CN111037534A - Industrial robot based on visual perception and operation method thereof - Google Patents
Industrial robot based on visual perception and operation method thereof Download PDFInfo
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- CN111037534A CN111037534A CN201911407110.9A CN201911407110A CN111037534A CN 111037534 A CN111037534 A CN 111037534A CN 201911407110 A CN201911407110 A CN 201911407110A CN 111037534 A CN111037534 A CN 111037534A
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- 230000016776 visual perception Effects 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims description 3
- 230000000712 assembly Effects 0.000 claims abstract description 20
- 238000000429 assembly Methods 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims description 14
- 230000000875 corresponding effect Effects 0.000 claims description 4
- 238000011017 operating method Methods 0.000 abstract description 5
- 238000013461 design Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
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- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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Abstract
The invention belongs to the technical field of industrial robots, and particularly relates to an industrial robot based on visual perception, which comprises a support, a platform, a moving assembly and a robot main body, wherein the support is arranged on the support; the brackets are in an inverted U shape and are arranged in a plurality of rows; the front end surface and the rear end surface of the platform are both provided with a plurality of mounting assemblies, the tops of the front ends of the plurality of brackets are detachably connected with the platform through the mounting assemblies, and the tops of the rear ends of the plurality of brackets are detachably connected with the platform through the mounting assemblies; the guide rail assembly is formed by fixing an upper strip plate and a lower strip plate in a staggered manner, a rack is detachably mounted on an inner side step exposed by the two strip plates at the rear in a staggered manner, and a guide part is formed at the outer side edge of the upper strip plate. The invention also relates to an operating method of the robot. The invention can smoothly and randomly adjust the position of the industrial robot according to the position of the workpiece to be processed, and is very convenient to use.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to an industrial robot based on visual perception and an operating method thereof.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. The robot control system is the brain of the robot and is the main factor determining the function and performance of the robot. The main task of the industrial robot control technology is to control the motion position, posture, trajectory, operation sequence, action time and the like of the industrial robot in the working space.
Human beings want to realize a series of basic activities, such as life, work, study must rely on their own organ, except brain, most importantly eyes, industrial robot is no exception, to accomplish normal production task, it is hard to imagine not to have a complete, advanced vision system. The machine vision system uses the robot to replace human eyes to make various measurements and judgments, is an important branch of the computational department, integrates the technologies in the aspects of optics, mechanics, electronics, computer software and hardware and the like, and relates to a plurality of fields of computers, image processing, mode recognition, artificial intelligence, signal processing, opto-electro-mechanical integration and the like. The rapid development of image processing, pattern recognition and other technologies also greatly promotes the development of machine vision.
Advantages of the machine vision system: the system does not cause any damage to an observer and an observed person, and the reliability of the system is improved; has a wide spectral response range; the device can work stably for a long time, and can perform measurement, analysis and identification tasks for a long time; the application field is more and more extensive. However, the existing industrial robot based on visual perception has fixed position and limited moving space, and cannot adjust the position of the industrial robot freely according to the position of a workpiece to be processed smoothly, which brings some inconvenience to the use.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the industrial robot based on visual perception and the operating method thereof, the position of the industrial robot can be smoothly adjusted at will according to the position of a workpiece to be machined, and the use is very convenient.
