CN203285033U - Robot - Google Patents
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- CN203285033U CN203285033U CN2013203056565U CN201320305656U CN203285033U CN 203285033 U CN203285033 U CN 203285033U CN 2013203056565 U CN2013203056565 U CN 2013203056565U CN 201320305656 U CN201320305656 U CN 201320305656U CN 203285033 U CN203285033 U CN 203285033U
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Abstract
The utility model provides a robot, which comprises a body, a mechanical arm fixed on the body and a travelling mechanism fixed below the body for driving movements of the robot, wherein the mechanical arm comprises a waist joint movably fixed on the body, a waist joint drive mechanism for driving horizontal rotation of the waist joint, a big arm movably fixed on the end of the waist joint far from the body, a big arm drive mechanism for driving longitudinal rotation of the big arm, a forearm movably fixed on the big arm far from the waist joint, a forearm drive mechanism for driving the longitudinal rotation of the forearm, a wrist movably fixed on the end of the forearm far from the big arm and a wrist drive mechanism for driving the longitudinal rotation of the wrist. The wrist comprises a gun clamp at the top thereof for fixation of a spray gun. At a place close to the wrist, the forearm is equipped with a first cavity running through the forearm in a radial direction along the forearm so that a spray pipe connected behind the spray gun can pass downwards.
Description
Technical field
The utility model relates to a kind of robot, relates in particular to a kind of robot for whitewashing.
Background technology
In the building construction process, general building construction inwall all can be with the cement semifinished product of about 20 millimeters of one deck.The work progress that adheres to of this cement semifinished product generally is divided into mud, floating and three steps of stranding face.The environment of wherein going up mud is the poorest, and existing construction is generally by manually completing, and during the artificial construction, the amount of labour is large and have personal safety hidden danger.Certainly, also have the part construction to start to adopt the mud spraying technique, namely utilize cement pump and compressed air that mud is ejected on metope, this kind mode has been alleviated workman's labour intensity to a certain extent, has improved operating efficiency; But the metope for higher than human body, need operated by two people, and spray gun need to be obliquely installed simultaneously, has increased thus the rebound degree of mud, makes raw material can not get effective utilization, and equally also has personal safety hidden danger.
Therefore, be necessary to provide a kind of robot to overcome the problems referred to above.
The utility model content
The purpose of this utility model is to provide a kind of indoor whitewashing, transition fast flexibly, whitewashing degree of freedom and higher robot of workmanship of being applicable to.
For realizing above-mentioned utility model purpose, the utility model provides a kind of robot, comprises fuselage, is fixed on the mechanical arm on fuselage and is fixed on the walking mechanism of fuselage below with mobile robot, to move; Described mechanical arm comprises the waist joint that is movably fixed on fuselage, drive waist joint driving mechanism that waist joint horizontally rotates, be movably fixed to waist joint away from the large arm of an end of fuselage, drive large arm vertically rotation large arm driving mechanism, be movably fixed to large arm away from the forearm of an end of waist joint, drive forearm vertically rotation the forearm driving mechanism, be movably fixed to forearm away from the wrist of an end of large arm and drive the vertically wrist driving mechanism of rotation of wrist; Described wrist comprises that being positioned at its top presss from both sides with the rifle of fixing a spray gun; The position of the close described wrist of described forearm is provided with one and radially runs through along forearm the first cavity that forearm is passed down through for the jet pipe that is connected to the spray gun rear.
As further improvement of the utility model, described forearm also comprises and being fixed in the first cavity to support the first roller of described jet pipe.
As further improvement of the utility model, described large arm is provided with along large arm and radially runs through the second cavity that large arm passes for jet pipe and be fixed in the second cavity to support the second roller of jet pipe.
As further improvement of the utility model, described wrist comprises the vertical joint of the wrist that is positioned at the forearm end, is fixed on the wrist flapping articulation of the vertical joint of wrist end, is arranged on the housing of wrist and drives the horizontal drive mechanism that the wrist flapping articulation horizontally rotates, and described rifle folder is fixed on described wrist flapping articulation.
As further improvement of the utility model, described waist joint comprises the base that is fixed on fuselage and is positioned at the joint shell of base top; The waist joint reductor that described waist joint driving mechanism comprises the waist joint drive motors, coordinate with the waist joint drive motors, be fixed on the reductor output gear of waist joint reductor output and be fixed on base and the Large Gear Shaft During that is meshed with the reductor output gear; The shell of described joint shell and described waist joint reductor fixes.
