CN203665520U - Horizontal parallel connection four-degree-of-freedom industrial robot - Google Patents
Horizontal parallel connection four-degree-of-freedom industrial robot Download PDFInfo
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- CN203665520U CN203665520U CN201320710548.6U CN201320710548U CN203665520U CN 203665520 U CN203665520 U CN 203665520U CN 201320710548 U CN201320710548 U CN 201320710548U CN 203665520 U CN203665520 U CN 203665520U
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Abstract
The utility model relates to the technical field of industrial robots, in particular to a horizontal parallel connection four-degree-of-freedom industrial robot. The horizontal parallel connection four-degree-of-freedom industrial robot comprises a robot base, a motor diver, a controller, a first main arm, a second main arm, a first auxiliary arm, a second auxiliary arm, a first main arm motor and a second main arm motor, and the first auxiliary arm and the second auxiliary arm are provided with an executive device in hinged and parallel connection modes, wherein the executive device can make two-dimensional motion. Compared with the industrial robots in the prior art, the control part and the mechanical part in the horizontal parallel connection four-degree-of-freedom industrial robot are integrated, the occupied space is smaller, operation is more convenient, and the performance is more stable. The motor driver sends pulses to the two main arm motors, the main arm motors drive the two main arms to rotate, and the two auxiliary arms mounted on the two main arms also follow to rotate. Due to the fact that the lengths of the four arms are determined, after the rotating angles of the two main arms are determined, the coordinates of the executive device are followed to be determined, errors of the two arms are in mutual condition, and the positioning precision of the robot executive device is effectively improved.
Description
Technical field
The utility model relates to Industrial Robot Technology field, refers in particular to a kind of level four-freedom degree industrial robot in parallel.
Background technology
Industrial robot is the important automated arm of modern manufacturing industry that integrates the multidisciplinary advanced technologies such as machinery, electronics, control, computer, sensor, artificial intelligence.It not only can improve the Quality and yield of product, and to guaranteeing personal safety, improves work situation, reduces labor intensity, and raises labour productivity, and saves material and consumes to reduce production costs, and has very important meaning.In prior art, industrial robot generally adopts major-minor arm cascaded structure, drives separately, is independent of each other; Cause major-minor arm action error mutually to be accumulated, actuating station positioning precision depends on two arm precision, and two arm error accumulations make actuating station be difficult to reach degree of precision.And mechanical part separates with control section, the middle cable that uses is electrically connected, and integrated level is not high, easily causes the problems such as code device signal decay.
Utility model content
The utility model provides a kind of level four-freedom degree industrial robot in parallel for the problem of prior art, and its mechanical mechanism and control device height are integrated, and principal arm and auxiliary Parallel Control make actuating station precision high, can meet high accuracy field application demand.
In order to solve the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of level four-freedom degree industrial robot in parallel, comprise machinery base, motor driver, controller, the first principal arm, the second principal arm, the first auxiliary, the second auxiliary, the first principal arm motor, the second principal arm motor and actuating unit, described motor driver, controller, the first principal arm motor and the second principal arm motor are all installed on machinery base, the first principal arm motor and the second principal arm motor are electrically connected with motor driver respectively, and controller is electrically connected with motor driver; One end of described the first principal arm is connected with the first principal arm motor, and one end of the second principal arm is connected with the second principal arm motor, and one end of the other end of described the first principal arm and the first auxiliary is hinged, and one end of the other end of described the second principal arm and the second auxiliary is hinged; The other end of described the first auxiliary and the bottom of actuating unit are hinged, and the other end of the second auxiliary and the upper end of actuating unit are hinged.
As preferably, described actuating unit is the ball spline leading screw that can rotate and move up and down, described ball spline leading screw includes ball-screw spline, spline mother and feed screw nut, between described spline mother, feed screw nut are respectively and spline screw axis is connected among the hinged end of the first auxiliary and the hinged end of the second auxiliary, described spline mother is positioned at feed screw nut's top.
Wherein, also include the first principal arm reductor and the second principal arm reductor, described the first principal arm reductor is arranged between the first principal arm motor and the first principal arm, and described the second principal arm reductor is arranged between the second principal arm motor and the second principal arm; Between described the first principal arm reductor and the first principal arm and between the second principal arm reductor and the second principal arm, be respectively arranged with circular joint pin, the first principal arm, the second principal arm are fixedly connected with the upper end of corresponding circular joint pin respectively, and described the first principal arm reductor, the second principal arm reductor are fixedly connected with the bottom of corresponding circular joint pin respectively.
