CN112318483A - Automatic industrial robot based on single flexible track - Google Patents
Automatic industrial robot based on single flexible track Download PDFInfo
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- CN112318483A CN112318483A CN202011313755.9A CN202011313755A CN112318483A CN 112318483 A CN112318483 A CN 112318483A CN 202011313755 A CN202011313755 A CN 202011313755A CN 112318483 A CN112318483 A CN 112318483A
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- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 abstract description 13
- 238000003754 machining Methods 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract 1
- 238000011105 stabilization Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000005553 drilling Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 238000003780 insertion Methods 0.000 description 1
- 238000005259 measurement Methods 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
- 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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Abstract
The invention discloses an automatic industrial robot based on a single flexible track, which belongs to the field of machining equipment and comprises a flexible track, an X-axis module capable of running along the flexible track, a Y-axis module positioned on the X-axis module and an actuator module arranged on the Y-axis module, wherein the left side and the right side of the Y-axis module exceed the flexible track, the left side and the right side of the Y-axis module are respectively provided with a fixed supporting wheel and a floating supporting wheel, the fixed supporting wheel is fixedly connected with the Y-axis module, the floating supporting wheel is connected with the Y-axis module through a telescopic mechanism, and the telescopic mechanism is provided with an automatic locking mechanism. Utilize the fixed stay wheel to carry out the rigidity and support, the floating support of cooperation floating stay wheel, the curved surface of adaptable operation in-process changes, guarantees equipment even running, can lock floating support simultaneously when carrying out processing, becomes the rigidity and supports, guarantees the moment balance in the course of working to industrial robot operation and job stabilization nature under the single track operation mode have been realized.
Description
Technical Field
The invention relates to the field of machining equipment, in particular to an automatic industrial robot based on a single flexible track.
Background
In the assembly process of large-size products such as airplanes and ships, an industrial robot is often required to be used for automatic hole making, welding and other operations. The specific mode is that one or more flexible tracks are firstly paved on the surface of the machine body, and then the industrial robot is placed on the flexible tracks, so that the industrial robot moves along the flexible tracks and completes corresponding hole making or welding operation.
Because general industrial robot is bulky, and weight is heavier, for guaranteeing its operation and the steady of work, adopt the structural style of double track or three-rail mostly, the purpose is through many tracks lifting industrial robot and treating the area of contact between the processing equipment to realize moment balance, reach the purpose that improve equipment operation is stable. However, for products with more curved surfaces such as airplanes, the cost is higher on the one hand, and on the other hand, the parallelism of each track cannot be guaranteed, so that the fluctuation of the industrial robot in the operation process is not constant, and the precision requirement of subsequent execution machining cannot be met.
Disclosure of Invention
In order to overcome the defects of the existing industrial robot in the aspects of running and working stability, the invention aims to solve the technical problems that: the automatic industrial robot based on the single flexible track is more stable and reliable.
The technical scheme adopted by the invention for solving the technical problems is as follows:
automatic industrial robot based on single flexible track, including flexible track, can follow flexible orbital motion's X axle module, be located the Y axle module on the X axle module and install the executor module on the Y axle module, the left and right sides of Y axle module surpasss flexible track to be equipped with fixed stay wheel and unsteady supporting wheel respectively in the left and right sides, fixed stay wheel and Y axle module fixed connection, unsteady supporting wheel pass through telescopic machanism and Y axle module connection, be furnished with automatic locking mechanism on the telescopic machanism.
Further, the height of the fixed supporting wheel is matched with the height of the flexible track and the height of the X-axis module, and when the Y-axis module is placed on the flexible track through the X-axis module, the bottom of the fixed supporting wheel is flush with the bottom of the flexible track.
Furthermore, the fixed supporting wheel is connected with the Y-axis module through an adjustable hydraulic lifting rod.
Furthermore, the telescopic mechanism for connecting the floating supporting wheel and the Y-axis module is a floating hydraulic cylinder, a pneumatic cylinder or a spring telescopic rod, the body of the telescopic mechanism is fixedly connected with the Y-axis module, the telescopic rod is connected with the floating supporting wheel, and the automatic locking mechanism is an electric clamping device for clamping and fixing the telescopic rod on the Y-axis module.
