On be set to the second rotary electric machine output end cooperation bearing block；
The robot device is connected to 31 bottom surface of third horizontal mounting plate and is located between two idler wheels 32.
It the working principle of above-mentioned technical proposal and has the beneficial effect that when robot device needs to move left and right, controller
The rotation of the second motor is controlled, the rotation of the second motor drives the rotation of the second screw rod 34, and the second mounting blocks 36 on the second screw rod 34 exist
It is mobile along the second screw rod 34 (left and right directions) on second screw rod 34, thus drive third horizontal mounting plate 31 to move left and right, to
Robot device is driven to move left and right；Be arranged above-mentioned two second moving assembly it is easy to support and drive third horizontal mounting plate
31 (and robot devices) movement, improves the structural stability of device.
In one embodiment, the lifting assembly 4 includes: lifting hydraulic cylinder 41, and the lifting hydraulic cylinder 41 is fixed to be connected
Connect and moving left and right 3 bottom end of device, the output shaft of the lifting hydraulic cylinder 41 is arranged downwards, the lifting hydraulic cylinder 41 with
The controller electrical connection.
The working principle of above-mentioned technical proposal and have the beneficial effect that above-mentioned technical proposal structure is simple, convenient for driving lifting.
In one embodiment, the rotary components 5 include: third rotary electric machine 51, the third rotary electric machine 51 with
Hydraulic cylinder output shaft is fixedly connected, the output end of the third rotary electric machine 51 downwards, the third rotary electric machine 51 with
The controller electrical connection；Turntable 52, the turntable 52 are fixedly connected with the output end of third rotary electric machine 51, the crawl dress
6 settings are set on the turntable 52；The quantity of the grabbing device 6 be it is multiple, multiple grabbing devices 6 were along turntable 52 weeks
To being disposed in an evenly spaced relation on turntable 52；It is identical or different that multiple grabbing devices 6, which can be set as needed,；
The grabbing device 6 includes: mechanical arm, and the mechanical arm fixing end is fixedly connected with turntable 52；
Several gripper jaws 61, several gripper jaws 61 are arranged in mechanical arm turning end, and the gripper jaw 61 includes: connection
Portion 611,611 upper end of interconnecting piece and mechanical arm turning end are hinged；Under driving portion, the driving portion upper end and interconnecting piece 611
End is fixedly connected；Clamping part 613,613 upper end of clamping part are fixedly connected with driving portion lower end；Drive cylinder 62, the drive
It takes offence 62 output end of cylinder and fixing end is fixedly connected to connecting rod, the other end and machine of the connecting rod of cylinder fixing end connection
Tool arm turning end is hinged, and the connecting rod other end and the driving portion of cylinder output connection are hinged.Mechanical arm is existing machinery
Arm, details are not described herein.
It the working principle of above-mentioned technical proposal and has the beneficial effect that multiple grab is set in turntable 52 in above-mentioned technical proposal
Take device 6, multiple grabbing devices 6 can be set as needed be it is identical or different, be conveniently replaceable grabbing device 6, and grabbing device 6
It simultaneously (can not different or size be for structure convenient for different grabbing devices 6 is arranged according to the different crawl demand in laboratory
Together)；
Above-mentioned 61 structure of gripper jaw is simple, carries out clamping workpiece by the driving work of cylinder 62 and unclamps workpiece, is convenient for
Clamping and release.
In one embodiment, infrared position sensor, the infrared position sensor are provided on the rotary components 6
It is arranged positioned at 6 side of grabbing device and downward；Preferably, infrared position sensor may be provided at mechanically or on grabbing assembly；
The controller is connect by detection circuit with infrared position sensor；
As shown in figure 5, the detection circuit includes:
Second resistance R2, the second resistance R2 first end are connect with infrared position sensor；
First resistor R1, the first resistor R1 first end are connect with second resistance R2 second end, the first resistor R1
Second end ground connection；
3rd resistor R3, the 3rd resistor R3 first end are connect with second resistance R2 second end；
First capacitor C1, the one end the first capacitor C1 are connect with 3rd resistor R3 second end, the other end and first resistor
The connection of R1 second end；
First operational amplifier 20, the 3rd resistor R3 second end and 20 non-inverting input terminal of the first operational amplifier connect
It connects, the power end of first operational amplifier 20 connects power supply (50V as shown), the ground connection of first operational amplifier 20
End ground connection, the inverting input terminal of first operational amplifier 20 are connect with its output end；Preferably, the first operational amplifier 20
Chip LM258 is selected to realize its function.
