CN208801347U - A kind of underwater robot flexible grabbing device - Google Patents
A kind of underwater robot flexible grabbing device Download PDFInfo
- Publication number
- CN208801347U CN208801347U CN201821174183.9U CN201821174183U CN208801347U CN 208801347 U CN208801347 U CN 208801347U CN 201821174183 U CN201821174183 U CN 201821174183U CN 208801347 U CN208801347 U CN 208801347U
- Authority
- CN
- China
- Prior art keywords
- handgrip
- mechanical arm
- cylindrical tube
- bracket
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of underwater robot flexible grabbing device, and including steel cylindrical tube, the limited post and screw hole, the guide rail shell, control unit, drive mechanism and the executing agency that connect with the steel cylindrical tube other end of steel cylindrical tube one end is arranged in；Spring built in handgrip can grab the target of arbitrary shape, material so that handgrip can adapt to the appearance profile of object automatically in crawl；By actively changing the distance between grip bracket, passive adjustment spring decrement realizes flexible crawl；In conjunction with current detecting and limit switch, it is easy to implement the determination to handgrip initial position；Handgrip movement velocity and move distance are controlled by controlling revolving speed and the corner of stepper motor, and the transmission ratio for calculating worm-drive and lead screw obtains the corresponding relationship of motor corner and mechanical arm stroke, may be implemented accurately to control the position of handgrip；Structure is simple, easy to operate, and maintainability is good, and does not have particular requirement to carrying platform.
Description
Technical field
The utility model relates to a kind of underwater robot grabbing devices more particularly to a kind of underwater robot flexible crawl to fill
It sets, belongs to mechanical engineering field.
Background technique
The underwater operation of underwater hiding-machine and underwater robot frequently involves sampling, the mobile work such as target and fixation.Due to
The factors such as underwater environment is complicated and changeable, pressure is larger, insufficient light, limited view, communication inconvenience, underwater many operations are simultaneously uncomfortable
Manual operation is closed, in such a way that robot progress operation has become very economical rationality.However to the receipts of submarine target
More complicated job when collection and crawl operation.Since underwater irregular ocean current, the visual field are unintelligible, target material soft
The characteristics such as hard degree and complicated appearance profile bring many difficulties to the acquisition of submarine target.
Traditional underwater manipulator imitates the shape of manpower, manufactures and designs complexity, has to manufacture and executing agency's precision
Very high requirement, when carrying out crawl operation, malfunction needs accurately to observe exact position to determine target and outer
The characteristics such as shape, quality after selecting suitable crawl position and angle, could rely on hydraulic device driving mechanical arm to be grabbed.
When target surface is excessively smooth or complex-shaped, operation difficulty is larger but insecure, leads to the success rate of crawl often
It is not high, and when the hardness of target and insufficient rigidity, it is also possible to target is caused to damage due to the improper of control force.
Therefore this utility model devises a kind of novel adaptive acquisition equipment.The equipment uses simply, conveniently, only
The approximate range of object need to be obtained, can be grabbed, unique adaptive targets shape grab so that grab at
Power is high, is not easy to slip, and is convenient to select corresponding dynamics according to the type of crawl object.
Utility model content
The purpose of this utility model is in order under water with adjustable dynamics grabs the irregular object of shape and provides
A kind of underwater robot flexible grabbing device.
Purpose of the utility model is realized as follows:
Including steel cylindrical tube, the limit of steel cylindrical tube one end is arranged in a kind of underwater robot flexible grabbing device
Column and screw hole, guide rail shell, control unit, drive mechanism and the executing agency being connect with the steel cylindrical tube other end；
Described control unit includes the driving that the progress motor being arranged in steel cylindrical tube and progress motor are sequentially connected
Device, controller and host computer, the Underwater Camera being arranged on guide rail shell, the limit switch for being symmetricly set on guide rail both ends,
The limit switch connects controller, and the progress is also connected to current monitoring circuit；
The drive mechanism includes worm gear structure and screw structure；The output shaft of the worm screw and progress motor connects
It connects, worm and gear is meshed, and the worm gear is fixed on the midpoint of lead screw, and lead screw both ends are embedded into guide rail shell, the transmission
Structure setting is in conductor casing；
The executing agency includes that the mechanical arm that lead screw both ends are arranged in, the mechanical arm are connect with handgrip clump bracket, institute
It states handgrip clump bracket and embeds handgrip；Feed screw nut is set in the mechanical arm, the feed screw nut is matched with lead screw.
