CN112443136A - Robot mounting platform and building construction system - Google Patents
Robot mounting platform and building construction system Download PDFInfo
- Publication number
- CN112443136A CN112443136A CN201910824851.0A CN201910824851A CN112443136A CN 112443136 A CN112443136 A CN 112443136A CN 201910824851 A CN201910824851 A CN 201910824851A CN 112443136 A CN112443136 A CN 112443136A
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- robot
- construction
- mounting platform
- vehicle body
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- 238000009435 building construction Methods 0.000 title claims description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 92
- 238000010276 construction Methods 0.000 claims abstract description 59
- 238000003860 storage Methods 0.000 claims abstract description 36
- 239000003973 paint Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 239000000463 material Substances 0.000 abstract description 4
- 239000002699 waste material Substances 0.000 abstract description 3
- 239000011248 coating agent Substances 0.000 description 13
- 238000000576 coating method Methods 0.000 description 13
- 239000000428 dust Substances 0.000 description 7
- 238000005498 polishing Methods 0.000 description 7
- 239000011449 brick Substances 0.000 description 4
- 230000009194 climbing Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/12—Devices for exhausting mist of oil or coolant; Devices for collecting or recovering materials resulting from grinding or polishing, e.g. of precious metals, precious stones, diamonds or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/186—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like with disc-type tools
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
- E04F21/1844—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements by applying them one by one
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of construction robots, and discloses a robot mounting platform and a construction system, wherein the robot mounting platform comprises: a vehicle body; a fixing mechanism provided on the vehicle body, the fixing mechanism being configured to assemble the construction robot; the storage mechanism is arranged on the vehicle body and is configured with a storage container; a positioning mechanism provided on the vehicle body, the positioning mechanism being configured to fix the vehicle body. The fixing mechanism can be provided with construction robots with different processes, the storage mechanism can be provided with a storage container, the construction robots can supply materials or collect waste materials generated by the construction robots, and the positioning mechanism can fix the vehicle body, so that the construction robots can conveniently perform construction operation. The robot of multiple construction process uses same mounting platform, need not to be equipped with for the construction robot of each process with climb frame and motion face assorted fuselage, can reduce construction robot's cost of manufacture to reduce manufacturing cost.
Description
Technical Field
The invention relates to the technical field of building robots, in particular to a robot mounting platform and a building construction system.
Background
For the operation of the outer wall surface, the construction of workers is completed in the construction industry at present. The traditional scaffold construction has no effective protective measures, and dangerous accidents are easy to happen. Furthermore, with the development of society, young people gradually do not want to go to a construction site to do construction work, and the labor cost is also continuously rising, and the construction industry faces the problem of difficult recruitment.
With the invention of the climbing frame, the climbing frame with an electric lifting mode gradually replaces the original scaffold. The workman carries professional equipment facility, can accomplish the wall face and polish to the full process operation that sprays paint from the wall in climbing different levels. With the development of the robot intelligence, it is imperative that the intelligent robot replaces the manual work to complete the construction work. The existing robots capable of plastering, polishing outer wall surfaces, coating putty, polishing putty, coating heat-insulating layers, coating primer and finish paint or paving wall tiles are different in structure due to different procedures, but the robots are generally placed on a moving plate surface on a climbing frame in the robot operation process, and corresponding construction operation is carried out on the moving plate surface. The robot is provided with the fuselage with motion face assorted to make the robot can move on the motion face, and can be fixed in the motion face temporarily with the robot on. The provision of a body matching the surface of the moving plate for each process of the construction robot increases the manufacturing cost of the robot and also limits the working environment of the robot.
Therefore, a robot installation platform and a building construction system are needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a robot mounting platform which can provide a mounting platform for a construction robot without arranging a machine body matched with a moving plate on the construction robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, a robot mounting platform is provided, comprising:
a vehicle body;
a fixing mechanism provided on a vehicle body, the fixing mechanism being configured to assemble a construction robot;
a storage mechanism disposed on the vehicle body, the storage mechanism configured to assemble a storage container;
a positioning mechanism provided on the vehicle body, the positioning mechanism configured to fix the vehicle body.
Preferably, the positioning mechanism includes a first driving member and a supporting member, the first driving member is disposed on the vehicle body, and an output end of the first driving member is connected to the supporting member.