4th resistance R4, the 4th resistance R4 first end are connect with the output end of the first operational amplifier 20, and described
The second end of four resistance R4 is connect with controller；
Zener diode 30,30 cathode of Zener diode are connect with the 4th resistance R4 second end, the Zener
30 plus earth of diode；
The controller power source end is connect by overvoltage crowbar with controller power source, the overvoltage crowbar packet
It includes:
Crystal diode 50, the anode of the crystal diode 50 connect the controller power source, specially controller electricity
The cathode of source anode, controller power source cathode ground connection, the crystal diode 50 passes through the 8th resistance R8 connection adjustable reference electricity
The cathode of potential source 60；
The reference pole of the adjustable reference voltage source 60 connects the cathode of itself, and the anode of the adjustable reference voltage source connects
Ground；
Second operational amplifier 10, the cathode of the adjustable reference voltage source 60 are also connected with the negative of second operational amplifier 10
Input terminal；
The one end 7th resistance R7, the 7th resistance R7 connects the positive input terminal and the 5th of the second operational amplifier 10
The one end resistance R5, the 5th resistance R5 other end is separately connected anode and the ground connection of the adjustable reference voltage source 60, described
The 7th resistance R7 other end connects the controller power source；
6th resistance R6, the 6th resistance R6 are connected across the positive input terminal and output end of the second operational amplifier 10
Between；
The source electrode of field effect transistor 40, the field effect transistor 40 connects the controller, field effect transistor 40
Source electrode be connected as the output end of overvoltage crowbar, it is brilliant that the output end of the second operational amplifier 10 connects the field-effect
The drain electrode of the grid of body pipe 40, the field effect transistor 40 connects the crystal diode cathode；
9th resistance R20, the 9th resistance R20 are connected across between the drain electrode and grid of the field effect transistor 40.
The working principle of above-mentioned technical proposal and have the beneficial effect that whether infrared position sensor can detect grabbing device 6
Designated position is reached, and by signal feedback to controller, convenient for controller control grabbing device work；
In above-mentioned detection circuit, wherein the bleeder circuit part in series second resistance R2,3rd resistor R3；First electricity
Hinder R1, the rc filter circuit part in series first capacitor C1；First operational amplifier 20 constitutes follower part；4th electricity
Resistance R4, Zener diode 30 connect and compose pressure limiting, current-limiting circuit part, this four partial circuit is sequentially connected with, and makes the inspection above
The detection effect of slowdown monitoring circuit is good, and protects detection circuit, consequently facilitating controlling grabbing device according to the signal of detection circuit detection
Work, consequently facilitating manipulator of the present invention meets laboratory to cover type auxiliary operation in certain area.
In above-mentioned overvoltage crowbar: the threshold voltage of overvoltage crowbar is that the reference voltage * of benchmark voltage source is (described
The resistance value of 7th resistance R7+the 5th resistance R5 resistance value)/the 7th resistance R7 resistance value；If overvoltage crowbar
The voltage value of input terminal input is more than threshold voltage, then the output end Non voltage output of the overvoltage crowbar, protection rear class electricity
The overtension of road load, if the voltage value that the input terminal of overvoltage crowbar inputs is no more than threshold voltage, which is protected
The output point of protection circuit normally exports the voltage value of its input terminal, which can protect controller, consequently facilitating
Meet laboratory to cover type auxiliary operation in certain area by controller control.