The utility model further includes features some in this way:
1. the handgrip is made of handgrip shell and built-in spring, the handgrip shell is hollow cylinder and surface is arranged
There is hollow out rectangular channel, the top of handgrip shell is provided with anti-slip part；
2. the handgrip is there are two types of different diameters and is arranged in array；
3. the handgrip clump bracket is made of carrier unit, the carrier unit is cross-shape frame；
Compared with prior art, the utility model has the beneficial effects that
1, spring built in handgrip can grab so that handgrip can adapt to the appearance profile of object automatically in crawl
The target of arbitrary shape, material；
2, by actively changing the distance between grip bracket, passive adjustment spring decrement realizes flexible crawl；
3, in conjunction with current detecting and limit switch, it is easy to implement the determination to handgrip initial position；
4, handgrip movement velocity and move distance are controlled by controlling revolving speed and the corner of stepper motor, calculates worm screw and passes
Dynamic and lead screw transmission ratio obtains the corresponding relationship of motor corner and mechanical arm stroke, may be implemented accurately to control the position of handgrip
System；
5, structure is simple, easy to operate, and maintainability is good, and does not have particular requirement to carrying platform.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is acquisition device driver schematic diagram；
Fig. 3 is handgrip plex structure schematic diagram；
Fig. 4 is acquisition equipment and carrier platform junction structural schematic diagram；
Fig. 5 is handgrip cellular construction decomposition diagram；
Fig. 6 is handgrip distribution schematic diagram on bracket；
Fig. 7 is acquisition equipment control signal figure；
Fig. 8 is feedback signal process flow diagram.
Specific embodiment
The utility model is described in further detail with specific embodiment with reference to the accompanying drawing.
The purpose of the utility model is to provide a kind of flexible grabbing devices of adaptive targets shape, and provide realization side
Formula, to grab the irregular object of shape under water with adjustable dynamics.
According to object above, the utility model adopts the following technical solution: the device is by shell, control unit, stepping electricity
Machine, drive mechanism and executing agency's composition.
Wherein the shell mechanism includes limited post 5, screw hole 6, steel cylindrical tube 4, guide rail shell 1, limited post 5 and screw hole
6 are connected in steel cylindrical tube 5, so that equipment is effectively docked carrier and are connected, guide rail shell 1 and 5 other end phase of steel cylindrical tube
Even.
Wherein in described control unit include host computer, controller, driver, current detection circuit, Underwater Camera 3,
Limit switch 7 forms, and wherein host computer, controller, driver current detection circuit are built in the pressure-resistant cabin of carrier.On wherein
Position machine connects controller, and controller connects driver, and driver connects stepper motor 12, and current feedback connects controller, under water
Video camera 3 is installed on 2 top of guide rail, and signal inputs host computer.Two limit switches are respectively installed on the end of slideway two sides, connection
Controller.
Wherein the stepper motor 12 is axially installed in cylinder steel pipe 5, is connected to driver and current monitoring circuit.
Wherein drive mechanism includes drive structure of gear worm and screw structure.Wherein it is defeated to be directly connected to stepper motor for worm screw
Shaft, and engaged with worm gear, wherein worm gear 14 is connected in 11 midpoint of lead screw, and the insertion of 11 both ends of lead screw is installed in guide rail shell 1.
Wherein the executing agency includes grabbing for the mechanical arm 8 being mounted in slideway, grip bracket 9 and insertion grip bracket
Hand clump 10, wherein built-in feed screw nut in mechanical arm 8, one end are fixed on slideway, and the other end is connected grip bracket 9, silk
Thick stick nut covers on lead screw 11；Wherein the grip bracket outer profile is tabular, and each junior unit of bracket is cross
Frame structure is combined into reticular structure；Wherein the handgrip clump is made of the handgrip of two kinds of different-diameters, grabs in array-like insertion
In hand bracket.Handgrip unit is made of shell and built-in spring 17, and handgrip shell 16 is hollow cylinder, and top is anti-slip part 15
It is anti-skidding to be covered with coarse rubber material, the equidistant hollow out in 16 surface of handgrip shell goes out four rectangular channels, sliding on bracket for handgrip
It is dynamic.Built-in spring 17 is placed in interior of shell after compressing, and presses cross brace, handgrip unit arranges to form limbers 19.