Further, the first servomotor and the second servomotor that drive ball spline leading screw are installed on described machinery base, described machinery base, the first principal arm, the second principal arm, the first auxiliary and the second auxiliary are provided with driving-belt wheels, described the first servomotor drives feed screw nut by conveyer belt wheels, and the second servomotor all drives spline mother by conveyer belt wheels.
Further, described conveyer belt wheels comprise main synchronous pulley, secondary synchronous pulley and Timing Belt, described Timing Belt and main synchronous pulley, the socket of secondary synchronous pulley; The output shaft of described the first servomotor, the output shaft of the second servomotor connect with main synchronous pulley corresponding on machinery base respectively, and the main synchronous pulley of described the first principal arm, the main synchronous pulley of the second principal arm drive and connect with secondary synchronous pulley corresponding on machinery base respectively; The secondary synchronous pulley of described the first principal arm drives and is connected with the main synchronous pulley of the first auxiliary, and the secondary synchronous pulley of the second principal arm drives and is connected with the main synchronous pulley of the second auxiliary; The secondary synchronous pulley of described the first auxiliary drives and is connected with feed screw nut, and the secondary synchronous pulley of the second auxiliary is connected with female driving of spline.
Wherein, described driving-belt wheels side is provided with Timing Belt tightening regulator, described Timing Belt tightening regulator comprises adjustable plate and adjusting bolt, described machinery base, the first principal arm, the second principal arm, the first auxiliary and the second auxiliary are provided with tensioning regulating tank, the two ends of described adjustable plate are fixedly connected with tensioning regulating tank by screw, described adjusting bolt at right angle setting on adjustable plate and a side of adjusting bolt be adjacent to Timing Belt.
Wherein, described machinery base comprises upper frame and underframe, and described motor driver, the first principal arm motor and the second principal arm motor are installed on underframe, and described controller, the first servomotor and the second servomotor are installed on upper frame.
Further, described upper frame is provided with the radiator fan for reducing the temperature of controller.
Wherein, described machinery base, the first principal arm, the second principal arm, the first auxiliary and the second auxiliary are provided with the cover body that hides driving-belt wheels, and described machinery base, the first principal arm, the second principal arm, the first auxiliary and the second auxiliary removably connect with corresponding cover body respectively.
Wherein, described controller is PLC controller; Described the first principal arm motor, the second principal arm motor, the first servomotor and the second servomotor are absolute value encoder servomotor.
The beneficial effects of the utility model:
a kind of level provided by the utility model four-freedom degree industrial robot in parallel includes machinery base, motor driver, controller, the first principal arm, the second principal arm, the first auxiliary, the second auxiliary, the first principal arm motor and the second principal arm motor, described the first auxiliary, the second auxiliary are hinged with the two ends up and down of ball spline leading screw respectively, and the first servomotor and the second servomotor that drive ball spline leading screw to rotate and move up and down are installed on machinery base.With respect to industrial robot of the prior art, control section and mechanical part in the utility model are integrated into one, take up space less, and more convenient operation, performance is more stable.Motor driver is sent out pulse to the first principal arm motor and the second principal arm motor, and the first principal arm motor and the second principal arm motor order about respectively the first principal arm and the rotation of the second principal arm, and the first auxiliary and the second auxiliary that are arranged on the first principal arm and the second principal arm are followed rotation; Because four brachiums are determined, after the anglec of rotation of the first principal arm and the second principal arm is determined, the coordinate of actuating unit is followed and is decided, and two errors that arm produces condition each other, and have effectively improved the positioning precision of robot actuating unit.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of level of the utility model four-freedom degree industrial robot in parallel.
Fig. 2 is the utility model internal structure schematic diagram one.
Fig. 3 is the utility model internal structure schematic diagram two.
Fig. 4 is the utility model internal structure schematic diagram three.
Fig. 5 is the STRUCTURE DECOMPOSITION schematic diagram of the first auxiliary, the second auxiliary and ball spline leading screw in the utility model.
Reference numeral in Fig. 1 to Fig. 5 comprises:
1-machinery base, 2-motor driver, 3-controller
4-the first principal arm 5-the second principal arm the 6-the first auxiliary
7-the second auxiliary 8-the first principal arm motor the 9-the second principal arm motor
10-ball spline leading screw, 101-ball-screw spline, 102-spline mother
103-feed screw nut, 11-the first principal arm reductor the 12-the second principal arm reductor
13-the first servomotor the 14-the second servomotor 15-main synchronous pulley
16-secondary synchronous pulley 17-Timing Belt, 18-Timing Belt tightening regulator
19-adjustable plate, 20-adjusting bolt, 21-upper frame
22-underframe, 23-radiator fan, 24-cover body
25-circular joint pin.