In order to solve the technical problems, the invention adopts the following technical scheme:
an industrial robot based on visual perception comprises a support, a platform, a moving assembly and a robot main body;
the bracket is in an inverted U shape and is provided with a plurality of brackets which are arranged in a row;
the front end face and the rear end face of the platform are both provided with a plurality of mounting assemblies, the tops of the front ends of the supports are detachably connected with the platform through the mounting assemblies, and the tops of the rear ends of the supports are detachably connected with the platform through the mounting assemblies;
the front edge and the rear edge of the top surface of the platform can be detachably provided with guide rail assemblies, each guide rail assembly is formed by fixing an upper strip-shaped plate and a lower strip-shaped plate in a staggered manner, racks are detachably arranged on inner side steps, which are exposed by the staggered manner, of the two strip-shaped plates at the rear part, and the outer side edges of the upper strip-shaped plates form guide parts;
the moving assembly comprises a moving platform, guide assemblies are mounted at four angular positions of the bottom surface of the moving platform, the guide assemblies can slide left and right along a guide part, a first motor is mounted at the position, right opposite to the rack, of the right end of the moving platform, a power output shaft of the first motor vertically penetrates through the moving platform, a first driving gear is fixedly mounted at the bottommost end of the power output shaft, and the first driving gear is meshed with an internal tooth part of the rack;
the robot main body comprises an installation box, a rotating assembly, a first arm and a second arm, and the bottom of the installation box is detachably fixed with the mobile platform;
the outer wall of the installation box is provided with a second motor, a power output shaft of the second motor is rotatably installed on the wall of the installation box, the power output shaft of the second motor is provided with a tooth part, a rotatable second driven gear is longitudinally installed in the installation box, the tooth part of the power output shaft of the second motor is meshed with the second driven gear, the upper end of a rotating shaft of the second driven gear penetrates through the top of the installation box, a top disc is installed at the top end of the rotating shaft of the second driven gear, and the top disc is fixed with the top of the installation box;
the rotating assembly comprises a bottom plate, two lug plates and a connecting plate, the top of a rotating shaft of the second driven gear is fixed with the bottom plate, the two lug plates are perpendicular to and fixed with the bottom plate, the connecting plate is connected with the two lug plates, and a third motor is installed on the outer side of the top end of each lug plate;
the power output shaft of the third motor is fixed with the lower end of the first arm, the upper end of the first arm is hinged with a connecting seat, the upper end of the second arm is detachably connected with the connecting seat, and a machine vision system is installed at the lower end of the second arm.
Further, the installation component comprises a base plate, a screw rod and a U-shaped frame, the bottom of the screw rod is fixed with the base plate, and the upper end of the screw rod penetrates through a lower bottom plate of the U-shaped frame and is fixed through a nut.
Furthermore, two side plates of the U-shaped frame are both triangular.
Further, the guide assembly is provided with a guide groove matched with the guide part, and rotatable guide wheels are arranged above and below the left side of the guide groove of the guide assembly.
Furthermore, a plurality of holes which are uniformly distributed in a ring shape are longitudinally formed in the second driven gear.
Furthermore, the inner side of the lug plate is hinged with a connecting rod, and the free end of the upper part of the connecting rod is hinged with the connecting seat.
Further, the mounting box is installed to the upper end of second arm, the bottom and the connecting seat of mounting box are fixed, install the fourth motor on the box wall of mounting box, fourth driven gear is installed to the upper end of second arm, the power output shaft fixed mounting of fourth motor has fourth drive gear, fourth drive gear and fourth driven gear intermeshing.
Further, the fourth motor set up threely, fourth driven gear set up threely and fourth driven gear's diameter diminishes gradually along the upper end extending direction of second arm, threely fourth drive gear respectively with three fourth driven gear intermeshing.
Further, the machine vision system is articulated with the lower end of the second arm.
An operating method of an industrial robot based on visual perception as above, comprising the steps of:
firstly, starting a first motor according to the position of a workpiece to be machined, enabling a first driving gear to rotate, enabling a moving platform to move left and right to realize the adjustment of left and right positions, and turning off the first motor after the left and right positions are adjusted in place;
step two, starting the second motor, wherein the angle of the rotating shaft can be adjusted due to the fact that the tooth part of the power output shaft of the second motor is meshed with the second driven gear, so that the angle of the first arm and the angle of the second arm on the plane are adjusted, and the second motor is turned off after the first arm and the second arm are adjusted in place;
step three, starting the third motor, wherein a power output shaft of the third motor rotates, so that the inclination angle of the first arm is adjusted, and the third motor is turned off after the first arm is adjusted in place;
and step four, starting the fourth motor, wherein the fourth driving gear is meshed with the fourth driven gear, so that the second arm can be driven to rotate, the angle of the machine vision system is adjusted, and the fourth motor is turned off after the adjustment is finished, so that corresponding action can be performed.