As further improvement of the utility model, described waist joint driving mechanism comprises two groups of described waist joint reductors being arranged side by side, two groups of described reductor output gears, the holder that fixes with the shell of two groups of waist joint reductors, the switching gear that is fixed on waist joint drive motors output and with switching gear both sides, mesh respectively and be connected in respectively motor output gear on the power shaft of two groups of described waist joint reductors; Two groups of described reductor output gears all are meshed with described Large Gear Shaft During.
As further improvement of the utility model, described waist joint drive motors below is fixed with one and is arranged on described holder center and can be along the motor cabinet of holder horizontal slip, be provided with a pre-tightening mechanism on described motor cabinet, described pre-tightening mechanism comprises the clamping seats that is fixed on holder, be fixed on clamping seats and towards the screw rod of motor cabinet direction setting and be arranged on clamping seats and motor cabinet between and be enclosed within Compress Spring on screw rod.
As further improvement of the utility model, described walking mechanism comprise two positive transport wheels being arranged side by side, respectively drive two groups of walking driving mechanisms that two positive transport wheels move, lay respectively at two driven road wheels on same straight line with two positive transport wheels and be connected respectively the positive transport wheel that is located along the same line and the crawler belt of driven road wheel.
As further improvement of the utility model, described walking mechanism also comprises and is arranged on the positive transport wheel that is located along the same line and the stabilizing mechanism between driven road wheel, described stabilizing mechanism comprises tripod, activity orientation in the tripod top and the regulating wheel that can freely rotate and two support wheels that are symmetricly set on the tripod two bottom sides and can freely rotate, and two described support wheels also support crawler belt downwards near described positive transport wheel and driven road wheel setting respectively.
As further improvement of the utility model, be provided with an accepting groove in the middle of described tripod, described stabilizing mechanism also comprises and is positioned at accepting groove and coordinates the slide block that slides with the accepting groove sidewall, support at the spring below slide block, the screw mandrel that supports the nut below spring and run through spring, and described regulating wheel is fixed on slider top and upwards supports crawler belt.
The beneficial effects of the utility model are: the utility model robot controls the whitewashing operation that can carry out the metope differing heights by the rotation of mechanical arm, the whitewashing degree of freedom is high, and can effectively improve workmanship, improves labourer's working environment, also saves simultaneously slurry.In addition, by the position in the close described wrist of forearm, the first cavity is set, make jet pipe downward-sloping the passing in the first cavity that is connected to the spray gun rear, thereby when wrist is rotated, jet pipe can the rotation direction according to wrist freely move up and down in the first cavity, effectively prevent jet pipe discounting fracture or affect spray operation.In addition, the utility model robot below arranges walking mechanism, can facilitate the movement of robot, and transition fast flexibly, adapt to narrow working space.
Description of drawings
Fig. 1 is the stereogram of the utility model robot;
Fig. 2 is the fuselage of robot in Fig. 1 and the phantom of walking mechanism;
Fig. 3 is the stereogram of the stabilizing mechanism in walking mechanism in Fig. 2;
Fig. 4 is the waist joint of robot in Fig. 1 and the phantom of waist joint driving mechanism;
Fig. 5 is the phantom of wrist and wrist driving mechanism in Fig. 1.
The specific embodiment
Below with reference to each embodiment shown in the drawings, the utility model is described in detail.But these embodiments do not limit the utility model, and the conversion on the structure that those of ordinary skill in the art makes according to these embodiments, method or function all is included in protection domain of the present utility model.
Please refer to Fig. 1 to the preferred embodiments that Figure 5 shows that the utility model robot 100.Robot described in present embodiment 100 is mainly used in indoor whitewashing, and the spray gun 82 that carries to carry the jet pipe 81 of slurry and be arranged on jet pipe 81 ends.Described robot 100 comprises fuselage 1, is fixed on the mechanical arm of fuselage 1 top and is fixed on the walking mechanism 6 of fuselage 1 below with mobile robot 100, to move.described mechanical arm comprises the waist joint 21 that is movably fixed on fuselage 1, drive the waist joint driving mechanism 22 that waist joint 21 horizontally rotates, be movably fixed to the large arm 31 of waist joint 21 away from an end of fuselage 1, drive the vertically large arm driving mechanism 32 of rotation of large arm 31, be movably fixed to the forearm 41 of large arm 31 away from an end of waist joint 21, drive the vertically forearm driving mechanism 42 of rotation of forearm 41, be movably fixed to forearm 41 away from the wrist 51 of an end of large arm 31 and drive the vertically wrist driving mechanism 52 of rotation of wrist 51.