The utility model is realized in this way:
(1) underwater vehicles carry the present apparatus and dive beneath the water, and close to target object, target object is taken in 3 visual field of video camera
After interior, by mobile vehicle, target is moved into the intermediate region of two handgrip clumps 10 of crawl structure.
(2) determine that host computer issues control command after target enters acquisition range, carries out equipment initialization.
(3) host computer is instructed and is parsed by controller, sends signal to driver.
(4) driver issues electric impulse signal, and driving stepper motor 12 inverts, and passes through worm-drive 13 and screw structure 11
Mechanical arm 8 is driven to move out.
(5) limit switch 7 of the 8 trigger track end of mechanical arm, 7 trigger signal of limit switch are sent to controller.Electric current
Monitoring detects that electric current caused by retard motion increases, and feeds back to controller, controller is uploaded to host computer.
(6) it when host computer combination current detecting, limit switch 7 determine that mechanical arm 8 has moved to track both ends, completes initial
Change.Issue acquisition instructions.
(7) controller according to instruction to driver transmission of control signals, send out according to control signal to stepper motor by driver
Radio pulse controls the corner of stepper motor 12, speed by number of pulses, frequency.
(8) it is moved in mechanical arm 8, grabs clump 10 for two and move closer to target object, after contact target object, 10 quilt of handgrip
Squeezing occiput will precisely be bonded with target object surface, and object is wrapped up, and current detection circuit monitors that electric current increases
Greatly, target has been clamped in conjunction with vision signal judgement, collecting work is completed.
(9) after acquiring successfully, when unclamping handgrip, driving mechanical arm 8 is moved out, and is triggered limit switch 7, is detected electric current
Increase, in conjunction with the picture that camera 3 captures, that is, can determine whether that handgrip has been totally released.
To make equipment reliably be connected with carrier, limit cylinder 5 is inserted into the preset groove of carrier platform, is then worn with screw
Screw hole 6 is crossed to be fastened.As shown in Figure 4.
In order to realize the flexible crawl to target, the handgrip of two kinds of different-diameters is arranged in array on bracket, as Fig. 3,
Fig. 6 when equipment carries out crawl operation, is embedded in handgrip 10 clumps of bracket after close-target, contact target, the spring in handgrip starts
It is compressed, not yet the handgrip of contact target then keeps original state to continue to move, when enough handgrips are contacted and are compressed with target, by
Passively change the characteristic of position in handgrip, handgrip head is fitted closely with target, and target has just been limited in handgrip clump.
In order to carry out initializing and determine the position of mechanical arm 8, two limit switches are set and are fixed on slideway two sides, work as machine
When tool arm 8 contacts limit switch 7, switch at once give controller send electric signal, host computer you can learn that, limit switch is touched
Hair.Current monitoring is used to monitor current of electric situation of change, and by current data when analysis motor work, definite value I is arranged1,I1Greatly
In motor running current, when detecting that electric current persistently increases above I1When, it can determine whether 8 retard motion of mechanical arm.Limit is opened
OFF signal is labeled as signal 1, and current detection signal is labeled as signal 2, and when limit switch is triggered, signal 1 is to pass through, and works as electric current
It monitors to be greater than I1Value, signal 2 are to pass through.Signal passes through, and determines that mechanical arm 8 has been moved into sliding rail both ends, signal 1 passes through,
Signal 2 is not by determining that mechanical arm 8 is located at sliding rail center then, and handgrip has captured target, such as Fig. 8.
