CN111702739A - Maintenance robot with automatic replacement maintenance device and clamp device - Google Patents
Maintenance robot with automatic replacement maintenance device and clamp device Download PDFInfo
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- CN111702739A CN111702739A CN202010675148.0A CN202010675148A CN111702739A CN 111702739 A CN111702739 A CN 111702739A CN 202010675148 A CN202010675148 A CN 202010675148A CN 111702739 A CN111702739 A CN 111702739A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 59
- 239000010959 steel Substances 0.000 claims description 59
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000004297 night vision Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims 3
- 230000003993 interaction Effects 0.000 claims 2
- 238000005259 measurement Methods 0.000 claims 1
- 230000009471 action Effects 0.000 description 9
- 210000000078 claw Anatomy 0.000 description 7
- 238000007689 inspection Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Classifications
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H3/00—Storage means or arrangements for workshops facilitating access to, or handling of, work tools or instruments
- B25H3/02—Boxes
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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
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to a maintenance robot provided with a maintenance device and a clamp device which can be automatically replaced. The maintenance system comprises a mobile chassis, a power module, a central controller, a wireless communication module and a tool box, wherein at least two multi-axis mechanical arms are arranged on the mobile chassis, a quick-change mechanism is arranged at the outer end of each multi-axis mechanical arm, a camera, a fixture device and a maintenance device are arranged on the quick-change mechanism, the controller is connected with a maintained device and a server or a mobile client through the wireless communication module, a command signal given by the server or the mobile client is transmitted to the central controller, and the central controller controls the camera, the maintenance device and the fixture device on the multi-axis mechanical arms to cooperate to maintain the maintained device. The maintenance device can receive the instruction of the central controller and maintain the maintenance equipment by controlling the mechanical arms, and maintenance tools and clamps on the two mechanical arms can be conveniently replaced, so that the working efficiency and the maintenance diversity are improved.
Description
Technical Field
The invention relates to a maintenance robot provided with a maintenance device and a clamp device which can be automatically replaced.
Background
The control system of the existing mechanical equipment can only self-check the faults of the electrical and circuit systems of the control system, mechanical faults or hidden dangers still need to be found by manual inspection, but the problems of insufficient timeliness, irregular time, missing inspection, safety problem of the manual inspection, overhigh cost of manual maintenance and the like exist in the manual inspection, so that a robot which can automatically inspect, process the problems after the problems are found and maintain the problems is urgently needed to improve the current situation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the maintenance robot which is provided with the automatic replacement maintenance device and the clamp device, can automatically inspect the main mechanical system of the maintained equipment, finds hidden dangers in advance, greatly improves the safety level and the overall performance of the equipment, and greatly saves labor cost.
Therefore, the invention adopts the following technical scheme: a maintenance robot with a maintenance device and a fixture device capable of being automatically replaced is characterized by comprising a mobile chassis, a power module, a central controller, a wireless communication module and a tool box, wherein at least two multi-axis mechanical arms are arranged on the mobile chassis, a quick-change mechanism is arranged at the outer end of each multi-axis mechanical arm, a camera, the fixture device and the maintenance device are arranged on the quick-change mechanism, the controller is connected with a to-be-maintained device and a server or a mobile client through the wireless communication module, a command signal given by the server or the mobile client is transmitted to the central controller, and the central controller controls the camera, the maintenance device and the fixture device on the multi-axis mechanical arms to cooperate to maintain the to-be-maintained device. The fixture device or the maintenance device on the quick-change mechanism can automatically fall into the tool box under the control of the central controller, and then the fixture device or the maintenance device in the tool box is automatically aligned by the quick-change mechanism for replacement.
The tool box is arranged on the movable chassis, wherein at least one quick-change mechanism is provided with a clamp device, and the clamp device can grab the tool head of the maintenance device from the tool box and help the maintenance device of the passive switching tool to switch the tool head. The clamp device is a three-jaw, five-jaw or various gripper clamp, and at least one gripper clamp is installed on the quick-change mechanism, so that the gripping and maintenance device in the tool box can be conveniently replaced.