Detailed description of the invention
For the ease of those skilled in the art's understanding, below in conjunction with embodiment and accompanying drawing, the utility model is further described, the content that embodiment is mentioned is not to restriction of the present utility model.Referring to Fig. 1 to Fig. 5, below in conjunction with accompanying drawing, the utility model is described in detail.
A kind of level provided by the utility model four-freedom degree industrial robot in parallel, comprise machinery base 1, motor driver 2, controller 3, the first principal arm 4, the second principal arm 5, the first auxiliary 6, the second auxiliary 7, the first principal arm motor 8, the second principal arm motor 9 and actuating unit, described motor driver 2, controller 3, the first principal arm motor 8 and the second principal arm motor 9 are all installed on machinery base 1, the first principal arm motor 8 and the second principal arm motor 9 are electrically connected with motor driver 2 respectively, and controller 3 is electrically connected with motor driver 2; One end of described the first principal arm 4 is connected with the first principal arm motor 8, one end of the second principal arm 5 is connected with the second principal arm motor 9, one end of the other end of described the first principal arm 4 and the first auxiliary 6 is hinged, and one end of the other end of described the second principal arm 5 and the second auxiliary 7 is hinged; Described first other end of auxiliary 6 and the bottom of actuating unit are hinged, and second other end of auxiliary 7 and the upper end of actuating unit are hinged.
In the present embodiment, as preferably, described actuating unit is the ball spline leading screw 10 that can rotate and move up and down, described ball spline leading screw 10 includes ball-screw spline 101, spline female 102 and feed screw nut 103, described spline mother 102, feed screw nut 103 respectively and spline screw axis 101 be connected between the hinged end of the first auxiliary 6 and the hinged end of the second auxiliary 7, described spline mother 103 is positioned at feed screw nut 102 top.
Further, the utility model also includes the first principal arm reductor 11 and the second principal arm reductor 12, described the first principal arm reductor 11 is arranged between the first principal arm motor 8 and the first principal arm 4, and described the second principal arm reductor 9 is arranged between the second principal arm motor 9 and the second principal arm 5; Between described the first principal arm reductor 11 and the first principal arm 4 and between the second principal arm reductor 12 and the second principal arm 5, be respectively arranged with circular joint pin 25, the first principal arm 4, the second principal arm 5 are fixedly connected with the upper end of corresponding circular joint pin 25 respectively, and described the first principal arm reductor 11, the second principal arm reductor 12 are fixedly connected with the bottom of corresponding circular joint pin 25 respectively.
Wherein, the first servomotor 13 and the second servomotor 14 that drive ball spline leading screw 10 to rotate and move up and down are installed on described machinery base 1, described machinery base 1, the first principal arm 4, the second principal arm 5, the first auxiliary 6 and the second auxiliary 7 are provided with driving-belt wheels, described the first servomotor 13 drives feed screw nut's 102, the second servomotors 14 all to drive spline mother 103 by conveyer belt wheels by conveyer belt wheels.
Further, described conveyer belt wheels comprise main synchronous pulley 15, secondary synchronous pulley 16 and Timing Belt 17, and described Timing Belt 17 is socketed with main synchronous pulley 15, secondary synchronous pulley 16; The output shaft of described the first servomotor 13, the output shaft of the second servomotor 14 connect with main synchronous pulley 15 corresponding on machinery base 1 respectively, and the main synchronous pulley 15 of described the first principal arm 4, the main synchronous pulley 15 of the second principal arm 5 drive and connect with secondary synchronous pulley 16 corresponding on machinery base 1 respectively; The secondary synchronous pulley 16 of described the first principal arm 4 drives and is connected with the main synchronous pulley 15 of the first auxiliary 6, and the secondary synchronous pulley 16 of the second principal arm 5 drives and is connected with the main synchronous pulley 16 of the second auxiliary 7; The secondary synchronous pulley 16 of described the first auxiliary 6 drives and is connected with feed screw nut 102, and the secondary synchronous pulley 16 of the second auxiliary 7 drives and is connected with spline female 103.