In order to accurately control 8 moving distance of mechanical arm and speed, the transmission ratio of progress motor 12 and mechanical arm 8 is as parameter
Input controller, in order to accurately control stroke and the position of mechanical arm 8 by the angle for controlling stepper motor 12, under host computer
Up to after 12 rotation command of motor, controller calculating machine arm 8 will reach target position, the corner and speed of motor with target velocity
Degree, and it is transferred to driver, the quantity for the point pulse that driver is issued by control controls motor corner, by changing electric pulse
Frequency control motor speed, such as Fig. 7.
In order to realize stable drive, in worm gearing, worm screw and motor are connected, and worm gear and lead screw are connected, and lead screw is worn
Cross the installation of mechanical arm 8 in the shell.When motor rotates forward, worm screw rotates and screw rod is driven to rotate, and is passed to power by nut
Mechanical arm 8, mechanical arm 8 move inward in slideway.Otherwise it is displaced outwardly, such as Fig. 2.
In order to obtain the corresponding relationship of 12 corner of motor Yu 8 stroke of mechanical arm, tied according to 14 worm screw 13 of worm gear, lead screw 11 etc.
The transmission ratio of structure, is calculated.As shown in Fig. 2, 14 number of teeth of worm gear is Z1, 13 number of teeth of worm screw be Z2, then the transmission ratio of worm and gear
i1=Z1/Z2, 11 screw pitch of lead screw is P, then the transmission ratio between 8 stroke of 12 angle of stepper motor and mechanical arm is i2=i1* P, i.e.,
i2=(Z1/Z2)*P。
Underwater vehicles, which carry the utility model, dives beneath the water, close to target object, by underwater on carrier and acquisition equipment
Video camera 3 identifies object, is observed, determine it is errorless after, make object enter capture model by adjusting carrier position
It encloses.After adjustment, starting to drive stepper motor, be initialized, mechanical arm 8 is moved outward up to opening limit switch 7,
Due to retard motion, stepper motor current increase will lead to, when limit switch 7 is triggered, and monitor that the abnormal of electric current increases,
In conjunction with the picture that camera captures, then assert that mechanical arm 8 has moved to track one end.8 row of calculating machine arm is passed through by host computer
Journey issues fetching instruction to controller, and controller sends 12 electrical instruction of stepper motor to driver, and transmits corner, revolving speed
Etc. information, driver drives stepper motor 12 go to a certain angle according to preset rotation speed, pass through worm-drive and screw structure band
Dynamic mechanical arm 8 moves, make handgrip 10 clumps it is close to object and be bonded, pass through the monitoring of Underwater Camera 3 in whole process, lead to
10 state of observation handgrip is crossed, to adjust the position of handgrip 10.Handgrip 10 clumps package or basicly stable crawl after, manipulation carrier from
Open acquisition of the operating area completion to target.After acquiring successfully, when unclamping handgrip, driving mechanical arm 8 is moved out, triggering limit
Switch 7 detects that electric current increases, and in conjunction with the picture that camera captures, that is, can determine whether that handgrip 10 has been totally released.
The utility model handgrip clump bracket be it is plate shaped, by square matrix arrangement cross bracket unit form.Handgrip can
Insertion cross bracket is slided perpendicular to chassis plane, such as Fig. 3.Frame-type design, produces limbers 19, can also make water
Quickly through effectively reducing resistance when underwater operation, improve working efficiency；Spring 17 built in each handgrip of the utility model is equal
There is identical Hooke coefficient, compression is placed in inside handgrip.The restoring force of built-in spring 17 keeps handgrip to the pressure of target simultaneously
So that handgrip head is close to object, the automatic shape for adapting to object, and tightly wrap object, prevents mobile and rolling；
Handgrip housing head covers anti-slip material, forms anti-slip part, after packing tightly target along objective contour, not only vertical handgrip direction
It is compacted, can also be entirely limited movement of the target in vertical handgrip axial plane；Handgrip shell is cylindrical shell, and diameter has
Small one and large one two kinds of specifications, distribution such as Fig. 6, the lesser handgrip of diameter are more preferable to the surface fitting effect of object, can protrude into
Object gap between ground or the bottom, provides and lifts power.
The utility model control unit is characterized in that: instruction is assigned by host computer, passes through controller and driver, output
Pulse signal controls motor rotation；Current monitoring circuit and limit switch 7 are set, are connected with controller, is passed through in initialization
8 initial position of mechanical arm is marked in current monitoring and limit switch signal, while obtaining the initial angle of stepper motor 12.