The multi-shaft mechanical arm comprises a plurality of sections of connecting rods, a rotating shaft is arranged between every two adjacent connecting rods, and the connecting rod at the outermost end is provided with the quick-change mechanism. The number of the mechanical arms and the number of the connecting rods and the rotating shafts on the mechanical arms can be increased or reduced according to the working environment.
The quick-change mechanism comprises a bottom fixing seat, a driving motor, a telescopic rod, a mother disc, sub-discs, locking steel balls and an electrical connection piece, wherein the driving motor drives the telescopic rod to stretch, a rod body of the telescopic rod is provided with a strip-shaped ball groove, the telescopic rod is arranged in the mother disc, the steel balls are arranged in the mother disc, a plurality of sub-discs can be arranged outside the mother disc, and the outsides of the plurality of sub-discs are respectively connected with different clamp devices or maintenance devices;
the telescopic rod controls the locking steel balls to eject and fall back in the telescopic process, the sub disc and the mother disc are in a disengaged state when the steel column falls back, the sub disc and the mother disc are connected through the steel balls to be in a locking state when the steel column is ejected out, the electrical connection piece contacts on the sub disc and the mother disc are connected together in the locking state, and the mother disc can be respectively connected with different sub discs to control different maintenance devices and clamp devices.
The side part of the telescopic rod is provided with a strip-shaped ball groove for the steel balls to fall back, and the outer end part of the telescopic rod is a non-ball groove to form a locking stress point.
The mother disc on set up the steel ball hole that can supply the steel ball to pass from inside, the outside diameter in steel ball hole is less than the steel ball, and the inboard diameter is greater than the steel ball, and the steel ball can be ejecting not droing to the outside, can fall into the rectangular ball groove of telescopic link to the inboard, the external connection instrument or the equipment of subdisc has the ball groove in the subdisc, just tightly withstands with subdisc ball groove when locking steel ball is ejected, plays the lock effect of dying.
The system comprises a central controller, a maintenance device and a clamp device, wherein the central controller comprises an image acquisition camera with a night vision function, a sound acquisition module and a multi-angle distance measuring device, the central controller comprises an image, a sound analysis and identification module and a storage module, a three-dimensional model image and a two-dimensional model image of equipment to be maintained are stored in the storage module, the information acquired by the image acquisition camera is transmitted to the central controller to judge whether a fault exists through comparison, a proper maintenance scheme is formulated, and the maintenance device and the clamp device on a mechanical arm are controlled by the central controller to complete maintenance work.
The three-dimensional model diagram and the two-dimensional model diagram are manually preset in the storage module or are scanned by the scanning module and are immediately modeled and stored in the storage module. And a movable mounting interface of the scanning module is reserved at the position of the camera of the quick-change mechanism.
The central controller interacts instructions and information with the maintained equipment through the wireless communication module, obtains the operation data of the maintained equipment, and completes maintenance operation tasks in cooperation with the maintained equipment.
The power module comprises a wired and wireless charging battery pack.
The maintenance device can receive the instruction of the central controller and maintain the maintenance equipment by controlling the mechanical arms, maintenance tools and clamps on the two mechanical arms can be conveniently replaced, and the working efficiency and the maintenance diversity are improved.
Description of the drawings:
FIG. 1 is a front view of a robot;
FIG. 2 is a side view of the robot
FIG. 3 is a cross-sectional view of a robot A-A
FIG. 4 is a cross-sectional view of robot B-B
Fig. 5 is an assembly schematic diagram of the quick-change mechanism.
FIG. 6 is an exploded view of the quick-change mechanism
Fig. 7 is a sectional view a-a of fig. 5.
FIG. 8 is a schematic diagram showing the positions of the retractable rod and the master when the sub-disc is not connected.