In one embodiment, as shown in fig. 6, further including dust-extraction unit 7, the dust-extraction unit 7 includes:
Shell 71, the shell 71 are upper and lower ends hatch frame, and 71 upper end of shell is fixedly connected on rotary components 6
Lower end, it is preferred that if setting is in 52 lower end of turntable, the grabbing device 6 is located in the shell 71 and close to 71 front end of shell；
Electrostatic generator 72, the electrostatic generator 72 are fixedly connected on 71 top inner wall of shell and after shells 71
End；
Lifting motor 73, the lifting motor 73 are fixedly connected on 71 top inner wall of shell and close to 71 rear end of shell, institutes
State the output shaft of lifting motor 73 downwards；
Horizontal connecting plate 74,74 upper end of horizontal connecting plate are fixedly connected with the output shaft of lifting motor 73；
Two vertical connecting plates 75, described two vertical connecting plates 75 are separately positioned on 74 left and right sides of horizontal connecting plate,
75 upper end of vertical connecting plates is fixedly connected with 74 lower end of horizontal connecting plate, and described two vertical connecting plates 75 are located at
6 two sides of grabbing device；
The vertical connecting plates 75 are set close to the side of grabbing device 6 there are two mounting groove, and described two mounting grooves are interior to be divided
Positive plate 76, negative plate 77 are not installed, the positive plate 76 and 77 input terminal of negative plate are exported with electrostatic generator 72 respectively
End is electrically connected；
Two electric telescopic rods 78, described two electric telescopic rods 78 are vertically arranged on horizontal connecting plate 74 and difference
Positioned at two vertical connecting plates 75 close to the side of grabbing device 6；
Two hairbrush 79, described two hairbrush 79 are connected to two 78 lower ends of electric telescopic rod, the hairbrush 79
Brush end is arranged towards positive plate 76, negative plate 77 close to the side of grabbing device 6, for cleaning positive plate 76, negative plate 77
On dust；
The electrostatic generator 72, lifting motor 73, electric telescopic rod 78 are electrically connected with the controller respectively.
It the working principle of above-mentioned technical proposal and has the beneficial effect that when needing ash disposal, controller control is moved forward and backward dress
It sets, move left and right device, robot device moves to specify and falls grey position, it is preferred that collection ash can be set in the designated position
Device；The lifting of controller lifting motor so that positive plate 76, negative plate 77 in vertical connecting plates to charged dust in air into
Row absorption, the absorption that moves up and down is convenient for sufficiently absorption, and after being adsorbed to preset duration, about 78 electric telescopic rod of controller control is stretched
Contracting, the dust on positive plate 76, negative plate 77 is swept and drops down onto the designated position.Above-mentioned technical proposal by grabbing device into
Row dedusting avoids influencing the use of grabbing device due to falling ash for a long time, consequently facilitating manipulator of the present invention meets laboratory pair
Cover type auxiliary operation in certain area.
The upper only embodiments of the present invention, are not intended to restrict the invention.For those skilled in the art
For, the invention may be variously modified and varied.All any modifications made in spirit and principles of the present invention are equal
Replacement, improvement etc., should all be included within scope of the presently claimed invention.
Claims (8)
1. a kind of laboratory of full coverage type assists four axis robots characterized by comprising
Cladding system (1), the cladding system (1) is horizontal to be fixed on the ceiling in laboratory；
It is moved forward and backward device (2), the back-and-forth motion device (2) is connected on cladding system (1)；
It moves left and right device (3), the device (3) that moves left and right is connected in back-and-forth motion device (2)；
Robot device, the robot device, which is connected to, to be moved left and right on device (3)；
The robot device includes: lifting assembly (4), and lifting assembly (4) upper end, which is connected to, moves left and right device (3)
Above and towards ground direction it is arranged；
Rotary components (5), the rotary components (5) are connected to lifting assembly (4) lower end；
Grabbing device (6), the grabbing device (6) are connected on rotary components (5) and are arranged towards ground direction；
Controller, the controller are arranged in laboratory, the controller respectively with the back-and-forths motion device (2), control
Mobile device (3), lifting assembly (4), rotary components (5), grabbing device (6) electrical connection.
2. a kind of laboratory of full coverage type according to claim 1 assists four axis robots, which is characterized in that
The cladding system (1) includes: first level mounting plate (11), and first level mounting plate (11) top is fixedly connected
There is the connecting bracket (12) being vertically arranged, connecting bracket (12) top is fixedly connected with the ceiling in laboratory；Two
One sliding rail (13), described two first sliding rails (13) be horizontally set on along the longitudinal direction first level mounting plate (11) top,
And two the first sliding rails (13) are parallel to each other；
The back-and-forth motion device (2) includes: the second horizontal mounting plate (21), and the second horizontal mounting plate (21) bottom end is fixed
There are two sliding block (22), described two sliding blocks (22) are slidably connected at respectively in described two first sliding rails (13) for connection；
Two first movement components, described two first movement components are symmetricly set on first level mounting plate (11) top
End and two outsides for being located at two the first sliding rails (13)；
The first movement component includes: two the first fixing seats (23), one of them first fixing seat (23) is fixedly connected with
First bearing seat；First screw rod (24), first screw rod (24) are parallel to the first sliding rail (13) setting；First rotary electric machine
(25), first rotary electric machine (25) is fixedly connected in another first fixing seat (23), first rotary electric machine
(25) for output shaft along the setting of the first sliding rail (13) direction is parallel to, described first screw rod (24) one end and first rotation are electric
Machine (25) output shaft is fixedly connected, and the first screw rod (24) other end is fixedly attached in the bearing of the first bearing seat
Circle, first rotary electric machine (25) are electrically connected with the controller；First mounting blocks (26), the first mounting blocks (26) spiral shell
Line is socketed on the first screw rod (24), and the first mounting blocks (26) top is fixedly connected on the second horizontal mounting plate (21) bottom
Face；
Two the second sliding rails (27), described two second sliding rails (27) are horizontally set on the second horizontal mounting plate in left-right direction
(21) top and two the second sliding rails (27) are parallel to each other, second sliding rail (27) is vertical with the first sliding rail (13)；
The first level mounting plate (11) is located at right with second horizontal mounting plate (21) between two the first sliding rails (13)
Should be equipped with through-hole (111), the through-hole (111) be used for for the robot device pass through and along the longitudinal direction, left and right directions
It is mobile.
3. a kind of laboratory of full coverage type according to claim 2 assists four axis robots, which is characterized in that the left side
Moving right device (3) includes:
Third horizontal mounting plate (31), third horizontal mounting plate (31) bottom end is fixedly connected there are two idler wheel (32), described
Two idler wheels (32) are connected in described two second sliding rails (27)；
Two the second moving assemblies, described two second moving assemblies are symmetricly set on the second horizontal mounting plate (21) top
End and two outsides for being located at two the second sliding rails (27)；
Second moving assembly includes: two the second fixing seats (33), one of them second fixing seat (33) is fixedly connected with
Second bearing seat；Second screw rod (34), second screw rod (34) are parallel to the second sliding rail (27) setting；Second rotary electric machine
(35), second rotary electric machine (35) is fixedly connected in another second fixing seat (33), second rotary electric machine
(35) for output shaft along the setting of the second sliding rail (27) direction is parallel to, described second screw rod (34) one end and second rotation are electric
Machine (35) output shaft is fixedly connected, and the second screw rod (34) other end is fixedly attached in the bearing of the second bearing seat
Circle, second rotary electric machine (35) are electrically connected with the controller；Second mounting blocks (36), the second mounting blocks (36) spiral shell
Line is socketed on the second screw rod (34), and the second mounting blocks (36) top is fixedly connected on third horizontal mounting plate (31) bottom
Face；
The robot device is connected to third horizontal mounting plate (31) bottom surface and is located between two idler wheels (32).