Further, described driving-belt wheels side is provided with Timing Belt tightening regulator 18, described Timing Belt tightening regulator 18 comprises adjustable plate 19 and adjusting bolt 20, described machinery base 1, the first principal arm 4, the second principal arm 5, the first auxiliary 6 and the second auxiliary 7 are provided with tensioning regulating tank (not marking in the drawings), the two ends of described adjustable plate 19 are fixedly connected with tensioning regulating tank by screw, described adjusting bolt 20 at right angle settings on adjustable plate 19 and a side of adjusting bolt 20 be adjacent to Timing Belt 17.When 17 service times of Timing Belt for a long time after, may be worn or occur that tensile force is inadequate, transmission is inaccurate, slide when work, adjusts the tensile force between adjusting bolt 20 and Timing Belt 17 by Timing Belt tightening regulator 18, guarantee stable drive, without slippage.
As preferably, controller 3 described in the present embodiment is PLC controller; Described the first principal arm motor 8, the second principal arm motor 9, the first servomotor 13 and the second servomotor 14 are absolute value encoder servomotor.The motor encoder that described absolute value encoder servomotor adopts is 17 absolute position encoders, encoder rotating disk is carved with Gray code, calculates the current coordinate of actuating station thereby ensure after calibrating far point for the first time still accurately to read at any time after power-off suddenly or external force are rotated motor when front hook.
Level described in the utility model four-freedom degree industrial robot in parallel is before operation, and off-line writes control program first on computers, then uploads to the controller 3 of this industrial robot from computer by order wire.After startup, controller 3 is by sending out pulse to motor driver 2, and motor driver 2 drive motors rotate, and number of pulses determines electric machine rotation step angle number.
When the first principal arm motor 8 and the second principal arm motor 9 are given in 2 pulses of motor driver, the first principal arm motor 8 and the second principal arm motor 9 rotate and drive the first principal arm 4 and the second principal arm 5 to rotate by the first principal arm reductor 11 and the second principal arm reductor 12, the auxiliary 3 being arranged on principal arm 2 is also followed rotation, realizes actuating station interior Primary Location on a large scale.Also follow rotation with the first principal arm 4 and hinged the first auxiliary 6 in parallel of the second principal arm 5 and the second auxiliary 7, because four brachiums are determined, after the first principal arm 4 and second principal arm 5 anglecs of rotation are determined, the coordinate of actuating unit is followed and is decided.Two errors that arm produces condition each other, and have effectively improved the positioning precision of robot actuating unit.
When the position of the first principal arm 4, the second principal arm 5, the first auxiliary 6 and the second auxiliary 7 has all been decided, the first servomotor 13 is given in 2 pulses of motor driver, the first servomotor 13 rotates and by three groups of driving-belt wheels, feed screw nut 102 is rotated, due to fixing that feed screw nut 103 is in the horizontal direction, thereby the straight line that rotatablely moving of feed screw nut 103 changed ball-screw spline 101 self into is moved up and down, realize the accurate location of actuating unit in short transverse.
After the height of ball-screw spline 101 is fixed, the second servomotor 14 is given in 2 pulses of motor driver, the second servomotor 14 rotates and drives spline female 102 and ball-screw spline 101 by three groups of driving-belt wheels, can not rotate owing to can only moving up and down between spline female 102 and ball-screw spline 101, thereby can realize relatively rotating between ball spline leading screw 10 and the first auxiliary 6 and the second auxiliary 7, thereby realize the accurate adjustment of actuating station attitude.
In the present embodiment, described machinery base 1 comprises upper frame 21 and underframe 22, described motor driver 2, the first principal arm motor 8 and the second principal arm motor 9 are installed on underframe 21, and described controller 3, the first servomotor 13 and the second servomotor 14 are installed on upper frame 22.The utility model integrates control section and mechanical part, takes up space less, and more convenient operation, performance is more stable.Wherein, described upper frame 22 is provided with the radiator fan 23 for reducing the temperature of controller 3, and the temperature that radiator fan 23 produces in the time working for reducing controller 3 ensures the stability of controller 3 and increases the service life.
In the present embodiment, described machinery base 1, the first principal arm 4, the second principal arm 5, the first auxiliary 6 and the second auxiliary 7 are provided with the cover body 24 that hides driving-belt wheels, and described machinery base 1, the first principal arm 4, the second principal arm 5, the first auxiliary 6 and the second auxiliary 7 removably connect with corresponding cover body 24 respectively.Cover body 24 hides driving-belt wheels in inside, can effectively protect driving-belt wheels not to be subject to ectocine, in the time need to adjusting the elasticity of Timing Belt 17, only need to turn on screw cover body 24 is disassembled and can be adjusted.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.