Detailed Description
The quick-change mechanism capable of automatically connecting and disconnecting according to the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-4, the present invention includes a robot base 19, a power module, a central controller 23, a wire communication module and a tool box 22, wherein at least two multi-axis robots are disposed on the robot base 19, a quick-change mechanism 30 is disposed at an outer end of each multi-axis robot, a camera 4 is disposed on the quick-change mechanism, at least one of the quick-change mechanisms is provided with a gripper device 32 and a driving device 31 of a gripper structure, and another quick-change mechanism is provided with an electric batch 2 and a maintenance device tool 1 capable of being replaced passively.
The controller is connected with the server or the mobile client through the wireless communication module, a command signal given by the server or the mobile client is sent to the central controller, and the central controller controls the maintenance device and the clamp device on the multi-axis mechanical arm to cooperatively act so as to maintain the equipment to be maintained.
The tool box is arranged on the mechanical arm base 19, and the mounting clamp can grab the maintenance device tool head from the tool box and help the maintenance device switching tool head of the passive switching tool. And a wired charging interface is also arranged on the mechanical arm base 19.
Multiaxis arm include multistage connecting rod 8, set up pivot 9 between the adjacent connecting rod, set up fixing base 5 on the connecting rod of outermost end, quick change mechanism is connected to fixing base 5, still sets up the LED lamp on fixing base 5.
Still include information acquisition device, information acquisition device including taking night vision function's image acquisition camera, sound collection module and multi-angle range unit 18, central controller include image, sound analysis identification module and storage module 26, the storage module is internal to store and is waited to maintain the three-dimensional model picture of guarantor equipment, the information transmission of image acquisition camera collection to central controller judge whether there is the trouble through the contrast to formulate suitable maintenance scheme, by central controller control maintenance device and fixture device on the arm accomplish the maintenance work.
The three-dimensional model diagram is manually preset in the storage module or is scanned by the scanning module and is instantly modeled and stored in the storage module. And a movable installation interface of the scanning module is reserved at the position of the camera of the quick-change mechanism.
The electric power module comprises a wired and wireless charging battery pack 25, a mecanum wheel 24 is arranged at the lower part of the mechanical arm base 19, and the tool box is provided with an automatic switch mechanism 28.
As shown in fig. 5-7, the quick-change mechanism includes a bottom fixing base 10, a driving motor 11, a housing, a telescopic rod 17, a master disc 12, a sub-disc 13, locking balls 14, a sub-disc electrical connector 15, and a master disc electrical connector 16. The bottom fixing seat 1 is connected to an equipment end of a manipulator robot and the like, the subplate is connected to a replaced tool or equipment end, and different subplates are connected and replaced through the master disc, so that the purpose of replacing different tools or equipment is achieved.
The driving motor drives the telescopic rod to stretch, a rod body of the telescopic rod is provided with a steel ball groove, a steel ball is arranged in the steel ball groove, the telescopic rod is arranged in a mother disc, a sub disc is arranged outside the mother disc, and different tools or equipment are connected outside the sub disc;
the telescopic rod is used for controlling the locking steel balls to eject and fall back in the telescopic process, the subplate and the master disc are in a disengagement state when the steel balls fall back, the subplate and the master disc are connected through the steel balls to be in a locking state when the steel balls are ejected, the electrical connection piece contacts on the subplate and the master disc are connected together when the master disc is in the locking state, and the master disc can be respectively connected with the subplates to control a plurality of tools or equipment.
The side of the telescopic rod is provided with a strip-shaped ball groove 40 for the steel ball to fall back, and the outer end part of the telescopic rod is a non-ball groove to form a locking stress point 39. When the telescopic rod extends to eject the son disc, the steel balls fall into the ball grooves under the action of the son disc force, and the locking state 34 of the son disc and the son disc is released. After the mother disc contacts the son disc, the telescopic rod is contracted, the locking steel balls slide to the end parts of the ball grooves along the ball grooves, the steel balls are ejected out at the moment, and the son disc and the mother disc enter a locking state 35.
The mother disc is provided with a steel ball hole 37 through which a steel ball can pass from the inside, the outside diameter of the steel ball hole is smaller than that of the steel ball, the inside diameter of the steel ball hole is larger than that of the steel ball, the steel ball can be ejected outwards without falling off, and can fall into the strip-shaped ball groove of the telescopic rod inwards.
The outside of the sub-disc is connected with a tool or equipment, the inside of the sub-disc is provided with a ball groove 36, and the locking steel ball is just tightly propped against the ball groove of the sub-disc when being ejected out, so that the locking effect is achieved.
The daughter disc is provided with a positioning pin hole 33, and the master disc is provided with a guiding positioning pin 38.
The specific action flow is as follows:
the initial state is the master unconnected to the daughter. The position of the telescopic rod is as shown in fig. 4, the position of the telescopic rod is that the tail end of the telescopic rod is flush with the tail end of the mother disc, and the steel ball just falls into the ball groove at the moment. At this moment, after the equipment such as manipulator or robot that the fixed joint seat is connected reachd the fixed position, stretch out forward, under the guide effect of locating pin, inside the mother disc inserted the subdisc, when the electrical connection spare contact that inserts the subdisc was put into connection together, the telescopic link obtained the signal, the telescopic link motor operation, the telescopic link shortens, locking steel ball is terminal along ball groove relative motion to the telescopic link, locking steel ball is ejecting and auto-lock (can't fall into the ball groove under receiving the exogenic action), the mother disc passes through the steel ball with the subdisc and is deadlocked, as shown in figure 5.
As shown in fig. 8, the operation flow of the primary and secondary disk separation is as follows: after the mechanism receives the command of releasing the son disks, the telescopic rod motor operates, the telescopic rod extends to the position of the son disks, the locking steel balls are positioned at the position of the ball grooves of the telescopic rod, the telescopic rod continues to extend out, the son mother disks are released under the action of the telescopic rod force, and the locking steel balls fall into the ball grooves under the action of the releasing force of the son disks. At the moment, the lock is released, the mechanical arm or the robot and other equipment connected with the fixed connection seat retract backwards, the primary and secondary disks are completely separated, the electrical connection piece contact of the secondary master disk is separated, the signal is lost, the telescopic rod motor reversely runs at the moment, and the telescopic rod is shortened to the initial state to prepare for replacing the next secondary disk.
The invention controls the ejection and falling back of the locking steel balls through the relative motion of the telescopic rod and the steel balls, thereby locking and unlocking the master and slave discs. And is provided with a positioning pin with guiding and positioning functions and an electric connection piece for driving and controlling equipment connected with the sub-disc. The change son dish that can be very fast, the dead steel ball of mother and son dish lock can carry out the auto-lock through the telescopic link again, avoids the steel ball to fall back the ball groove under the atress effect, has promoted the dead reliability of lock.
The initial state is that the robot carries out wired charging through the wired charging port 7 of equipment or carries out wireless charging through a wireless charging device at a fixed rest position, and receives the polling and maintenance commands issued by a server or a mobile client through wireless communication equipment or a human-computer interface manually. And the robot leaves the rest position, and selects a proper line to reach the inspection and maintenance site according to the preset three-dimensional models of the equipment and the surrounding environment in the memory. In the running process of the robot, the acousto-optic warning device sends out warning sound and warning light to remind surrounding people of avoiding, and meanwhile, the distance measuring device 18 and the camera 4 help the robot to detect and avoid obstacles.
The camera 4 collects image parameters and sound parameters of the equipment at a specified distance and angle under the guidance of the three-dimensional model and with the assistance of the distance measuring device 18; or the robot can operate the equipment to adjust to a certain convenient observation angle after pressing the equipment button by the claw 30, then data is collected, the related data is transmitted to the memory, and the robot control system analyzes and identifies through pictures and sounds. The control system judges whether the current position of the equipment is abnormal or not and whether maintenance is needed or not, stores the related data into the memory and reports the abnormality to the server through the wireless communication equipment.
When the control system judges that maintenance is needed, the maintenance tool is distributed to two mechanical arms to be suitable, and the automatic opening and closing mechanism of the tool bin is controlled to be automatically opened), then the claws on the clamp mechanisms such as an automatic replacement tool and the claws can extend into the specified positions in the tool bin under the cooperative action of all levels of connecting rods and rotating shafts to clamp and take the specified tool heads, then the suitable tool heads are replaced for the electric batch under the cooperative operation of the connecting rods and the rotating shafts, and then the maintenance action is completed by self replacing the suitable tool or using the claws to cooperate with the electric batch. The maintenance action includes, but is not limited to, tightening screws, brushing oil, and the like. In the maintenance action process, the distance measuring device and the warning lamp on the rotating shaft are in working states. Can warn pedestrians around and ensure that the robot does not collide with equipment in the cooperative motion process between the arms. Avoiding damage to the equipment.
After the maintenance action is finished, the claw takes down the tool head and puts the tool head into the tool bin, the tool bin is automatically opened and closed, and the claw enables the equipment to be restored to the original state by pressing the equipment button under the condition that the claw is needed. And the robot performs next position inspection and maintenance, and returns to the initial state position for charging or standby under the condition that the inspection and maintenance command is executed or the electric quantity of the robot is lost.
The foregoing is merely exemplary of the preferred embodiments of the present invention and is not intended to limit the invention thereto. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A maintenance robot with a maintenance device and a fixture device capable of being automatically replaced is characterized by comprising a moving chassis, a power module, a central controller, a wireless communication module and a tool box, wherein at least two multi-axis mechanical arms are arranged on the moving chassis, a quick-change mechanism is arranged at the outer end of each multi-axis mechanical arm, a camera, the fixture device and the maintenance device are arranged on the quick-change mechanism, the central controller is connected with a maintained device and a server or a mobile client through the wireless communication module, command signals given by the server or the mobile client are transmitted to the central controller, and the central controller controls the camera, the maintenance device and the fixture device on the multi-axis mechanical arms to cooperatively work to maintain the maintained device.
2. A service robot as recited in claim 1, wherein the tool box is disposed on a mobile chassis, and wherein at least one of the quick-change mechanisms has a gripper assembly mounted thereon, the gripper assembly being capable of grasping the service device tool head from the tool box and assisting in the service device change-over of the passive change-over tool.
3. The maintenance robot according to claim 1, wherein the multi-axis mechanical arm comprises a plurality of segments of connecting rods, a rotating shaft is arranged between adjacent connecting rods, and the quick-change mechanism is arranged on the outermost connecting rod.
4. The maintenance robot according to claim 1, wherein the quick-change mechanism comprises a bottom fixing seat, a driving motor, a telescopic rod, a master disc, sub-discs, locking steel balls and an electrical connection piece, the driving motor drives the telescopic rod to extend and retract, a rod body of the telescopic rod is provided with a long strip-shaped ball groove, the telescopic rod is arranged in the master disc, the steel balls are arranged in the master disc, the plurality of sub-discs can be arranged outside the master disc, and the outsides of the plurality of sub-discs are respectively connected with different clamping devices or maintenance devices;
the telescopic rod controls the locking steel balls to eject and fall back in the telescopic process, the sub disc and the mother disc are in a disengaged state when the steel column falls back, the sub disc and the mother disc are connected through the steel balls to be in a locking state when the steel column is ejected out, the electrical connection piece contacts on the sub disc and the mother disc are connected together in the locking state, and the mother disc can be respectively connected with different sub discs to control different maintenance devices and clamp devices.
5. The maintenance robot according to claim 4, wherein the side of the telescopic rod is provided with an elongated ball groove for the steel balls to fall back, and the outer end of the telescopic rod is provided with a locking force point without a ball groove.
6. The maintenance robot according to claim 5, wherein the master disc is provided with a steel ball hole through which the steel ball can pass from the inside, the diameter of the outer side of the steel ball hole is smaller than that of the steel ball, the diameter of the inner side of the steel ball hole is larger than that of the steel ball, the steel ball can be ejected outwards without falling off, the steel ball can fall into the elongated ball groove of the telescopic rod inwards, the outside of the sub disc is connected with a tool or equipment, the inside of the sub disc is provided with a ball groove, and the locking steel ball is just tightly ejected with the ball groove of the sub disc when ejected, so that the locking.
7. The maintenance robot according to claim 1 or 6, further comprising an information collection device, wherein the information collection device comprises an image collection camera with a night vision function, a sound collection module and a multi-angle distance measurement device, the central controller comprises an image and sound analysis and identification module and a storage module, a three-dimensional model drawing and a two-dimensional model drawing of the equipment to be maintained are stored in the storage module, the information collected by the image collection camera is transmitted to the central controller, whether a fault exists is judged through comparison, a proper maintenance scheme is formulated, and the central controller controls a maintenance device and a clamp device on the mechanical arm to complete maintenance work.
8. The maintenance robot according to claim 7, wherein the three-dimensional model map and the two-dimensional model map are manually preset in the storage module or are stored in the storage module through a scanning module for scanning field modeling, and a movable installation interface of the scanning module is reserved at a camera position of the quick-change mechanism.
9. The maintenance robot according to claim 1, wherein the central controller interacts with the equipment to be maintained through the wireless communication module to obtain the operation data of the equipment to be maintained, and cooperates with the equipment to be maintained to complete the maintenance task.
10. The maintenance robot according to claim 1, further comprising a positioning module, a human-computer interaction display screen, an audible and visual alarm device, wherein the human-computer interaction display screen, the audible and visual alarm device and the audio and visual microphone device are disposed on the upper portion of the chassis, and the power module comprises a wired and wireless rechargeable battery pack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010675148.0A CN111702739A (en) | 2020-07-14 | 2020-07-14 | Maintenance robot with automatic replacement maintenance device and clamp device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010675148.0A CN111702739A (en) | 2020-07-14 | 2020-07-14 | Maintenance robot with automatic replacement maintenance device and clamp device |
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| CN111702739A true CN111702739A (en) | 2020-09-25 |
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| CN202010675148.0A Pending CN111702739A (en) | 2020-07-14 | 2020-07-14 | Maintenance robot with automatic replacement maintenance device and clamp device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112192569A (en) * | 2020-10-09 | 2021-01-08 | 常熟云开智能科技有限公司 | Control method for polishing robot to automatically identify workpiece and automatically replace clamp |
| CN112276932A (en) * | 2020-10-29 | 2021-01-29 | 张梅 | Mechanical arm device for double-arm measurement |
| CN113001558A (en) * | 2021-02-23 | 2021-06-22 | 上海宇航系统工程研究所 | Modularized quick-change maintenance integrated platform suitable for space operation |
| CN113146679A (en) * | 2021-04-20 | 2021-07-23 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
| CN113733101A (en) * | 2021-09-29 | 2021-12-03 | 珠海优特电力科技股份有限公司 | Inspection robot, inspection robot operation method, and storage medium |
| CN114535947A (en) * | 2020-11-24 | 2022-05-27 | 株式会社日立大厦系统 | Elevator operation device |
| CN114714765A (en) * | 2022-03-16 | 2022-07-08 | 苏州迈为科技股份有限公司 | Maintenance equipment applied to intelligent screen printing line |
| CN117260684A (en) * | 2023-11-21 | 2023-12-22 | 江苏华淦新材料科技有限公司 | Manipulator device for overhauling electrical equipment |
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