4. a kind of laboratory of full coverage type according to claim 1 assists four axis robots, which is characterized in that
The lifting assembly (4) includes: lifting hydraulic cylinder (41), and the lifting hydraulic cylinder (41), which is fixedly connected on, moves left and right dress
(3) bottom end is set, the output shaft of the lifting hydraulic cylinder (41) is arranged downwards, the lifting hydraulic cylinder (41) and the control
Device electrical connection.
5. a kind of laboratory of full coverage type according to claim 4 assists four axis robots, which is characterized in that
The rotary components (5) include: third rotary electric machine (51), and the third rotary electric machine (51) and hydraulic cylinder output shaft are solid
Fixed connection, the output end of the third rotary electric machine (51) downwards, the third rotary electric machine (51) and the controller
Electrical connection；Turntable (52), the turntable (52) are fixedly connected with the output end of third rotary electric machine (51), the grabbing device
(6) it is arranged on the turntable (52).
6. a kind of laboratory of full coverage type according to claim 5 assists four axis robots, which is characterized in that
The quantity of the grabbing device (6) be it is multiple, multiple grabbing devices (6) set along the circumferential uniform intervals of turntable (52)
It sets on turntable (52)；
The grabbing device (6) includes: mechanical arm, and the mechanical arm fixing end is fixedly connected with turntable (52)；
Several gripper jaws (61), several gripper jaws (61) are arranged in mechanical arm turning end, and the gripper jaw (61) includes: to connect
Socket part (611), interconnecting piece (611) upper end and mechanical arm turning end are hinged；Driving portion (612), on the driving portion (612)
End is fixedly connected with interconnecting piece (611) lower end；Clamping part (613), clamping part (613) upper end and driving portion (612) lower end
It is fixedly connected；It drives cylinder (62), driving cylinder (62) output end and fixing end are fixedly connected to connecting rod, cylinder
The other end and mechanical arm turning end of the connecting rod of fixing end connection are hinged, the connecting rod other end of cylinder output connection and institute
It is hinged to state driving portion (612).
7. a kind of laboratory of full coverage type according to claim 1 assists four axis robots, which is characterized in that
Infrared position sensor is provided on the rotary components, the infrared position sensor is located at grabbing device side and court
Lower setting；
The controller is connect by detection circuit with infrared position sensor；
The detection circuit includes:
Second resistance (R2), second resistance (R2) first end are connect with infrared position sensor；
First resistor (R1), first resistor (R1) first end are connect with second resistance (R2) second end, the first resistor
(R1) second end is grounded；
3rd resistor (R3), 3rd resistor (R3) first end are connect with second resistance (R2) second end；
First capacitor (C1), described first capacitor one end (C1) are connect with 3rd resistor (R3) second end, the other end and the first electricity
Hinder the connection of (R1) second end；
First operational amplifier (20), 3rd resistor (R3) second end and the first operational amplifier (20) non-inverting input terminal connect
It connecing, the power end of first operational amplifier (20) connects power supply, and the ground terminal of first operational amplifier (20) is grounded,
The inverting input terminal of first operational amplifier (20) is connect with its output end；
4th resistance (R4), the 4th resistance (R4) first end is connect with the output end of the first operational amplifier (20), described
The second end of 4th resistance (R4) is connect with controller；
Zener diode (30), Zener diode (30) cathode are connect with the 4th resistance (R4) second end, described neat
Receive diode (30) plus earth；
The controller power source end is connect by overvoltage crowbar with controller power source, and the overvoltage crowbar includes:
The anode of crystal diode (50), the crystal diode (50) connects the controller power source, the crystal diode
(50) cathode that cathode passes through the 8th resistance (R8) connection adjustable reference voltage source (60)；
The reference pole of the adjustable reference voltage source (60) connects the cathode of itself, the anode of the adjustable reference voltage source (60)
Ground connection；
The cathode of second operational amplifier (10), the adjustable reference voltage source (60) is also connected with second operational amplifier (10)
Negative input end；
7th resistance (R7), the 7th resistance one end (R7) connect the positive input terminal and the of the second operational amplifier (10)
The one end five resistance (R5), the 5th resistance (R5) other end are separately connected the negative output terminal, described of the overvoltage crowbar
The anode of adjustable reference voltage source (60) and ground connection, the 7th resistance (R7) other end connect the controller power source；
6th resistance (R6), the 6th resistance (R6) are connected across positive input terminal and the output of the second operational amplifier (10)
Between end；
The source electrode of field effect transistor (40), the field effect transistor (40) connects the controller, and second operation is put
The output end of big device (10) connects the grid of the field effect transistor (40), the drain electrode connection of the field effect transistor (40)
The crystal diode cathode；
9th resistance (R20), the 9th resistance (R20) be connected across the field effect transistor (40) drain electrode and grid it
Between.
8. a kind of laboratory of full coverage type according to claim 1 assists four axis robots, which is characterized in that
It further include dust-extraction unit (7), the dust-extraction unit (7) includes:
Shell (71), the shell (71) are upper and lower ends hatch frame, and shell (71) upper end is fixedly connected on rotation group
Part lower end, the grabbing device (6) are located in the shell (71) and close to shell (71) front end；
Electrostatic generator (72), the electrostatic generator (72) are fixedly connected on shell (71) top inner wall and close to shells
(71) rear end；
Lifting motor (73), the lifting motor (73) are fixedly connected on shell (71) top inner wall and after shell (71)
End, the output shaft of the lifting motor (73) is downwards；
Horizontal connecting plate (74), horizontal connecting plate (74) upper end are fixedly connected with the output shaft of lifting motor (73)；
Two vertical connecting plates (75), described two vertical connecting plates (75) are separately positioned on horizontal connecting plate (74) left and right two
Side, vertical connecting plates (75) upper end is fixedly connected with horizontal connecting plate (74) lower end, and described two vertical connecting plates
(75) grabbing device (6) two sides are located at；
The vertical connecting plates (75) set close to the side of grabbing device (6) there are two mounting groove, and described two mounting grooves are interior to be divided
Positive plate (76), negative plate (77) are not installed, the positive plate (76) and negative plate (77) input terminal occur with electrostatic respectively
Device (72) output end is electrically connected；
Two electric telescopic rods (78), described two electric telescopic rods (78) are vertically arranged on horizontal connecting plate (74) and divide
Not Wei Yu two vertical connecting plates (75) close to grabbing device (6) side；
Two hairbrush (79), described two hairbrush (79) are connected to two electric telescopic rod (78) lower ends, the hairbrush
(79) brush end is arranged towards positive plate (76), negative plate (77) close to the side of grabbing device (6), for cleaning positive plate
(76), the dust on negative plate (77)；
The electrostatic generator (72), lifting motor (73), electric telescopic rod (78) are electrically connected with the controller respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910784743.5A CN110480610A (en) | 2019-08-23 | 2019-08-23 | A kind of laboratory four axis robots of auxiliary of full coverage type |
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|---|---|---|---|
| CN201910784743.5A CN110480610A (en) | 2019-08-23 | 2019-08-23 | A kind of laboratory four axis robots of auxiliary of full coverage type |
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Cited By (5)
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| CN111251315A (en) * | 2020-02-24 | 2020-06-09 | 中之保金融科技(成都)有限公司 | Intelligent robot hand structure |
| CN111846936A (en) * | 2020-07-31 | 2020-10-30 | 苏州卓罗智能科技有限公司 | Electronic components fixture convenient to upset |
| CN112249672A (en) * | 2020-08-28 | 2021-01-22 | 南京昱晟机器人科技有限公司 | Using method of industrial robot capable of stably grabbing objects and not damaging objects |
| CN113246155A (en) * | 2021-06-28 | 2021-08-13 | 江苏三铭智达科技有限公司 | Rescue robot |
| CN117140559A (en) * | 2023-10-30 | 2023-12-01 | 启东市云鹏玻璃机械有限公司 | Interval-adjustable manipulator for glass processing |
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Application publication date: 20191122 |