With reference to shown in Figure 2, described fuselage 1 comprises the chassis 11 in order to fixing described walking mechanism 6, and is arranged on the control device 12 in fuselage 1 housing.Described fuselage 1 housing and chassis 11 are frame type integral solder structure.
With reference to Fig. 2 and shown in Figure 3, described walking mechanism 6 comprise be fixed on 11 both sides, chassis and two positive transport wheels 61 that are arranged side by side, respectively drive two groups of walking driving mechanisms 62 that two positive transport wheels 61 move, be fixed on chassis 11 and with two positive transport wheels 61, lay respectively at two driven road wheels 63 on same straight line, be connected positive transport wheel 61 that the crawler belt 64 of the positive transport wheel 61 that is located along the same line and driven road wheel 63 and being arranged on is located along the same line and the stabilizing mechanism 65 between driven road wheel 63 respectively.Described walking driving mechanism 62 comprises travel driving motor 621, be fixed on the output shaft of travel driving motor 621 bevel gear commutator 622 and with the reductor 623 of bevel gear commutator 622 supporting settings.Described positive transport wheel 61 is fixed on the output of reductor 623.Described stabilizing mechanism 65 comprises the tripod 651 in the middle of being positioned at, the regulating wheel 652 that activity orientation also can freely be rotated in tripod 651 tops and two support wheels 653 that are symmetricly set on tripod 651 two bottom sides and can freely rotate.Two described support wheels 653 arrange near described positive transport wheel 61 and driven road wheel 63 respectively, and support crawler belt 64 downwards, can prevent that thus crawler belt 64 from rotating up and walking about with positive transport wheel 61 and driven road wheel 63, guarantee that robot 100 walkings are stable.
Be provided with an accepting groove 6511 in the middle of described tripod 651.Described stabilizing mechanism 65 also comprises and is positioned at accepting groove 6511 and coordinates the slide block 654 that slides with accepting groove 6511 sidewalls, support at the spring 655 below slide block 654, the screw mandrel 657 that supports the nut 656 below spring 655 and run through spring 655.Described regulating wheel 652 is fixed on slide block 654 tops and upwards supports crawler belt 64, can pass through the pretightning force of rotating nut 656 with regulating spring thus, and then the rate of tension of regulating crawler belt 64.Adopt aforementioned stable mechanism 65 to carry out the adjusting of crawler belt 64 rates of tension in present embodiment, certainly, also above-mentioned driven road wheel 63 can be set to can before and after the mode of regulating, thereby adjust the rate of tension of crawler belt 64 by regulating distance between driven road wheel 63 and positive transport wheel 61, equally also can reach and make the robot 100 stable effects of walking.
With reference to Fig. 1 and shown in Figure 4, described waist joint 21 comprises the base 211 that is fixed on fuselage 1 and the joint shell 212 that is positioned at base 211 tops.Described joint shell 212 is provided with two the first linking arms 213 that extend upward and be horizontally arranged at interval.Described the first linking arm 213 is provided with the first perforation 214.In addition, described first linking arm 213 outsides also are fixed with to support the bracing frame 215 of jet pipe 81.Support frame as described above 215 comprises one U-shaped 2151 and interval is fixed on U-shaped 2151 inboard the 3rd roller 2152 up and down.Described jet pipe 82 passes in two the 3rd rollers 2152.
The waist joint reductor 222 that described waist joint driving mechanism 22 comprises waist joint drive motors 221, coordinate with waist joint drive motors 221, be fixed on the reductor output gear 223 of waist joint reductor 222 outputs and be fixed on base 211 and the Large Gear Shaft During 224 that is meshed with reductor output gear 223.
In the present embodiment, described waist joint driving mechanism 22 comprise two groups of described waist joint reductors 222 being arranged side by side, two groups of described reductor output gears 223, the holder 225 that fixes with the shell of two groups of waist joint reductors 222, the switching gear 226 that is fixed on waist joint drive motors 221 outputs and with switching gear 226 both sides, mesh respectively and be connected in respectively motor output gear 227 on the power shaft of two groups of described waist joint reductors 222.Two groups of described reductor output gears 223 all are meshed with described Large Gear Shaft During 224.Described joint shell 212 fixes with the shell of described waist joint reductor 222.Thus, when waist joint drive motors 221 rotation, reductor output gear 223 is around Large Gear Shaft During 224 rotations, and then the waist joint shell 212 that makes the shell with waist joint reductor 222 fix rotates take Large Gear Shaft During 224 as axle center.
In addition, with reference to Fig. 1 and shown in Figure 4, described waist joint drive motors 221 belows are fixed with one and are arranged on described holder 225 centers and can be along the motor cabinet 2211 of holder 225 horizontal slips.Be provided with a pre-tightening mechanism on described motor cabinet 2211.Described pre-tightening mechanism comprises the clamping seats 2212 that is fixed on holder 225, be fixed on clamping seats 2212 and towards the screw rod 2213 of motor cabinet 2211 direction settings and be arranged on clamping seats 2212 and motor cabinet 2211 between and be enclosed within Compress Spring 2214 on screw rod 2213.Backlass in the time of can eliminating waist joint 21 rotation by the described screw rod 2213 of precession, the intensity of raising waist joint 21.Backlass in present embodiment when an above-mentioned motor 221 being set driving two groups of reductors 222 and pre-tightening mechanism and regulate waist joint 21 and rotate; Certainly also can be set to comprise two described motors 221, and these two motors 221 configure respectively described reductor 222, the equally also purpose of attainable cost utility model.
With reference to shown in Figure 1, described large arm 31 is microscler setting, and can rotate in perpendicular around waist joint 21 under the driving of large arm driving mechanism 32.Described large arm 31 lower ends are stretched between two the first linking arms 213 of waist joint 21.Described large arm 31 places, centre position are provided with and use the second cavity 311, the interval passed for jet pipe 81 to be fixed in the second cavity 311 with two the second rollers 312 that support jet pipe 81 and two the second linking arms 313 certainly away from a distal process of waist joint 21, stretching.Described the second linking arm 313 is provided with the second perforation (not label).Described the second cavity 311 radially runs through large arm 31 along large arm 31.
Described large arm driving mechanism 32 comprises the motor cabinet 321 in first perforation 214 of being fixed in waist joint 21, the large arm reductor 323 that is fixed on the large arm drive motors 322 on motor cabinet 321 and matches with large arm drive motors 322 and arrange.The housing of described large arm reductor 323 fixes to drive large arm 31 rotations with large arm 31.
With reference to Fig. 1 and shown in Figure 5, described forearm 41 also is microscler setting, and can rotate in perpendicular around large arm 31 under the driving of forearm driving mechanism 42.Described forearm 41 lower ends are stretched between two the second linking arms 313 of large arm 31.The position of described forearm 41 close described wrists 51 is provided with the first cavity 411, interval is fixed in the first cavity 411 with the first roller 412 that supports described jet pipe 81 and two the 3rd linking arms 413 stretching and be oppositely arranged from the distal process away from large arm 31.Described the first cavity 411 radially runs through forearm 41 along forearm 41 and is passed down through for the jet pipe 81 that is connected to spray gun 82 rears.Described the 3rd linking arm 413 is provided with the 3rd perforation (not label).
Described forearm driving mechanism 42 comprises the motor cabinet 421 in second perforation (not label) of being fixed in large arm 31, the forearm reductor 423 that is fixed on the forearm drive motors 422 on motor cabinet 421 and with forearm drive motors 422, is complementary.The housing of described forearm reductor 423 and forearm 41 fix to drive forearm 41 rotations.
With reference to Fig. 1 and shown in Figure 5, described wrist 51 comprises the vertical joint 511 of wrist on two the 3rd linking arms 413 that are fixed on forearm 41 ends, be fixed on the wrist flapping articulation 512 of the vertical joint of wrist 511 ends, be arranged in the housing of wrist 51 and drive the horizontal drive mechanism 513 that wrist flapping articulation 512 horizontally rotates and be fixed on rifle folder 514 on described wrist flapping articulation 512.Described rifle folder 514 is positioned at wrist 51 tops with fixing described spray gun 82.Described horizontal drive mechanism 513 comprises horizontal drive motor 5131 and the right angle reductor 5132 that configures with horizontal drive motor 5131.Described wrist flapping articulation 512 is fixed on the end of right angle reductor 5132.
Described wrist driving mechanism 52 comprises the wrist drive motors 521 that is fixed on forearm 41 1 sides, be used for the right angle reductor 522 of wrist drive motors 521 supporting settings, be positioned at the pinion 523 of right angle reductor 522 ends, the gear wheel 524 that meshes with pinion 523 and the power transmission shaft 525 that is connected gear wheel 524, the vertical joint 511 of wrist and the 3rd linking arm 413.The engagement transfer mode of pinion 523 and gear wheel 524 also can change band transmission or chain transmission into herein, equally also can reach and drive the purpose that wrist 51 is rotated.
To sum up, the utility model robot 100 controls walking mechanism 6 by control device 12 and walks, and facilitates the movement of robot 100, and transition fast flexibly, adapt to narrow working space; The whitewashing operation of carrying out the metope differing heights is controlled in rotation by mechanical arm, can make thus robot 100 can indoor along metope around walking, realize a whole set of house residence spray operation of type or factory building in every family; And the stabilizing mechanism 65 that arranges in this walking mechanism 6 can conveniently be adjusted the rate of tension of crawler belt 64 and the walking stability of positive transport wheel 61 and driven road wheel 63, even finally make the utility model robot people 100 also can stabilized walking in rugged environment.This shows, the utility model robot 100 can effectively improve labourer's condition of labor and labour intensity, and the whitewashing degree of freedom is high, can effectively improve operating efficiency and workmanship, saves slurry.
In addition, the utility model arranges the first cavity 411 by the position in forearm 41 close described wrists 51, make jet pipe 81 downward-sloping the passing in the first cavity 411 that is connected to spray gun 82 rears, thereby when wrist 51 is rotated, jet pipe 81 can freely move up and down according to the rotation direction of wrist 51 in the first cavity 411, effectively prevent jet pipe 81 discounting fractures or affect spray operation; And the first roller 412 that is arranged in the first cavity 411 can support jet pipe 81, and impels jet pipe 81 to slide up and down smoothly, prevents jet pipe 81 lateral surface friction damage.In like manner, the second cavity 311 and the second roller 312 are set on large arm 31, the bracing frame 215 with the 3rd roller 2152 is set on waist joint 21, can further promote the stretching mobile operating of jet pipe 81.In addition, in the present embodiment, described waist joint 21, large arm 31, forearm 41 and wrist 51 are equipped with joint rotation angle stopping means (not label), to prevent mechanical arm, excessively rotate.
Be to be understood that, although this manual is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of manual is only for clarity sake, those skilled in the art should make manual as a whole, technical scheme in each embodiment also can, through appropriate combination, form other embodiments that it will be appreciated by those skilled in the art that.
Above listed a series of detailed description is only illustrating for feasibility embodiment of the present utility model; they are not in order to limit protection domain of the present utility model, all disengaging within equivalent embodiment that the utility model skill spirit does or change all should be included in protection domain of the present utility model.
Claims (10)
1. robot, comprise fuselage, be fixed on the mechanical arm on fuselage, and be fixed on the fuselage below walking mechanism with mobile robot, to move, it is characterized in that: described mechanical arm comprises the waist joint that is movably fixed on fuselage, drive the waist joint driving mechanism that waist joint horizontally rotates, be movably fixed to the large arm of waist joint away from an end of fuselage, drive the vertically large arm driving mechanism of rotation of large arm, be movably fixed to the forearm of large arm away from an end of waist joint, drive the vertically forearm driving mechanism of rotation of forearm, be movably fixed to forearm away from the wrist of an end of large arm and drive the vertically wrist driving mechanism of rotation of wrist, described wrist comprises that being positioned at its top presss from both sides with the rifle of fixing a spray gun, the position of the close described wrist of described forearm is provided with one and radially runs through along forearm the first cavity that forearm is passed down through for the jet pipe that is connected to the spray gun rear.
2. robot according to claim 2 is characterized in that: described forearm also comprises and being fixed in the first cavity to support the first roller of described jet pipe.
3. robot according to claim 2 is characterized in that: described large arm is provided with along large arm and radially runs through the second cavity that large arm passes for jet pipe and be fixed in the second cavity to support the second roller of jet pipe.
4. robot according to claim 3, it is characterized in that: described wrist comprises the vertical joint of the wrist that is positioned at the forearm end, is fixed on the wrist flapping articulation of the vertical joint of wrist end, is arranged on the housing of wrist and drives the horizontal drive mechanism that the wrist flapping articulation horizontally rotates, and described rifle folder is fixed on described wrist flapping articulation.
5. robot according to claim 1 is characterized in that: described waist joint comprises the base that is fixed on fuselage and is positioned at the joint shell of base top; The waist joint reductor that described waist joint driving mechanism comprises the waist joint drive motors, coordinate with the waist joint drive motors, be fixed on the reductor output gear of waist joint reductor output and be fixed on base and the Large Gear Shaft During that is meshed with the reductor output gear; The shell of described joint shell and described waist joint reductor fixes.
6. robot according to claim 5 is characterized in that: described waist joint driving mechanism comprises two groups of described waist joint reductors being arranged side by side, two groups of described reductor output gears, the holder that fixes with the shell of two groups of waist joint reductors, the switching gear that is fixed on waist joint drive motors output and with switching gear both sides, mesh respectively and be connected in respectively motor output gear on the power shaft of two groups of described waist joint reductors; Two groups of described reductor output gears all are meshed with described Large Gear Shaft During.
7. robot according to claim 6, it is characterized in that: described waist joint drive motors below is fixed with one and is arranged on described holder center and can be along the motor cabinet of holder horizontal slip, be provided with a pre-tightening mechanism on described motor cabinet, described pre-tightening mechanism comprises the clamping seats that is fixed on holder, be fixed on clamping seats and towards the screw rod of motor cabinet direction setting and be arranged on clamping seats and motor cabinet between and be enclosed within Compress Spring on screw rod.
8. robot according to claim 1 is characterized in that: described walking mechanism comprise two positive transport wheels being arranged side by side, respectively drive two groups of walking driving mechanisms that two positive transport wheels move, lay respectively at two driven road wheels on same straight line with two positive transport wheels and be connected respectively the positive transport wheel that is located along the same line and the crawler belt of driven road wheel.
9. robot according to claim 8, it is characterized in that: described walking mechanism also comprises and is arranged on the positive transport wheel that is located along the same line and the stabilizing mechanism between driven road wheel, described stabilizing mechanism comprises tripod, activity orientation in the tripod top and the regulating wheel that can freely rotate and two support wheels that are symmetricly set on the tripod two bottom sides and can freely rotate, and two described support wheels also support crawler belt downwards near described positive transport wheel and driven road wheel setting respectively.
10. robot according to claim 9, it is characterized in that: be provided with an accepting groove in the middle of described tripod, described stabilizing mechanism also comprises and is positioned at accepting groove and coordinates the slide block that slides with the accepting groove sidewall, support at the spring below slide block, the screw mandrel that supports the nut below spring and run through spring, and described regulating wheel is fixed on slider top and upwards supports crawler belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203056565U CN203285033U (en) | 2013-05-30 | 2013-05-30 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203056565U CN203285033U (en) | 2013-05-30 | 2013-05-30 | Robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320498245.2U Division CN203427919U (en) | 2013-05-30 | 2013-05-30 | Track walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203285033U true CN203285033U (en) | 2013-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013203056565U Expired - Lifetime CN203285033U (en) | 2013-05-30 | 2013-05-30 | Robot |
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| CN (1) | CN203285033U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103266751A (en) * | 2013-05-30 | 2013-08-28 | 昆山华恒工程技术中心有限公司 | Robot |
| CN107640058A (en) * | 2017-10-31 | 2018-01-30 | 安徽易威斯新能源科技股份有限公司 | A kind of rescue type energy storage charging pile |
| CN108915222A (en) * | 2018-09-20 | 2018-11-30 | 吴东红 | A kind of construction and decoration wall spraying equipment |
| CN114474854A (en) * | 2022-01-22 | 2022-05-13 | 四川大胜达中飞包装科技有限公司 | Pneumatic box pressing machine |
-
2013
- 2013-05-30 CN CN2013203056565U patent/CN203285033U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103266751A (en) * | 2013-05-30 | 2013-08-28 | 昆山华恒工程技术中心有限公司 | Robot |
| CN103266751B (en) * | 2013-05-30 | 2016-02-03 | 昆山华恒工程技术中心有限公司 | Robot |
| CN107640058A (en) * | 2017-10-31 | 2018-01-30 | 安徽易威斯新能源科技股份有限公司 | A kind of rescue type energy storage charging pile |
| CN108915222A (en) * | 2018-09-20 | 2018-11-30 | 吴东红 | A kind of construction and decoration wall spraying equipment |
| CN114474854A (en) * | 2022-01-22 | 2022-05-13 | 四川大胜达中飞包装科技有限公司 | Pneumatic box pressing machine |
| CN114474854B (en) * | 2022-01-22 | 2023-09-19 | 四川大胜达中飞包装科技有限公司 | Pneumatic box pressing machine |
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