Preferably, the positioning mechanism further comprises a second driving member, and the second driving member can drive the first driving member and the supporting member to move away from the vehicle body.
Preferably, the underbody is provided with rail wheels.
Preferably, a third driving member is arranged in the vehicle body, an output end of the third driving member is in transmission connection with the rail wheel, and the third driving member is configured to drive the rail wheel to rotate.
Preferably, a guide mechanism is arranged on the moving plate surface of the vehicle body, and the rail wheels can move along the guide mechanism.
Preferably, a limiting mechanism is further arranged on the moving plate surface, and the limiting mechanism is configured to limit the supporting piece.
Preferably, a fixing seat is arranged on the construction robot, and the fixing seat is detachably fixed on the fixing mechanism.
Preferably, the construction robot is a concrete grinding mechanism, a plastering mechanism, a putty coating mechanism, a putty grinding mechanism, a paint coating mechanism or a mechanical arm mechanism.
In another aspect, a building construction system is provided comprising a robotic mounting platform as described above.
The invention has the beneficial effects that: the construction robot of different construction processes can be assembled on the fixing mechanism, the storage container can be assembled on the storage mechanism, the construction robot supplies materials or collects waste materials generated by the construction robot, and the like, the positioning mechanism can fix the vehicle body, so that the construction robot can carry out construction operation conveniently. The robot of multiple construction process uses same mounting platform, need not to be equipped with for the construction robot of each kind of process and climb frame and motion face assorted fuselage, can reduce construction robot's cost of manufacture, reduces the space of placing when idle, can reduce manufacturing cost.
Drawings
FIG. 1 is a schematic structural diagram of a robot mounting platform provided by the present invention;
FIG. 2 is a top view of a robot mounting platform provided by the present invention;
FIG. 3 is a side view of a robot mounting platform provided by the present invention;
fig. 4 is a schematic structural diagram of the robot mounting platform provided by the invention (the robot mounting platform is provided with a concrete grinding mechanism).
In the figure: 1. a vehicle body; 11. a rail wheel; 2. a fixing mechanism; 3. a material storage mechanism; 4. a positioning mechanism; 41. a first driving member; 42. a support member; 43. a second driving member; 5. a first support bar; 6. a second support bar; 7. a concrete polishing mechanism; 8. a dust barrel.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1 to 3, the present embodiment discloses a robot mounting platform, which includes a vehicle body 1, a fixing mechanism 2, a storage mechanism 3, and a positioning mechanism 4. The fixing mechanism 2 is arranged on the vehicle body 1, the fixing mechanism 2 is configured to assemble the construction robot, specifically, the fixing mechanism 2 is a fixing disc arranged on the vehicle body 1, a fixing seat is arranged on the construction robot, and the fixing seat is detachably fixed on the fixing disc, in this embodiment, the fixing seat and the fixing disc are connected through a bolt. Storage mechanism 3 sets up on automobile body 1, and storage mechanism 3 is configured and assembles storage container, and specifically, storage mechanism 3 is the storage disc, is provided with the connection pad on the storage container, and the connection pad passes through bolted connection with the storage disc, can be different according to construction robot, changes different storage container. The positioning mechanism 4 is provided on the vehicle body 1, and the positioning mechanism 4 is configured to fix the vehicle body 1. The construction robot is a concrete polishing mechanism 7, a plastering mechanism, a putty coating mechanism, a putty polishing mechanism, a paint coating mechanism or a mechanical arm mechanism.
Referring to fig. 4, when construction robot was concrete grinding machanism 7, storage container was dust bucket 8, and concrete grinding machanism 7 can polish the wall, and the dust after polishing can be collected in dust bucket 8.
When the construction robot is the plastering mechanism, the storage container is a concrete barrel, concrete is placed in the mixed concrete barrel, and the plastering mechanism obtains the concrete from the concrete barrel and plasters on the wall surface.
When construction robot was for putty coating mechanism, storage container was mixed putty bucket, and the storage has been put putty in the mixed putty bucket for mixed putty bucket, and putty coating mechanism can follow and acquire putty in the mixed putty bucket to coat on the wall.
When the construction robot was putty grinding machanism, storage container was dust bucket 8, and putty grinding machanism can polish the wall, and the dust after polishing can be collected in the dust bucket.
When construction robot was for coating mechanism, storage container was the storage bucket for scribbling, stored up in the storage bucket and had coating, and coating mechanism can scribble and acquire coating in the storage bucket to coat on the wall.
When the construction robot is a mechanical arm mechanism, wall bricks can be directly placed on the storage tray, the storage tray can be provided with a placing frame, and the wall bricks are placed on the placing frame. The mechanical arm mechanism can automatically grab the wall bricks and lay and paste the wall bricks on the wall surface.
The construction robot can also be a construction robot of other processes, and the material storage container is a corresponding discharging mechanism or a corresponding collecting mechanism.
Can assemble the construction robot of different construction processes on fixed establishment 2, can assemble storage container on storage mechanism 3, for construction robot feed or collect the waste material that construction robot produced etc. positioning mechanism 4 can fix automobile body 1, the construction robot of being convenient for carries out the construction operation. The robot of multiple construction process uses same mounting platform, need not to be equipped with for the construction robot of each kind of process and climb frame and motion face assorted fuselage, can reduce construction robot's cost of manufacture, reduces the space of placing when idle, can reduce manufacturing cost.
With continued reference to fig. 1-3, optionally, the positioning mechanism 4 includes a first driving element 41, a supporting element 42, and a second driving element 43, the first driving element 41 is disposed on the vehicle body 1, an output end of the first driving element 41 is connected to the supporting element 42, and the second driving element 43 can drive the first driving element 41 and the supporting element 42 away from the vehicle body 1. In particular, the first driving member 41 and the second driving member 43 are both electric cylinders, and in other embodiments, they may be air cylinders, hydraulic cylinders, or the like. The second driving member 43 is fixed on the body, the output end of the second driving member 43 is provided with a plurality of second supporting rods 6, the first driving member 41 is fixed at one end of the second supporting rod 6 far away from the body, the second supporting rod 6 is arranged along the horizontal direction, and the second driving member 43 can drive the first driving member 41 to move towards one side far away from the body through the second supporting rod 6. The output end of the first driving member 41 is provided with a plurality of first supporting rods 5, the first supporting rods 5 are arranged along the vertical direction, the supporting member 42 is fixed at one end of the first supporting rod 5 far away from the first driving member 41, and the first driving member 41 can drive the supporting rods to move up and down. The robot mounting platform is generally placed on a motion board for use, and a limiting mechanism is arranged on the motion board, the limiting mechanism is specifically an auxiliary fixing groove or an auxiliary fixing rail arranged on the motion board. The support member 42 can be dropped into the auxiliary fixing groove by driving the first driving member 41 and the second driving member 43, the support member 42 cannot move left and right due to the dropping of the support member 42 into the auxiliary fixing groove, and the support member 42 cannot move forward and backward due to the friction force between the support member 42 and the groove bottom of the auxiliary fixing groove. Therefore, the robot mounting platform can fix the vehicle body 1 through the positioning mechanism 4, so that the vehicle body 1 cannot move left and right and back and forth, and the vehicle body 1 cannot move up and down under the action of gravity. In other embodiments, the limiting mechanism is an auxiliary fixing rail, the supporting member 42 is a supporting block, and a groove is formed in the lower surface of the supporting block, and the groove can be buckled on the auxiliary fixing rail to limit the supporting member 42, so as to limit the vehicle body 1.
The bottom of the vehicle body 1 is provided with the track wheels 11, the moving plate surface is provided with the guide mechanism, the guide mechanism is a guide rail or a guide groove, in the embodiment, the guide mechanism is a guide rail, the track wheels 11 are provided with track grooves, the track wheels 11 can move back and forth along the guide mechanism, the guide rail can limit the moving track of the track wheels 11, the distance between the vehicle body and the wall is kept unchanged all the time, and the construction robot on the vehicle body 1 can conveniently operate. In other embodiments, the guide mechanism is a guide slot, the rail wheel 11 is partially located in the guide slot, and the rail wheel 11 runs in the guide slot. A third driving piece is arranged in the vehicle body 1, the output end of the third driving piece is in transmission connection with the rail wheel 11, and the third driving piece is configured to drive the rail wheel 11 to rotate. In this embodiment, the third driving member is a servo motor, and an output shaft of the servo motor is in transmission connection with the track wheel 11, and can drive the track wheel 11 to rotate, so that the vehicle body 1 moves along the guiding mechanism. In other embodiments, the third drive member may also be a stepper motor or a reduction motor, or the like.
The embodiment also discloses a building construction system which comprises the robot installation platform.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A robot mounting platform, comprising:
a vehicle body (1);
a fixing mechanism (2) provided on a vehicle body (1), the fixing mechanism (2) being configured to assemble a construction robot;
a storage mechanism (3) arranged on the vehicle body (1), the storage mechanism (3) being configured to assemble a storage container;
a positioning mechanism (4) provided on the vehicle body (1), the positioning mechanism (4) being configured to fix the vehicle body (1).
2. Robot mounting platform according to claim 1, characterized in that the positioning mechanism (4) comprises a first drive (41) and a support (42), the first drive (41) being arranged on the body (1), the output of the first drive (41) being connected to the support (42).
3. Robot mounting platform according to claim 2, characterized in that the positioning mechanism (4) further comprises a second drive (43), the second drive (43) being able to drive the first drive (41) and the support (42) away from the body (1).
4. Robot mounting platform according to claim 2, characterized in that the car body (1) is provided with rail wheels (11) at its bottom.
5. Robot mounting platform according to claim 4, characterized in that a third drive is arranged in the body (1), the output of which is in driving connection with the rail wheel (11), the third drive being configured to drive the rail wheel (11) in rotation.
6. Robot mounting platform according to claim 4, characterized in that the vehicle body (1) is provided with a guiding mechanism on its running board, along which the rail wheels (11) can run.
7. A robot mounting platform according to claim 6, characterized in that a stop mechanism is further arranged on the motion plate surface, the stop mechanism being configured to stop the support member (42).
8. A robot mounting platform according to claim 1, characterized in that the construction robot is provided with a holder, which is detachably fixed to the fixing means (2).
9. A robotic mounting platform according to claim 1, characterized in that the construction robot is a concrete finishing mechanism (7), a plastering mechanism, a putty application mechanism, a putty finishing mechanism, a paint application mechanism or a robotic arm mechanism.
10. A building construction system characterised in that it comprises a robotic mounting platform according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910824851.0A CN112443136A (en) | 2019-09-02 | 2019-09-02 | Robot mounting platform and building construction system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910824851.0A CN112443136A (en) | 2019-09-02 | 2019-09-02 | Robot mounting platform and building construction system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112443136A true CN112443136A (en) | 2021-03-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910824851.0A Pending CN112443136A (en) | 2019-09-02 | 2019-09-02 | Robot mounting platform and building construction system |
Country Status (1)
| Country | Link |
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| CN (1) | CN112443136A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103659081A (en) * | 2013-12-04 | 2014-03-26 | 安徽巨一自动化装备有限公司 | Switching type clamp platform applied to welding line |
| WO2015071781A2 (en) * | 2013-11-15 | 2015-05-21 | Antel Usa Inc | Robotic platform structure |
| CN109356390A (en) * | 2018-11-29 | 2019-02-19 | 上海大界机器人科技有限公司 | A kind of construction equipment, system and its control method |
| CN209206811U (en) * | 2018-11-27 | 2019-08-06 | 湖北亿航新材科技有限公司 | A kind of welder |
| CN209257000U (en) * | 2018-11-13 | 2019-08-16 | 河南聚合科技有限公司 | A kind of auxiliary fixing device of industrial robot |
-
2019
- 2019-09-02 CN CN201910824851.0A patent/CN112443136A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015071781A2 (en) * | 2013-11-15 | 2015-05-21 | Antel Usa Inc | Robotic platform structure |
| CN103659081A (en) * | 2013-12-04 | 2014-03-26 | 安徽巨一自动化装备有限公司 | Switching type clamp platform applied to welding line |
| CN209257000U (en) * | 2018-11-13 | 2019-08-16 | 河南聚合科技有限公司 | A kind of auxiliary fixing device of industrial robot |
| CN209206811U (en) * | 2018-11-27 | 2019-08-06 | 湖北亿航新材科技有限公司 | A kind of welder |
| CN109356390A (en) * | 2018-11-29 | 2019-02-19 | 上海大界机器人科技有限公司 | A kind of construction equipment, system and its control method |
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Application publication date: 20210305 |