Equally, the state to target crawl can also be promptly perceived after target by current monitoring and video camera image；By calculating snail
The transmission ratio of bar transmission and lead screw, obtains the corresponding relationship of motor corner Yu 8 stroke of mechanical arm.As parameter input controller,
8 stroke of mechanical arm, speed and position can be accurately controlled by the quantity and frequency of pulse signal；Turned by adjusting stepper motor
Angle controls 8 position of mechanical arm, to adjust the grasping force of handgrip 10, the grip bracket more close then grasping force of distance of two sides more
Greatly.
The utility model drive mechanism is characterized in that: one end of mechanical arm 8 is pressed in slideway, the contact surface with slideway
It is reduced and is rubbed by ball, and in a built-in nut covered on lead screw 11, lead screw 11 is converted into the flat of nut
It is dynamic, and then drive mechanical arm 8；Stepper motor 12 drives worm screw rotation, and worm screw 13 drives the lead screw 11 for the worm gear 14 that is connected to rotate,
It is final that horn is driven to be translatable along lead screw 11 is axial.It when stepper motor 12 rotates forward, moves in mechanical arm 8, when reversion outside mechnisiam arm
It moves；Since 14 worm screw of worm gear, 13 mechanism has single-direction transmission characteristic, the crawl of stablizing to target, transmission is may be implemented in handgrip
The specification of structure it is known that can then be obtained by calculation motor to mechanical arm 8 transmission ratio.
In summary: the utility model is the submarine target acquisition method designed for underwater platform and equipment, using machine
The method of spring 17 built in tool handgrip, realizes the flexible crawl to irregular contour target, and automatic suitable in the process of grasping
Target shape is answered, stability and success rate are improved.The equipment passes through position limiting structure 5 and screw hole 6 and carrier phase by tubular cylinder 4
Even, stepper motor 12 built in cylinder, stepper motor connects the instruction of 12 admission controllers and driver, turns an angle, and passes through snail
Bar drive mechanism drives the lead screw 11 in guide rail shell 1 to rotate, and is converted into being translatable on guide rail 2 for mechanical arm 8, is handgrip branch
Frame 9 provides driving force, contact target and bounces back in the inside motion process of handgrip clump 10, wraps up target, and press target
Tightly, fixed.Video camera 3 can provide the visual field and auxiliary positioning in the process.By using current monitoring and preset limit switch
Method demarcates 8 position of mechanical arm, and the transmission ratio by calculating worm-drive and screw structure, using stepper motor reality
The accurate control that now mechanical arm 8 is moved.The present apparatus has excellent compatibility, can be carried by various underwater platforms.
Claims (5)
1. a kind of underwater robot flexible grabbing device, characterized in that including steel cylindrical tube, be arranged in steel cylindrical tube one end
Limited post and screw hole, the guide rail shell, control unit, drive mechanism and the executing agency that are connect with the steel cylindrical tube other end；
Described control unit include the progress motor being arranged in steel cylindrical tube, with progress motor be sequentially connected driver,
Controller and host computer, the Underwater Camera being arranged on guide rail shell, the limit switch for being symmetricly set on guide rail both ends, it is described
Limit switch connects controller, and the progress is also connected to current monitoring circuit；
The drive mechanism includes worm gear structure and screw structure；The output axis connection of the worm screw and progress motor, snail
Worm and gear is meshed, and the worm gear is fixed on the midpoint of lead screw, and lead screw both ends are embedded into guide rail shell, and the drive mechanism is set
It sets in conductor casing；
The executing agency includes that the mechanical arm that lead screw both ends are arranged in, the mechanical arm are connect with handgrip clump bracket, described to grab
Hand clump bracket embeds handgrip；Feed screw nut is set in the mechanical arm, the feed screw nut is matched with lead screw.
2. underwater robot flexible grabbing device according to claim 1, characterized in that the handgrip by handgrip shell and
Built-in spring composition, the handgrip shell is hollow cylinder and surface is provided with hollow out rectangular channel, and the top of handgrip shell is set
It is equipped with anti-slip part.