Compared with the prior art, the first motor is started firstly according to the position of a workpiece to be machined, the first driving gear rotates, so that the mobile platform moves left and right to realize the adjustment of left and right positions, and the first motor is closed after the left and right positions are adjusted in place; then starting the second motor, wherein the angle of the rotating shaft can be adjusted due to the fact that the tooth part of the power output shaft of the second motor is meshed with the second driven gear, so that the angle of the first arm and the angle of the second arm on the plane are adjusted, and the second motor is turned off after the first arm and the second arm are adjusted in place; then starting the third motor, wherein a power output shaft of the third motor rotates, so that the inclination angle of the first arm is adjusted, and the third motor is turned off after the first arm is adjusted to the right position; and finally, starting the fourth motor, wherein the fourth driving gear is meshed with the fourth driven gear, so that the second arm can be driven to rotate, the angle of the machine vision system is adjusted, and the fourth motor is turned off after the adjustment is finished, so that corresponding action can be performed. The invention can smoothly and randomly adjust the position of the industrial robot according to the position of the workpiece to be processed, and is very convenient to use.
Drawings
Fig. 1 is a schematic perspective view of an industrial robot based on visual perception according to an embodiment of the invention;
FIG. 2 is a schematic perspective view of an industrial robot based on visual perception according to a second embodiment of the present invention;
FIG. 3 is a schematic view I of an installation structure of a mobile platform in an industrial robot based on visual perception;
FIG. 4 is a schematic diagram of a mounting structure of a mobile platform in an embodiment of an industrial robot based on visual perception;
fig. 5 is a schematic perspective structure diagram of a robot body in an industrial robot embodiment based on visual perception according to the invention;
fig. 6 is a schematic view of an installation structure of a rotating component in an industrial robot based on visual perception according to the invention;
fig. 7 is a schematic view of the mounting structure of the first arm in an embodiment of an industrial robot based on visual perception according to the invention;
fig. 8 is a schematic view of the mounting structure of the second arm in an industrial robot embodiment based on visual perception.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
As shown in fig. 1-8, the industrial robot based on visual perception of the invention comprises a support 1, a platform 2, a moving component and a robot main body;
the supports 1 are in an inverted U shape and are arranged in a plurality, and the supports 1 are arranged in a row;
the front end face and the rear end face of the platform 2 are both provided with a plurality of mounting assemblies 20, the tops of the front ends of the plurality of brackets 1 are detachably connected with the platform 2 through the mounting assemblies 20, and the tops of the rear ends of the plurality of brackets 1 are detachably connected with the platform 2 through the mounting assemblies 20;
the front edge and the rear edge of the top surface of the platform 2 can be detachably provided with a guide rail assembly 21, the guide rail assembly 21 is formed by fixing an upper strip-shaped plate and a lower strip-shaped plate in a staggered manner, a rack 210 is detachably arranged on an inner side step exposed by the two strip-shaped plates at the rear in a staggered manner, and the outer edge of the upper strip-shaped plate forms a guide part;
the moving assembly comprises a moving platform 3, guide assemblies 30 are mounted at four angular positions of the bottom surface of the moving platform 3, the guide assemblies 30 can slide left and right along a guide part, a first motor 31 is mounted at a position, right opposite to the rack 210, of the right end of the moving platform 3, a power output shaft of the first motor 31 vertically penetrates through the moving platform 3 and is fixedly mounted at the bottommost end with a first driving gear 310, and the first driving gear 310 is meshed with an internal tooth part of the rack 210;
the robot main body comprises an installation box 4, a rotating assembly 5, a first arm 6 and a second arm 7, and the bottom of the installation box 4 is detachably fixed with the mobile platform 3;
a second motor 40 is mounted on the outer wall of the mounting box 4, a power output shaft of the second motor 40 is rotatably mounted on the wall of the mounting box 4, a tooth part is arranged on the power output shaft of the second motor 40, a rotatable second driven gear 41 is longitudinally mounted in the mounting box 4, the tooth part of the power output shaft of the second motor 40 is meshed with the second driven gear 41, the upper end of a rotating shaft of the second driven gear 41 penetrates through the top of the mounting box 4, a top disc 42 is mounted at the top end of the rotating shaft, and the top disc 42 is fixed with the top of the mounting box 4;
the rotating assembly 5 comprises a bottom plate, two lug plates and a connecting plate, the top of a rotating shaft of the second driven gear 41 is fixed with the bottom plate, the two lug plates are perpendicular to and fixed with the bottom plate, the connecting plate is connected with the two lug plates, and the outer side of the top end of each lug plate is provided with a third motor 50;
the power output shaft of the third motor 50 is fixed with the lower end of the first arm 6, the upper end of the first arm 6 is hinged with a connecting seat, the upper end of the second arm 7 is detachably connected with the connecting seat, and the lower end of the second arm 7 is provided with a machine vision system.
Preferably, the mounting assembly 20 includes a base plate, a screw rod having a bottom fixed to the base plate, and a U-shaped frame having an upper end fixed to the base plate by a nut. Due to the design, the mounting and dismounting operations of the bracket 1 and the platform 2 are facilitated.
Preferably, both side plates of the U-shaped frame are triangular. Due to the design, the screw rod is convenient to mount and dismount.
As preferred scheme, the guide assembly 30 is provided with a guide groove matched with the guide part, and rotatable guide wheels are arranged above and below the left side of the guide groove of the guide assembly 30. By the design, the guide effect is better, and the left position and the right position can be adjusted more smoothly.
Preferably, the second driven gear 41 is longitudinally provided with a plurality of holes uniformly distributed in a ring shape. By adopting the design, the angle of the first arm 6 and the second arm 7 on the plane is convenient to adjust, and the weight is lighter.
As preferred scheme, a connecting rod is articulated to an otic placode inboard, and the upper portion free end of connecting rod is articulated with the connecting seat. By the design, the angle of the machine vision system is convenient to adjust.
As preferred scheme, the mounting box is installed to the upper end of second arm 7, and the bottom and the connecting seat of mounting box are fixed, install fourth motor 70 on the box wall of mounting box, and the fourth driven gear is installed to the upper end of second arm 7, and the power output shaft fixed mounting of fourth motor 70 has the fourth drive gear, fourth drive gear and fourth driven gear intermeshing. By the design, the angle of the machine vision system is convenient to adjust.
Preferably, the number of the fourth motors 70 is three, the number of the fourth driven gears is three along the extending direction of the upper end of the second arm 7, the diameter of the fourth driven gears is gradually reduced, and the three fourth driven gears are engaged with the three fourth driven gears respectively. By the design, the angle of the machine vision system is convenient to adjust.
Preferably, the machine vision system is articulated to the lower end of the second arm 7. The design facilitates the adjustment of the angle of the machine vision system.
An operating method of an industrial robot based on visual perception as above, comprising the steps of:
firstly, starting a first motor 31 according to the position of a workpiece to be machined, enabling a first driving gear 310 to rotate, enabling a moving platform 3 to move left and right, realizing the adjustment of left and right positions, and closing the first motor 31 after the left and right positions are adjusted in place;
step two, starting the second motor 40, wherein the angle of the rotating shaft can be adjusted due to the mutual meshing of the tooth part of the power output shaft of the second motor 40 and the second driven gear 41, so that the angles of the first arm 6 and the second arm 7 on the plane are adjusted, and the second motor 40 is closed after the adjustment is in place;
step three, starting the third motor 50, rotating a power output shaft of the third motor 50, so as to adjust the inclination angle of the first arm 6, and turning off the third motor 50 after the adjustment is in place;
and step four, starting the fourth motor 70, wherein the fourth driving gear is meshed with the fourth driven gear, so that the second arm 7 can be driven to rotate, the angle of the machine vision system is adjusted, and the fourth motor 70 is turned off after the adjustment is finished, so that corresponding actions can be performed.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. An industrial robot based on visual perception, characterized in that: comprises a bracket (1), a platform (2), a moving component and a robot main body;
the support frames (1) are in an inverted U shape and are arranged in a plurality, and the support frames (1) are arranged in a row;
the front end face and the rear end face of the platform (2) are respectively provided with a plurality of mounting assemblies (20), the tops of the front ends of the brackets (1) are detachably connected with the platform (2) through the mounting assemblies (20), and the tops of the rear ends of the brackets (1) are detachably connected with the platform (2) through the mounting assemblies (20);
guide rail assemblies (21) are detachably mounted at the front edge and the rear edge of the top surface of the platform (2), each guide rail assembly (21) is formed by fixing an upper strip-shaped plate and a lower strip-shaped plate in a staggered manner, racks (210) are detachably mounted on inner side steps, exposed out of the staggered manner, of the two strip-shaped plates at the rear, and a guide part is formed at the outer edge of the upper strip-shaped plate;
the moving assembly comprises a moving platform (3), guide assemblies (30) are mounted at four angular positions of the bottom surface of the moving platform (3), the guide assemblies (30) can slide left and right along a guide part, a first motor (31) is mounted at the position, right opposite to a rack (210), of the right end of the moving platform (3), a power output shaft of the first motor (31) vertically penetrates through the moving platform (3) and is fixedly provided with a first driving gear (310) at the bottom end, and the first driving gear (310) is meshed with an internal tooth part of the rack (210);
the robot main body comprises an installation box (4), a rotating assembly (5), a first arm (6) and a second arm (7), and the bottom of the installation box (4) is detachably fixed with the moving platform (3);
a second motor (40) is mounted on the outer wall of the mounting box (4), a power output shaft of the second motor (40) is rotatably mounted on the wall of the mounting box (4), a tooth part is arranged on the power output shaft of the second motor (40), a rotatable second driven gear (41) is longitudinally mounted in the mounting box (4), the tooth part of the power output shaft of the second motor (40) is meshed with the second driven gear (41), the upper end of a rotating shaft of the second driven gear (41) penetrates through the top of the mounting box (4) and is provided with a top disc (42) at the top end, and the top disc (42) is fixed with the top of the mounting box (4);
the rotating assembly (5) comprises a bottom plate, two lug plates and a connecting plate, the top of a rotating shaft of the second driven gear (41) is fixed with the bottom plate, the two lug plates are perpendicular to and fixed with the bottom plate, the connecting plate is connected with the two lug plates, and a third motor (50) is installed on the outer side of the top end of each lug plate;
the power output shaft of the third motor (50) is fixed with the lower end of the first arm (6), the upper end of the first arm (6) is hinged with a connecting seat, the upper end of the second arm (7) is detachably connected with the connecting seat, and a machine vision system is installed at the lower end of the second arm (7).
2. An industrial robot based on visual perception according to claim 1, characterized in that: the mounting component (20) comprises a base plate, a screw rod and a U-shaped frame, the bottom of the screw rod is fixed with the base plate, and the upper end of the screw rod penetrates through a lower bottom plate of the U-shaped frame and is fixed through a nut.
3. An industrial robot based on visual perception according to claim 2, characterized in that: two side plates of the U-shaped frame are both triangular.
4. An industrial robot based on visual perception according to claim 3, characterized in that: the guide assembly (30) is provided with a guide groove matched with the guide part, and rotatable guide wheels are arranged above and below the left side of the guide groove of the guide assembly (30).
5. An industrial robot based on visual perception according to claim 4, characterized in that: the second driven gear (41) is longitudinally provided with a plurality of holes which are uniformly distributed in a ring shape.
6. An industrial robot based on visual perception according to claim 5, characterized in that: the inner side of the lug plate is hinged with a connecting rod, and the free end of the upper part of the connecting rod is hinged with the connecting seat.
7. An industrial robot based on visual perception according to claim 6, characterized in that: the mounting box is installed to the upper end of second arm (7), the bottom and the connecting seat of mounting box are fixed, install fourth motor (70) on the box wall of mounting box, fourth driven gear is installed to the upper end of second arm (7), the power output shaft fixed mounting of fourth motor (70) has fourth drive gear, fourth drive gear and fourth driven gear intermeshing.
8. An industrial robot based on visual perception according to claim 7, characterized in that: fourth motor (70) set up threely, fourth driven gear set up threely and fourth driven gear's diameter diminishes gradually along the upper end extending direction of second arm (7), threely fourth drive gear respectively with three fourth driven gear intermeshing.
9. An industrial robot based on visual perception according to claim 8, characterized in that: the machine vision system is hinged with the lower end of the second arm (7).
10. A method of operating an industrial robot based on visual perception according to claim 9, characterized by the steps of:
firstly, starting a first motor (31) according to the position of a workpiece to be machined, enabling a first driving gear (310) to rotate, enabling a moving platform (3) to move left and right to realize the adjustment of left and right positions, and closing the first motor (31) after the left and right positions are adjusted in place;
step two, starting the second motor (40), adjusting the angle of a rotating shaft due to the fact that the tooth part of a power output shaft of the second motor (40) is meshed with the second driven gear (41), so that the angle of the first arm (6) and the angle of the second arm (7) on the plane are adjusted, and closing the second motor (40) after the first arm and the second arm are adjusted in place;
step three, starting the third motor (50), wherein a power output shaft of the third motor (50) rotates, so that the inclination angle of the first arm (6) is adjusted, and the third motor (50) is closed after the first arm is adjusted to the right position;
and step four, starting the fourth motor (70), wherein the fourth driving gear is meshed with the fourth driven gear, so that the second arm (7) can be driven to rotate, the angle of the machine vision system is adjusted, and the fourth motor (70) is turned off after the adjustment is finished, so that corresponding actions can be carried out.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112548998A (en) * | 2020-12-16 | 2021-03-26 | 湖南三易精工科技有限公司 | Mobile chassis for robot and using method thereof |
| CN113146570A (en) * | 2021-04-06 | 2021-07-23 | 中国科学院国家天文台 | Target maintenance robot and maintenance method |
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| KR20180051065A (en) * | 2016-11-08 | 2018-05-16 | (주)영창로보테크 | Moving carriage of the sealed type robot for traveling |
| CN208930235U (en) * | 2018-03-27 | 2019-06-04 | 上海咔酷咔新能源科技有限公司 | A kind of movable self formula charging robot |
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| CN209466244U (en) * | 2019-01-22 | 2019-10-08 | 宜昌物产报废车辆回收拆解有限公司 | Automobile dismounting line, which is matched, applies movable type mechanical hand |
| CN110280943A (en) * | 2019-07-28 | 2019-09-27 | 南京昱晟机器人科技有限公司 | A kind of welding equipment of multi-angle industrial robot |
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| CN112548998A (en) * | 2020-12-16 | 2021-03-26 | 湖南三易精工科技有限公司 | Mobile chassis for robot and using method thereof |
| CN113146570A (en) * | 2021-04-06 | 2021-07-23 | 中国科学院国家天文台 | Target maintenance robot and maintenance method |
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