Claims (10)
1. a level four-freedom degree industrial robot in parallel, it is characterized in that: comprise machinery base, motor driver, controller, the first principal arm, the second principal arm, the first auxiliary, the second auxiliary, the first principal arm motor, the second principal arm motor and actuating unit, described motor driver, controller, the first principal arm motor and the second principal arm motor are all installed on machinery base, the first principal arm motor and the second principal arm motor are electrically connected with motor driver respectively, and controller is electrically connected with motor driver; One end of described the first principal arm is connected with the first principal arm motor, and one end of the second principal arm is connected with the second principal arm motor, and one end of the other end of described the first principal arm and the first auxiliary is hinged, and one end of the other end of described the second principal arm and the second auxiliary is hinged; The other end of described the first auxiliary and the bottom of actuating unit are hinged, and the other end of the second auxiliary and the upper end of actuating unit are hinged.
2. a kind of level according to claim 1 four-freedom degree industrial robot in parallel, it is characterized in that: described actuating unit is the ball spline leading screw that can rotate and move up and down, described ball spline leading screw includes ball-screw spline, spline mother and feed screw nut, described spline mother, feed screw nut respectively and spline screw axis be connected between the hinged end of the first auxiliary and the hinged end of the second auxiliary, described spline mother is positioned at feed screw nut's top.
3. a kind of level according to claim 1 four-freedom degree industrial robot in parallel, it is characterized in that: also include the first principal arm reductor and the second principal arm reductor, described the first principal arm reductor is arranged between the first principal arm motor and the first principal arm, and described the second principal arm reductor is arranged between the second principal arm motor and the second principal arm; Between described the first principal arm reductor and the first principal arm and between the second principal arm reductor and the second principal arm, be respectively arranged with circular joint pin, the first principal arm, the second principal arm are fixedly connected with the upper end of corresponding circular joint pin respectively, and described the first principal arm reductor, the second principal arm reductor are fixedly connected with the bottom of corresponding circular joint pin respectively.
4. a kind of level according to claim 2 four-freedom degree industrial robot in parallel, it is characterized in that: the first servomotor and the second servomotor that drive ball spline leading screw are installed on described machinery base, described machinery base, the first principal arm, the second principal arm, the first auxiliary and the second auxiliary are provided with driving-belt wheels, described the first servomotor drives feed screw nut by conveyer belt wheels, and the second servomotor all drives spline mother by conveyer belt wheels.
5. a kind of level according to claim 4 four-freedom degree industrial robot in parallel, is characterized in that: described conveyer belt wheels comprise main synchronous pulley, secondary synchronous pulley and Timing Belt, described Timing Belt and main synchronous pulley, the socket of secondary synchronous pulley; The output shaft of described the first servomotor, the output shaft of the second servomotor connect with main synchronous pulley corresponding on machinery base respectively, and the main synchronous pulley of described the first principal arm, the main synchronous pulley of the second principal arm drive and connect with secondary synchronous pulley corresponding on machinery base respectively; The secondary synchronous pulley of described the first principal arm drives and is connected with the main synchronous pulley of the first auxiliary, and the secondary synchronous pulley of the second principal arm drives and is connected with the main synchronous pulley of the second auxiliary; The secondary synchronous pulley of described the first auxiliary drives and is connected with feed screw nut, and the secondary synchronous pulley of the second auxiliary is connected with female driving of spline.
6. a kind of level according to claim 5 four-freedom degree industrial robot in parallel, it is characterized in that: described driving-belt wheels side is provided with Timing Belt tightening regulator, described Timing Belt tightening regulator comprises adjustable plate and adjusting bolt, described machinery base, the first principal arm, the second principal arm, the first auxiliary and the second auxiliary are provided with tensioning regulating tank, the two ends of described adjustable plate are fixedly connected with tensioning regulating tank by screw, described adjusting bolt at right angle setting on adjustable plate and a side of adjusting bolt be adjacent to Timing Belt.
7. a kind of level according to claim 4 four-freedom degree industrial robot in parallel, it is characterized in that: described machinery base comprises upper frame and underframe, described motor driver, the first principal arm motor and the second principal arm motor are installed on underframe, and described controller, the first servomotor and the second servomotor are installed on upper frame.
8. a kind of level according to claim 7 four-freedom degree industrial robot in parallel, is characterized in that: described upper frame is provided with the radiator fan for reducing the temperature of controller.
9. a kind of level according to claim 4 four-freedom degree industrial robot in parallel, it is characterized in that: described machinery base, the first principal arm, the second principal arm, the first auxiliary and the second auxiliary are provided with the cover body that hides driving-belt wheels, and described machinery base, the first principal arm, the second principal arm, the first auxiliary and the second auxiliary removably connect with corresponding cover body respectively.
10. a kind of level according to claim 1 four-freedom degree industrial robot in parallel, is characterized in that: described controller is PLC controller; Described the first principal arm motor, the second principal arm motor, the first servomotor and the second servomotor are absolute value encoder servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320710548.6U CN203665520U (en) | 2013-11-12 | 2013-11-12 | Horizontal parallel connection four-degree-of-freedom industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320710548.6U CN203665520U (en) | 2013-11-12 | 2013-11-12 | Horizontal parallel connection four-degree-of-freedom industrial robot |
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| CN203665520U true CN203665520U (en) | 2014-06-25 |
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| CN201320710548.6U Expired - Fee Related CN203665520U (en) | 2013-11-12 | 2013-11-12 | Horizontal parallel connection four-degree-of-freedom industrial robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084380A (en) * | 2014-06-30 | 2014-10-08 | 东莞市顺如电子科技有限公司 | Detection machine and detection robot thereof |
| CN104139395A (en) * | 2014-06-30 | 2014-11-12 | 东莞市顺如电子科技有限公司 | Detection robot |
| CN104227713A (en) * | 2014-09-26 | 2014-12-24 | 福建农林大学 | Crop handling device based on Arduino single chip microprocessor |
| CN104690713A (en) * | 2015-01-21 | 2015-06-10 | 安徽工业大学 | Four-DOF (degree of freedom) parallel sorting robot |
| CN105872475A (en) * | 2016-05-20 | 2016-08-17 | 北京格灵深瞳信息技术有限公司 | Monitoring camera device |
| CN110397254A (en) * | 2019-08-19 | 2019-11-01 | 广东博智林机器人有限公司 | A kind of four-degree-of-freedom movement mechanism and paving robot |
| CN114851216A (en) * | 2022-04-18 | 2022-08-05 | 湖南宁庆航空航天智能装备有限公司 | Multi freedom reclaimer manipulator |
| CN116930168A (en) * | 2023-07-21 | 2023-10-24 | 上海品峰医疗科技有限公司 | Pigment stock solution recycling constant volume device and method |
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2013
- 2013-11-12 CN CN201320710548.6U patent/CN203665520U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084380A (en) * | 2014-06-30 | 2014-10-08 | 东莞市顺如电子科技有限公司 | Detection machine and detection robot thereof |
| CN104139395A (en) * | 2014-06-30 | 2014-11-12 | 东莞市顺如电子科技有限公司 | Detection robot |
| CN104227713A (en) * | 2014-09-26 | 2014-12-24 | 福建农林大学 | Crop handling device based on Arduino single chip microprocessor |
| CN104690713A (en) * | 2015-01-21 | 2015-06-10 | 安徽工业大学 | Four-DOF (degree of freedom) parallel sorting robot |
| CN104690713B (en) * | 2015-01-21 | 2016-02-10 | 安徽工业大学 | A kind of four-degree-of-freedom sorting machine people in parallel |
| CN105872475A (en) * | 2016-05-20 | 2016-08-17 | 北京格灵深瞳信息技术有限公司 | Monitoring camera device |
| CN110397254A (en) * | 2019-08-19 | 2019-11-01 | 广东博智林机器人有限公司 | A kind of four-degree-of-freedom movement mechanism and paving robot |
| CN114851216A (en) * | 2022-04-18 | 2022-08-05 | 湖南宁庆航空航天智能装备有限公司 | Multi freedom reclaimer manipulator |
| CN116930168A (en) * | 2023-07-21 | 2023-10-24 | 上海品峰医疗科技有限公司 | Pigment stock solution recycling constant volume device and method |
| CN116930168B (en) * | 2023-07-21 | 2024-04-02 | 上海品峰医疗科技有限公司 | Pigment stock solution recycling constant volume device and method |
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Owner name: WEI YUHONG Free format text: FORMER OWNER: SDALED PHOTOELECTRIC TECHNOLOGY CO., LTD. Effective date: 20140827 |
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