Furthermore, the telescopic mechanism for connecting the floating supporting wheel and the Y-axis module is a floating electric hydraulic cylinder or electric pneumatic cylinder, and the automatic locking mechanism is an electromagnetic valve lock of the electric hydraulic cylinder or the electric pneumatic cylinder.
Furthermore, an A-axis module is arranged on the Y-axis module, a Y-axis slide rail in the horizontal direction is arranged on the front face of the Y-axis module, the A-axis module is connected with the Y-axis slide rail in a sliding mode through a Y-axis slide block, and a Y-axis motor and a Y-axis screw rod nut mechanism are arranged on the Y-axis module to drive the A-axis module to slide along the Y-axis slide rail.
Further, the A axle module includes fixed plate and rotor plate, and the back and the Y axle slider of fixed plate link to each other, and the front top is equipped with A axle arc track, and the below is equipped with A axle motor and A axle drive gear, be equipped with A axle slider and A axle arc rack on the rotor plate, A axle slider and A axle arc track sliding connection, A axle arc rack and A axle drive gear cooperate.
Further, the executor module includes B axle module and system hole module, B axle module includes mount and mounting bracket, and the mount is installed on the rotor plate of A axle module, is equipped with B axle arc track above the side of mount, and the below is equipped with B axle motor and B axle drive gear, be equipped with B axle slider and B axle arc rack on the mounting bracket, B axle slider and B axle arc track sliding connection, B axle arc rack and B axle drive gear cooperate, system hole module installs on the mounting bracket.
Furthermore, a Z-axis slide rail, a Z-axis motor and a Z-axis screw rod nut mechanism are arranged on the mounting frame along the vertical direction to drive the hole making module to move up and down along the Z-axis slide rail, and the hole making module is sequentially provided with a spindle motor, a hole making spindle, a pressure angle method phase sensor and a vision camera from top to bottom.
Furthermore, the Y-axis module and the X-axis module and the Y-axis module and the actuator module are connected through cam positioning bolts, and the Y-axis module and the actuator module are connected through integrated quick-plugging interfaces to the circuit and the gas circuit.
The invention has the beneficial effects that: through set up fixed stay wheel and unsteady supporting wheel respectively in industrial robot's the left and right sides, utilize the fixed stay wheel to carry out the rigidity support, the unsteady support of cooperation unsteady supporting wheel, the curved surface of adaptable operation in-process changes, guarantee equipment even running, can lock unsteady support when carrying out processing simultaneously, become the rigidity support, moment balance in the assurance course of working, thereby the stability of industrial robot operation and work under single track operation has been realized, the cost is reduced and the degree of difficulty of laying flexible track, the flexibility and the universality of whole equipment have been improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the Y-axis module of the present invention.
Fig. 3 is a schematic diagram of the actuator module of the present invention.
Labeled in the figures as 1-flexible track, 2-X axis module, 3-Y axis module, 4-actuator module, 5-A axis module, 6-B axis module, 7-Z axis module, 31-fixed support wheel, 32-floating support wheel, 33-Y axis slide rail, 34-Y axis motor, 35-Y axis screw-nut mechanism, 51-Y axis slide block, 52-fixed plate, 53-rotating plate, 54-A axis arc track, 55-A axis motor, 56-A axis drive gear, 57-A axis slide block, 58-A axis arc rack, 61-fixed rack, 62-fixed rack, 63-B axis arc track, 64-B axis motor, 65-B axis drive gear, 66-B axis slide block, 67-B axis arc rack, 71-Z-axis slide rail, 72-Z-axis motor, 73-Z-axis screw rod and nut mechanism, 74-spindle motor, 75-hole-making spindle, 76-pressure angle method phase sensor and 77-vision camera.
Detailed Description
The invention is further described below with reference to the accompanying drawings. It is first stated that the orientation, e.g. front, side, positioning reference referred to in this application is the front, which is the direction the automatic industrial robot faces towards its forward travel along the flexible track, and that the positioning of all modules is sub-referenced.
As shown in fig. 1-3, the automatic industrial robot based on single flexible track of the present invention includes a flexible track 1, an X-axis module 2 capable of running along the flexible track 1, a Y-axis module 3 located on the X-axis module 2, and an actuator module 4 installed on the Y-axis module 3, wherein the left and right sides of the Y-axis module 3 extend beyond the flexible track 1, and the left and right sides are respectively provided with a fixed supporting wheel 31 and a floating supporting wheel 32, the fixed supporting wheel 31 is fixedly connected with the Y-axis module 3, the floating supporting wheel 32 is connected with the Y-axis module 3 through a telescopic mechanism, and the telescopic mechanism is provided with an automatic locking mechanism.
The focus of whole industrial robot is located flexible track 1 after the installation, the fixed stay wheel 31 and the floating stay wheel 32 of both sides are the auxiliary stay effect, wherein fixed stay wheel 31 with treat the processing product surface contact, carry out the rigidity support to industrial robot, floating stay wheel 32 does not play the supporting role at industrial robot operation in-process, only all the time with treat the processing product surface contact under telescopic machanism's effect, therefore the curved surface of adaptable operation in-process changes, guarantee equipment even running. When the actuator module 4 is required to perform operations such as drilling and the like, the floating support wheel 32 is fixed through the automatic locking mechanism, so that the floating support wheel is changed into rigid support when being in contact with the surface of a product to be processed, the fixed foundation of the whole device is increased, the torsional rigidity is increased, the reaction force generated by drilling and the like is offset, and the possibility that the drilling normal hole perpendicularity is influenced due to deflection of the drilling tail end caused by the reaction force is reduced. Consequently, compare current double track industrial robot, industrial robot operation and the stability of work under single track operational mode have been realized to this application, and the degree of difficulty that the cost was reduced and lay flexible track has improved the flexibility and the universality of whole equipment.
Because the single track form is adopted, the actuator module 4 is in an offset structure, namely the processing position of the actuator module 4 is positioned on one side of the flexible track 1, therefore, in order to ensure stable support in operation and processing, the fixed support wheel 31 is preferably arranged on the same side of the processing position of the actuator module 4, and the floating support wheel 32 is arranged on the other side of the track, so that the opposite support is conveniently provided.
When the fixed supporting wheel 31 is provided, generally, since the fixed supporting wheel 31 is closer to the flexible rail 1, the change of the curved surface can be ignored, so that the height of the fixed supporting wheel 31 can be set to match the height of the flexible rail 1 and the height of the X-axis module 2, that is, when the Y-axis module 3 is placed on the flexible rail 1 through the X-axis module 2, the bottom of the fixed supporting wheel 31 is flush with the bottom of the flexible rail 1. In some special cases, it may also lead to a difference in height between the fixed support wheel 31 and the surface of the product to be processed, so that said fixed support wheel 31 can be connected to the Y-axis module 3 by means of an adjustable hydraulic lifting bar, said adjustable hydraulic lifting bar 3 being similar to a jack, the height of the fixed support wheel 31 being slightly adjustable manually.
For the telescoping mechanism for connecting the floating support wheel 32 with the Y-axis module 3, two solutions are provided in the present application.
The first scheme is that the telescopic mechanism is a floating hydraulic cylinder, a pneumatic cylinder or a spring telescopic rod, the body of the telescopic mechanism is fixedly connected with the Y-axis module 3, the telescopic rod is connected with the floating supporting wheel 32, and the automatic locking mechanism is an electric clamping device for clamping and fixing the telescopic rod on the Y-axis module 3. In the operation process, the floating supporting wheel 32 can be always kept in contact with the surface of a product to be processed under the action of air pressure, hydraulic pressure or elastic force, and when the telescopic rod needs to be fixed, the telescopic rod is clamped and fixed through the electric clamping device, so that the telescopic rod cannot move up and down, and the locking function is realized. The electric clamping device can adopt a structural form similar to an electromagnetic brake.
The second scheme is that the telescopic mechanism is a floating electric hydraulic cylinder or electric pneumatic cylinder, and the automatic locking mechanism is an electromagnetic valve lock of the electric hydraulic cylinder or the electric pneumatic cylinder. The structure is simpler, the floating supporting wheel 32 is contacted with the surface of a product to be processed by utilizing hydraulic pressure or air pressure in the operation process, and when the locking is needed, an oil path or an air path is controlled through an electromagnetic valve to fix the position of the telescopic rod.
The existing industrial robot for the flexible track has the defects of instability in operation and working, and has certain defects in the degree of freedom of processing. At present, a double-track industrial robot is mainly adopted, and can only realize X-axis and A-axis movement, namely, the movement along a flexible track and the rotation around a flexible X-axis. The application adopts a single-rail structure, can realize five-axis motion, and specifically is:
the X-axis movement, namely along the flexible track 1, realizes the structure as follows: the X-axis module 2 comprises a roller assembly and a driving assembly, the roller assembly is clamped on two sides of the flexible track through a plurality of rollers, the driving assembly comprises two sets of motors and a driving gear, the driving gear is matched with a rack on the flexible track to realize driving, reverse gaps can be eliminated by adopting the two sets of motors, and the operation precision is improved.
The Y-axis movement, namely the movement along the direction vertical to the axis of the flexible track 1, realizes the structure as follows: the Y-axis module 3 is provided with an A-axis module 5, the front face of the Y-axis module 3 is provided with a Y-axis slide rail 33 in the horizontal direction, the A-axis module 5 is connected with the Y-axis slide rail 33 in a sliding mode through a Y-axis slide block 51, and the Y-axis module 3 is provided with a Y-axis motor 34 and a Y-axis screw rod nut mechanism 35 to drive the A-axis module 5 to slide along the Y-axis slide rail 33. The Y-axis motor 34 is preferably equipped with a grating scale secondary feedback for improved running accuracy.
The A-axis motion, namely the actuator module 4 rotates around the X-axis, and the realization structure is as follows: the A-axis module 5 comprises a fixed plate 52 and a rotating plate 53, the back of the fixed plate 52 is connected with a Y-axis sliding block 51, an A-axis arc-shaped track 54 is arranged above the front of the fixed plate, an A-axis motor 55 and an A-axis driving gear 56 are arranged below the fixed plate, an A-axis sliding block 57 and an A-axis arc-shaped tooth track 58 are arranged on the rotating plate 53, the A-axis sliding block 57 is in sliding connection with the A-axis arc-shaped track 54, and the A-axis arc-shaped tooth track 58 is matched with the. The radian of the a-axis arc track 54 is the same as that of the a-axis arc rack 58, and when the a-axis motor 55 drives the a-axis arc rack 58 to operate through the a-axis drive gear 56, the rotating plate 53 can rotate by a certain angle within a certain range by the cooperation of the a-axis slider 57 and the a-axis arc track 54. The a-axis motor 55 is also preferably equipped with a grating scale secondary feedback for improved running accuracy.
The B-axis movement, namely the actuator module 4 rotates around the Y-axis, and the realization structure is as follows: actuator module 4 includes B axle module 6 and system hole module 7, B axle module 6 includes mount 61 and mounting bracket 62, and mount 61 is installed on A axle module 5's rotor plate 53, is equipped with B axle arc track 63 above the side of mount 61, and the below is equipped with B axle motor 64 and B axle drive gear 65, be equipped with B axle slider 66 and B axle arc rack 67 on the mounting bracket 62, B axle slider 66 and B axle arc track 63 sliding connection, B axle arc rack 67 and B axle drive gear 65 cooperate, system hole module 7 is installed on mounting bracket 62. Overall structure is similar with A axle module 5, B axle arc track 63 is the same with the radian of B axle arc rack 67, and when B axle motor 64 passed through B axle drive gear 65 and drives B axle arc rack 67 operation messenger, received B axle slider 66 and B axle arc track 63's cooperation can make mounting bracket 62 rotate certain angle in the certain limit. The B-axis motor 64 is also preferably equipped with a grating scale secondary feedback for improved running accuracy.
The Z-axis movement, namely the actuator module 4 moves along the surface of the product to be processed, and the realization structure is as follows: be equipped with Z axle slide rail 71, Z axle motor 72 and Z axle screw nut mechanism 73 along vertical direction on the mounting bracket 62 and drive system hole module 7 and reciprocate along Z axle slide rail 71, system hole module 7 is from last down being equipped with spindle motor 74 in proper order, system hole main shaft 75, pressure angle method looks sensor 76 and vision camera 77, and wherein spindle motor 74 is used for driving system hole main shaft 75 system hole, and pressure angle method looks sensor 76 and vision camera 77 are through feeding back information to control system integrated control Z axle motion, A axle motion and B axle motion, guarantee that system hole main shaft perpendicular to waits to process the product surface, utilize two telecentric lens to realize simultaneously centering and nest diameter measurement. Likewise, the Z-axis motor 72 is also equipped with a grating scale secondary feedback for improved running accuracy.
The existing double-track industrial robot has a small number of defects in use convenience besides a small number of operational freedom degrees, and mainly has the advantages that the whole device is of an integrated structure, the size is large, the weight is heavy, and the installation and the transportation are inconvenient. Therefore, in order to achieve modularization and light weight, the whole industrial robot structure is divided into four independent parts, namely a flexible track 1, an X-axis module 2, a Y-axis module 3 with an A-axis module 5 and an actuator module 4 with a B-axis module 6 and a Z-axis module 7, the Y-axis module 3 and the X-axis module 2 and the Y-axis module 3 and the actuator module 4 are both connected quickly through cam positioning bolts 34, and circuits and air circuits are connected between the Y-axis module 3 and the actuator module 4 through an integrated quick-insertion interface 35. The single weight of the three modules is generally not more than 20 kilograms, and the three modules can be carried and installed by a single person and are convenient and quick to use.
Claims (10)
1. Automatic industrial robot based on single flexible track, characterized by: including flexible track (1), can follow X axle module (2) of flexible track (1) operation, be located Y axle module (3) on X axle module (2) and install executor module (4) on Y axle module (3), flexible track (1) is surpassed to the left and right sides of Y axle module (3) to be equipped with fixed stay wheel (31) and unsteady supporting wheel (32) respectively in the left and right sides, fixed stay wheel (31) and Y axle module (3) fixed connection, unsteady supporting wheel (32) are connected with Y axle module (3) through telescopic machanism, be furnished with automatic locking mechanism on the telescopic machanism.
2. An automatic industrial robot based on single flexible track according to claim 1 characterized by: the height of the fixed supporting wheel (31) is matched with the height of the flexible track (1) and the height of the X-axis module (2), and when the Y-axis module (3) is placed on the flexible track (1) through the X-axis module (2), the bottom of the fixed supporting wheel (31) is flush with the bottom of the flexible track (1).
3. An automatic industrial robot based on single flexible track according to claim 2, characterized in that: and the fixed supporting wheel (31) is connected with the Y-axis module through an adjustable hydraulic lifting rod.
4. An automatic industrial robot based on single flexible track according to claim 1 characterized by: the telescopic mechanism for connecting the floating supporting wheel (32) and the Y-axis module (3) is a floating hydraulic cylinder, a pneumatic cylinder or a spring telescopic rod, the body of the telescopic mechanism is fixedly connected with the Y-axis module (3), the telescopic rod is connected with the floating supporting wheel (32), and the automatic locking mechanism is an electric clamping device for clamping and fixing the telescopic rod on the Y-axis module (3).
5. An automatic industrial robot based on single flexible track according to claim 1 characterized by: the telescopic mechanism for connecting the floating supporting wheel (32) and the Y-axis module (3) is a floating electric hydraulic cylinder or electric pneumatic cylinder, and the automatic locking mechanism is an electromagnetic valve lock of the electric hydraulic cylinder or the electric pneumatic cylinder.
6. An automatic industrial robot based on single flexible track according to any of claims 1-5 characterized in that: the Y-axis module is characterized in that an A-axis module (5) is arranged on the Y-axis module (3), a Y-axis slide rail (33) in the horizontal direction is arranged on the front face of the Y-axis module (3), the A-axis module (5) is connected with the Y-axis slide rail (33) in a sliding mode through a Y-axis slide block (51), and a Y-axis motor (52) and a Y-axis screw rod nut mechanism (53) are arranged on the Y-axis module (51) to drive the A-axis module (5) to slide along the Y-axis slide rail (33).
7. An automatic industrial robot based on single flexible track according to claim 6 characterized by: a axle module (5) is including fixed plate (52) and rotor plate (53), and the back and Y axle slider (51) of fixed plate (52) link to each other, and the front top is equipped with A axle arc track (54), and the below is equipped with A axle motor (55) and A axle drive gear (56), be equipped with A axle slider (57) and A axle arc rack (58) on rotor plate (53), A axle slider (57) and A axle arc track (54) sliding connection, A axle arc rack (58) and A axle drive gear (56) cooperate.
8. An automatic industrial robot based on single flexible track according to claim 7 characterized by: executor module (4) include B axle module (6) and system hole module (7), B axle module (6) are including mount (61) and mounting bracket (62), and install on rotor plate (53) of A axle module (5) mount (61), are equipped with B axle arc track (63) above the side of mount (61), and the below is equipped with B axle motor (64) and B axle drive gear (65), be equipped with B axle slider (66) and B axle arc rack (67) on mounting bracket (62), B axle slider (66) and B axle arc track (63) sliding connection, B axle arc rack (67) cooperate with B axle drive gear (65), system hole module (7) are installed on mounting bracket (62).
9. An automatic industrial robot based on single flexible track according to claim 8 characterized by: be equipped with Z axle slide rail (71), Z axle motor (72) and Z axle screw nut mechanism (73) along vertical direction on mounting bracket (62) and drive system hole module (7) and reciprocate along Z axle slide rail (71), system hole module (7) are from last down being equipped with spindle motor (74) in proper order, system hole main shaft (75), pressure angle law looks sensor (76) and vision camera (77).
10. An automatic industrial robot based on single flexible track according to claim 7, 8 or 9, characterized by: y axle module (3) and X axle module (2) between and Y axle module (3) and executor module (4) between all be connected through cam location bolt (34), still connect circuit and gas circuit through integrating fast interface (35) between Y axle module (3) and executor module (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011313755.9A CN112318483A (en) | 2020-11-20 | 2020-11-20 | Automatic industrial robot based on single flexible track |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011313755.9A CN112318483A (en) | 2020-11-20 | 2020-11-20 | Automatic industrial robot based on single flexible track |
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| CN112318483A true CN112318483A (en) | 2021-02-05 |
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| CN202011313755.9A Pending CN112318483A (en) | 2020-11-20 | 2020-11-20 | Automatic industrial robot based on single flexible track |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030116331A1 (en) * | 2001-12-10 | 2003-06-26 | Boyl-Davis Theodore Martin | Flexible track drilling machine |
| CN102765088A (en) * | 2012-07-16 | 2012-11-07 | 上海飞机制造有限公司 | Single side soft absorption type automatic drilling robot |
| CN203565255U (en) * | 2013-10-14 | 2014-04-30 | 广东德科机器人技术与装备有限公司 | Paint spraying machine for toys |
| CN215093568U (en) * | 2020-11-20 | 2021-12-10 | 上海西持科技有限公司 | Automatic industrial robot based on single flexible track |
-
2020
- 2020-11-20 CN CN202011313755.9A patent/CN112318483A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030116331A1 (en) * | 2001-12-10 | 2003-06-26 | Boyl-Davis Theodore Martin | Flexible track drilling machine |
| CN102765088A (en) * | 2012-07-16 | 2012-11-07 | 上海飞机制造有限公司 | Single side soft absorption type automatic drilling robot |
| CN203565255U (en) * | 2013-10-14 | 2014-04-30 | 广东德科机器人技术与装备有限公司 | Paint spraying machine for toys |
| CN215093568U (en) * | 2020-11-20 | 2021-12-10 | 上海西持科技有限公司 | Automatic industrial robot based on single flexible track |
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Effective date of registration: 20221021 Address after: Room 406, building 1, No. 88, Chenhui Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Applicant after: SHANGHAI MAIKELUO AUTOMATION TECHNOLOGY Co.,Ltd. Applicant after: Beijing Hangtai Technology Co.,Ltd. Address before: 201203 Pudong New Area, Shanghai, China (Shanghai) free trade trial area, No. 3, 1 1, Fang Chun road. Applicant before: Shanghai Xizhi Technology Co.,Ltd. |