3. underwater robot flexible grabbing device according to claim 1 or 2, characterized in that there are two types of not for the handgrip
With diameter and be arranged in array.
4. underwater robot flexible grabbing device according to claim 1 or 2, characterized in that the handgrip clump bracket by
Carrier unit composition, the carrier unit are cross-shape frame.
5. underwater robot flexible grabbing device according to claim 3, characterized in that the handgrip clump bracket is by bracket
Unit composition, the carrier unit are cross-shape frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821174183.9U CN208801347U (en) | 2018-07-24 | 2018-07-24 | A kind of underwater robot flexible grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821174183.9U CN208801347U (en) | 2018-07-24 | 2018-07-24 | A kind of underwater robot flexible grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208801347U true CN208801347U (en) | 2019-04-30 |
Family
ID=66228757
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821174183.9U Active CN208801347U (en) | 2018-07-24 | 2018-07-24 | A kind of underwater robot flexible grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208801347U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942886A (en) * | 2018-07-24 | 2018-12-07 | 哈尔滨工程大学 | A kind of underwater robot flexible grabbing device and its method |
| CN112548962A (en) * | 2020-10-29 | 2021-03-26 | 刘玉刚 | Device for clamping cylindrical irregular part of automobile |
| CN115571236A (en) * | 2022-12-07 | 2023-01-06 | 中国科学院沈阳自动化研究所 | Manipulator with remove feedwater function |
-
2018
- 2018-07-24 CN CN201821174183.9U patent/CN208801347U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942886A (en) * | 2018-07-24 | 2018-12-07 | 哈尔滨工程大学 | A kind of underwater robot flexible grabbing device and its method |
| CN108942886B (en) * | 2018-07-24 | 2024-02-27 | 哈尔滨工程大学 | Flexible grabbing device and method for underwater robot |
| CN112548962A (en) * | 2020-10-29 | 2021-03-26 | 刘玉刚 | Device for clamping cylindrical irregular part of automobile |
| CN115571236A (en) * | 2022-12-07 | 2023-01-06 | 中国科学院沈阳自动化研究所 | Manipulator with remove feedwater function |
| CN115571236B (en) * | 2022-12-07 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Manipulator with remove feedwater function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108942886A (en) | A kind of underwater robot flexible grabbing device and its method | |
| CN208801347U (en) | A kind of underwater robot flexible grabbing device | |
| CN101702277B (en) | Virtual and artificial force feedback surgical instrument | |
| WO2008099611A1 (en) | Movement control method, movement operating device, and method for operating movement of moving body | |
| CN204701468U (en) | Without brake, the Throttle Opening Control structure of the dirigible power actuated vehicle of both legs disabled person | |
| CN205588298U (en) | Gripper -like multi freedom robot manipulator mechanism | |
| CN105072973B (en) | Manipulator, arm-and-hand system and method for controlling robot | |
| CN106607891A (en) | Travelling mechanical gripper | |
| CN104027061B (en) | Soft endoscope system based on automatically controlled driving instruments | |
| CN206036517U (en) | Pipeline robot | |
| CN108944498A (en) | New-energy automobile automatic charging equipment | |
| CN110237469A (en) | A kind of fire-fighting monitor body | |
| CN108313838A (en) | Coil winding system | |
| JP2009078308A5 (en) | ||
| CN211798549U (en) | Rehabilitation exercise bicycle seat rotation regulation system | |
| CN106767131B (en) | A kind of electronic starting filling device of gun | |
| CN212415894U (en) | Flexible endoscope surgical robot system and powered handle | |
| CN212415893U (en) | Handle movement device of flexible endoscope surgical robot system | |
| CN106669120A (en) | Underwater driver | |
| CN110251872B (en) | Fire control shower nozzle | |
| CN208260155U (en) | A kind of football training real-time monitoring system | |
| CN214686551U (en) | A degree of depth camera calibration device for industrial robot snatchs field | |
| CN221604443U (en) | Spacing-adjustable robot gripper | |
| CN219850313U (en) | Adjustable dye spraying device for train model production | |
| CN111026029A (en) | Device, method and system for quickly calibrating motor shaft of numerical control equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |