CN208880764U - A kind of mechanical arm of big torsion eight degrees of freedom - Google Patents
A kind of mechanical arm of big torsion eight degrees of freedom Download PDFInfo
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- CN208880764U CN208880764U CN201821247639.XU CN201821247639U CN208880764U CN 208880764 U CN208880764 U CN 208880764U CN 201821247639 U CN201821247639 U CN 201821247639U CN 208880764 U CN208880764 U CN 208880764U
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Abstract
The utility model provides a kind of mechanical arm of big torsion eight degrees of freedom, comprising: mainframe box, shoulder headstock, upper arm, forearm, wrist steering engine.The mechanical arm of big torsion eight degrees of freedom described in the utility model, symmetrical configuration are self-possessed larger, and stability is preferable during manipulator motion, very good solution equilibrium problem, by the cooperations of all parts, it can be achieved that the movement of eight freedom degrees of big torsion.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of mechanical arm of big torsion eight degrees of freedom.
Background technique
Human emulated robot usually has the appearance of the mankind, the living and working environment of the mankind is adapted to, instead of the mankind
Various operations are completed, and can be obtained in the ability of many aspect extension mankind in multiple fields such as service, medical treatment, education, amusements
To extensive use.The upper limb for also resting on toy level, especially robot of simulating behaviors of human bodies is capable of in existing robot.
The upper limb of the mankind completes 70% or more human body and acts, and allows machine that can imitate out these movements, and difficult point is following aspect:
(1) what the problem of driving, the apish movement of robot are driven with, and the idea of mainstream is to use high-power rudder
Machine, but at present high power steering gear be generally self-possessed it is also heavier, if be mounted in body proximal end, strength be transmitted to distal end, such as hand
Position, strength is just very small, generally in 500g or less.If such as elbow joint, wrist position hand is turned round mounted in body distal end
Away from larger, since high power steering gear is from 2kg or so is focused on, the torque needs of shoulder joint asked due to the principle of lever and reach several
Hundred kilograms even thousands of kilograms, high-power small size steering engine currently on the market is relatively difficult to achieve；And when using high power steering gear,
Due to torque, easily occur as motor is stuck and caused by mechanical arm burn, cannot frequently use；
(2) the problem of balancing, human upper limb is during movable, the variation of each position strength, the mobile change of gravity
Change is very big, and quickly, it is the problem designed and produced that how upper extremity exercise keeps one's balance in the process, in addition big for the transfer of center of gravity
Huge effect of inertia when power steering engine starts makes to keep balance extremely difficult；
(3) the problem of the selection of material, the lighter material of tendency, main skeleton material are used as moulded due to torque
Material, light aluminum alloy, 3D printing part etc., since the hardness of the light material used is extremely low, product cracky is extremely difficult to practical
Level, simultaneously as being more difficult to realize from heavy and light balance.
Utility model content
For this purpose, the technical problem to be solved by the utility model is to provide one kind to be able to maintain good balance, big torsion, eight
The mechanical arm of freedom degree.
The mechanical arm of the big torsion eight degrees of freedom of the utility model, comprising:
Mainframe box, the mainframe box are internally provided with power device and control device；
Shoulder headstock, the shoulder headstock include left shoulder headstock and right shoulder headstock, the left shoulder headstock with
The right shoulder headstock is symmetrically disposed on the two sides of the mainframe box, and passes through company with the power device in the mainframe box respectively
Extension bar connection, suitable for being rotated under the driving of the power device by axis of the connecting rod；
Upper arm, the upper arm include left upper arm and right upper arm, and the left upper arm is flexibly connected with the left shoulder headstock, institute
Right upper arm is stated to be flexibly connected with the right shoulder headstock；
Forearm, the forearm include left forearm and right forearm, and the left forearm is connect with the left upper arm；The right forearm
It is connect with the right upper arm；
Wrist steering engine, the wrist steering engine include left wrist steering engine and right wrist steering engine, the left wrist steering engine with it is described
The end of left forearm connects, and the right wrist steering engine is connect with the right forearm.
Preferably, the left shoulder headstock is internally provided with the first power motor, be suitable for driving by connecting shaft described in
Left upper arm rotation；The right shoulder headstock is internally provided with the second power motor, suitable for driving the upper right by connecting shaft
Arm rotation.
Preferably, it is additionally provided with the first traction wheel on the outer wall of the left shoulder headstock, is wound on first traction wheel
There is traction rope, one end of the traction rope is fixedly connected with the left forearm；It is additionally provided on the outer wall of the right shoulder headstock
Second traction wheel is wound with traction rope on second traction wheel, and one end of the traction rope is fixedly connected with the right forearm.
It is further preferred that being provided with fixed plate on the left forearm, the right forearm, the fixed plate is equipped with logical
Hole, the through-hole, which is suitable for the traction rope, to be fixed.
It is further preferred that being additionally provided with the first traction electric machine, first traction electric machine inside the left shoulder headstock
Suitable for driving the first traction wheel rotation, to control the folding and unfolding of the traction rope；It is also set up inside the right shoulder headstock
There is the second traction electric machine, second traction electric machine is suitable for driving the second traction wheel rotation, to control the traction rope
Folding and unfolding；First traction electric machine is set to the top of first power motor；Second traction electric machine is set to institute
State the top of the second power motor.
It is further preferred that the mechanical arm of big torsion eight degrees of freedom, which is characterized in that further include shoulder spring, the shoulder
One end of portion's spring is fixed on the host box outer wall, and the other end is fixed on the outer wall of the shoulder headstock, is suitable for
The reset of the shoulder headstock provides restoring force.
It is further preferred that the power device in the mainframe box includes first motor, the second motor, neck electricity
Machine, the first motor are connect by connecting rod with the left shoulder headstock, and second motor passes through connecting rod and the right side
The connection of shoulder headstock；The neck motor is connect by connecting rod with robot head；
The control device is controller, and the controller is suitable for controlling the first motor, second motor, described
The opening and closing of neck motor, first power motor, the second power motor, the first traction electric machine, the second traction electric machine,
And control the direction of motion, movement velocity；
Power supply unit is additionally provided in the mainframe box, the power supply unit is battery.
Preferably, the left forearm and the left upper arm are hinged by the left ancon；The right forearm and the upper right
Arm is hinged by the right ancon；
Left ancon spring is additionally provided at the left ancon, the left upper arm is fixed in one end of the left ancon spring
On, the other end is fixed on the left forearm, and the reset for being suitable for the left ancon provides restoring force；
Right ancon spring is additionally provided at the right ancon, the right upper arm is fixed in one end of the right ancon spring
On, the other end is fixed on the right forearm, and the reset for being suitable for the right ancon provides restoring force.
The left upper arm, right upper arm, left ancon, right ancon, left forearm, right forearm are made of stainless steel or iron.
Preferably, the wrist steering engine is also connected with one or both of manipulator, magnet.
The above-mentioned technical proposal of the utility model, has the advantage that compared with prior art
(1) mechanical arm of big torsion eight degrees of freedom described in the utility model, including mainframe box, symmetrical shoulder fortune
Dynamic case, upper arm, forearm, wrist steering engine, make its symmetrical configuration, and stability is preferable during manipulator motion, solve well
It has determined equilibrium problem.Also, since all material is irony and stainless steel material, not only durable, the service life is other modelings
Material, several times of aluminum alloy machinery arm or more, and it is larger to be self-possessed, and can be realized good balance during manipulator motion, it is real
With property height；
(2) mechanical arm of big torsion eight degrees of freedom described in the utility model passes through institute due to using shoulder headstock
It states the first power motor being arranged in shoulder headstock, the second power motor and provides strength to the upper arm.In shoulder headstock
It is additionally provided with first traction electric machine, second traction electric machine, motor pulls the forearm by spinning reel wirerope.
Especially, left shoulder headstock, be respectively provided with two motors in right shoulder headstock, by taking the left shoulder headstock as an example, the left side
It is provided with first power motor, first traction electric machine in shoulder headstock, the setting position of two motors is described the
One traction electric machine is set to the top of first power motor, when execute mechanical arm on lift make when, first power
Motor provides power for the left upper arm, and first traction electric machine provides tractive force for the left forearm, while being also the left side
The upper lift of upper arm provides power, under the resultant force that two motors provide, mechanical arm is made to realize bigger torsion.When the first power electric
Machine, the second power motor, first traction electric machine, second traction electric machine simultaneously firmly when, two wrists can produce respectively
The strength of raw 5KG or more, torsion is larger suitable with the strength of human arm, is that other any mechanical arms are all difficult to.Together
When shoulder headstock individually from 5KG or so is focused on, be symmetrically arranged on body mainframe box both sides, balance maintained well, in machine
In tool arm operational process, body mainframe box does not need counterweight and is just able to maintain balance, this is also that entire robot balances during exercise
Play key effect；
(3) mechanical arm of big torsion eight degrees of freedom described in the utility model uses first motor, the second motor, the
One power motor, the second power motor, the first traction electric machine, second traction electric machine amount to the high-power deceleration electricity of six 40W
Machine can produce 200KG torsion and left wrist steering engine, right wrist steering engine, amounts to two 20KG torsion steering engines, is able to achieve eight
The activity of freedom degree, can complete the movement of 80% or more mankind's upper limb, and development space is wide.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the mechanical arm of big torsion eight degrees of freedom provided by the embodiment of the utility model；
Fig. 2 is the mainframe box internal structure signal of the mechanical arm of big torsion eight degrees of freedom provided by the embodiment of the utility model
Figure；
Wherein, 1- mainframe box；The left shoulder headstock of 2-；The right shoulder headstock of 3-；4- left upper arm；5- right upper arm；6- left forearm；7-
Right forearm；The left wrist steering engine of 8-；The right wrist steering engine of 9-；The first traction wheel of 10-；The second traction wheel of 11-；12- fixed plate；13- shoulder
Portion's spring；14- first motor；The second motor of 15-；16- neck motor；17- controller；18- power supply unit；The left ancon bullet of 19-
Spring；The right ancon spring of 20-；21- robot head；The left ancon of 22-；The right ancon of 23-.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
The mechanical arm of the big torsion eight degrees of freedom of the present embodiment, as shown in Figs. 1-2, comprising:
Mainframe box 1, the mainframe box 1 are internally provided with power device and control device；
Shoulder headstock, the shoulder headstock include left shoulder headstock 2 and right shoulder headstock 3, the left shoulder headstock 2
The two sides of the mainframe box 1 are symmetrically disposed on the right shoulder headstock 3, and respectively with the power device in the mainframe box 1
It is connected by connecting rod, suitable for being rotated under the driving of the power device by axis of the connecting rod；
Upper arm, the upper arm include left upper arm 4 and right upper arm 5, and the left upper arm 4 connects with left 2 activity of shoulder headstock
It connects, the right upper arm 5 is flexibly connected with the right shoulder headstock 3；
Forearm, the forearm include left forearm 6 and right forearm 7, and the left forearm 6 is connect with the left upper arm 4；The right side
Forearm 7 is connect with the right upper arm 5；
Wrist steering engine, the wrist steering engine include left wrist steering engine 8 and right wrist steering engine 9, the left wrist steering engine 8 and institute
The end connection of left forearm 6 is stated, the right wrist steering engine 9 is connect with the right forearm 7.In the present embodiment, the wrist steering engine
Wrist can be made to carry out 180 degree rotation, can be lifted purchased from the steering engine for the MG995 model that brightness is contained using power steering engine in 20KG
The weight of 5KG or more.The wrist steering engine can also be different according to actual use situation connection manipulator, clamper or magnet
Component completes different functions.It should be noted that above-mentioned wrist steering engine is only the rule of origin used in the present embodiment, ability
Field technique personnel also can be used other commercially available conventional products, different manufacturers, model product have no effect on the utility model skill
The implementation of art scheme and the realization of technical effect.
As the preferred implementation of the present embodiment, the left shoulder headstock 2 is internally provided with the first power motor (figure
In be not shown), the motor shaft of first power motor is connect with the left upper arm 4, suitable for driving the left side by motor shaft
Upper arm 4 rotates；The right shoulder headstock 3 is internally provided with the second power motor (not shown), second power electric
The motor shaft of machine is connect with the right upper arm 5, suitable for driving the right upper arm 5 to rotate by motor shaft.
As the preferred implementation of the present embodiment, the first traction wheel is additionally provided on the outer wall of the left shoulder headstock 2
10, traction rope is wound on first traction wheel 10, and one end of the traction rope is fixedly connected with the left forearm 6；It is described
It is additionally provided with the second traction wheel 11 on the outer wall of right shoulder headstock 3, is wound with traction rope on second traction wheel 11, it is described to lead
One end of messenger is fixedly connected with the right forearm 7.It should be noted that the traction rope and the left forearm 6, right forearm 7
Fixed form it is not unique, as the specific implementation of the present embodiment, be respectively provided on the left forearm 6, the right forearm 7
There is fixed plate 12, the fixed plate 12 is equipped with through-hole, and the through-hole, which is suitable for the traction rope, to be fixed.The shape of the fixed plate 12
Shape is not unique, and fixed plate 12 described in the present embodiment is annular shape, is sheathed on the left forearm 6,7 outer surface of the right forearm
Annular slab.
The first traction electric machine (not shown), first traction electric machine are additionally provided with inside the left shoulder headstock 2
Motor shaft connect with the wheel shaft of first traction wheel 10 by connecting rod, be suitable for that first traction wheel 10 is driven to rotate,
To control the folding and unfolding of the traction rope；It is additionally provided with the second traction electric machine (not shown) inside the right shoulder headstock 3,
The motor shaft of second traction electric machine is connect with the wheel shaft of second traction wheel 11 by connecting rod, is suitable for driving described the
Two traction wheels rotation, to control the folding and unfolding of the traction rope.As the preferred implementation of the present embodiment, first traction
Motor is set to the top of first power motor；Second traction electric machine is set to the upper of second power motor
Side.
Mechanical arm for the reset convenient for the shoulder headstock, the big torsion eight degrees of freedom further includes shoulder spring
13, one end of the shoulder spring 13 is fixed on 1 outer wall of mainframe box, and the other end is fixed on the outer of the shoulder headstock
On wall, the reset for being suitable for the shoulder headstock provides restoring force.
As the preferred implementation of the present embodiment, the power device in the mainframe box include first motor 14,
The motor shaft of second motor 15, neck motor 16, the first motor 14 is connected by left shoulder headstock 2 described in connecting rod, institute
The motor shaft for stating the second motor 15 is connect by connecting rod with the right shoulder headstock 3；The left shoulder headstock 2, institute can be achieved
State 270 degree of rotations of right shoulder headstock 3.The neck motor 16 is connect with robot head 21 by connecting rod, it can be achieved that machine
The 360 degree rotation of device head part 21.For realizing the purpose of this utility model, the design method of the robot head 21
It is not unique, it can be image collecting device, such as camera.
The control device is controller 17, and the controller 17 is suitable for controlling the first motor 14, second electricity
Machine 15, the neck motor 16, first power motor, the second power motor, the first traction electric machine, the second traction electric machine
It opens and closes.
Those skilled in the art can the voluntarily model of selection control according to the actual situation, in the present embodiment, the control
Device 17 is No. 24 robot steering engine controllers, purchased from the 24 road steering engine robot controller of model of Zhong Ling Science and Technology Ltd.,
The multiple control modes such as computer, mobile phone, long-range, wifi can be achieved, various movements can also be designed by the method for computer programming.
It should be noted that above controller is only the rule of origin used in the present embodiment, it is also can be used in those skilled in the art
His commercially available conventional product, different manufacturers, model controller have no effect on the implementation and technology of technical solutions of the utility model
The realization of effect.As the present embodiment concrete implementation mode, power supply unit 18, the electricity are additionally provided in the mainframe box 1
Source block 18 is battery.
Likewise, those skilled in the art can voluntarily select the model of motor according to the actual situation, it is described in the present embodiment
First motor 14, second motor 15, the neck motor 16, first power motor, the second power motor, first are led
Draw motor, the second traction electric machine, is the decelerating motor purchased from Li Hua electronics corporation, Shenzhen, 7 font 40w of model.It needs
Illustrate, above-mentioned each motor is only the rule of origin used in the present embodiment, other cities also can be used in those skilled in the art
Sell conventional product, different manufacturers, model product have no effect on the implementation and technical effect of technical solutions of the utility model
It realizes.
The left forearm 6 is hinged by the left ancon 22 with the left upper arm 4；The right forearm 7 and the right upper arm 5
It is hinged by the right ancon 23；The left ancon 22 is bolt with the right ancon 23, the left forearm 6 and the left upper arm
4 junction, the right forearm 7 are provided with the screw hole matched with the junction of the right upper arm 5.
For when trailer system loses power, elbow joint remains to automatically return to the forearm and the upper arm in 180 degree angle, institute
It states and is additionally provided with left ancon spring 19 at left ancon 22, one end of the left ancon spring 19 is fixed in the left upper arm 4, separately
One end is fixed on the left forearm 6, and the reset for being suitable for the left ancon 22 provides restoring force；It is also set at the right ancon 23
It is equipped with right ancon spring 20, one end of the right ancon spring 20 is fixed in the right upper arm 5, and the other end is fixed on the right side
On forearm 7, the reset for being suitable for the right ancon 23 provides restoring force.In this implementation, the left ancon 22, the right elbow of elbow joint
Portion 23 uses stainless steel material, and self weight reaches 1KG, unusually strong durable, and when exercising elbow joint range is spent for 90-180 and people
Class exercising elbow joint range is close.
As the preferred implementation of the present embodiment, the left upper arm 4, right upper arm 5, left forearm 6, right forearm 7 be not by
Rust steel or iron are made.The mainframe box 1, the left shoulder headstock 2, the right shoulder headstock 3 are also that stainless steel or iron are made.
The mechanical arm of big torsion eight degrees of freedom, the course of work described in the present embodiment are as follows: by the mainframe box 1
First motor 14, the second motor 15 respectively drive the left shoulder headstock 2, the right shoulder headstock 3 rotates, and realize two dimensions
Movement；It is respectively driven by the first motor, the second motor in the left shoulder headstock 2, the right shoulder headstock 3 described
Left upper arm 4, the right upper arm 5 rotate, and realize the movement of two dimensions；By the left shoulder headstock 2, the right shoulder headstock 3
Interior first traction electric machine, second traction electric machine respectively drive first traction wheel 10, second traction wheel
11, make to be wrapped in first traction wheel 10, the traction rope folding and unfolding on second traction wheel 11, and then realize the left forearm
6, the right forearm 7 is rotated around the left ancon 22, the right ancon 23, realizes the movement of two dimensions；Simultaneously as institute
It states and is provided with first power motor, first traction electric machine in left shoulder headstock 2, the setting position of two motors is institute
State the top that the first traction electric machine is set to first power motor, when execute mechanical arm on lift make when, described first
Power motor is that the left upper arm 4 provides power, and first traction electric machine is that the left forearm 6 provides tractive force, while being also
The upper lift of the left upper arm 4 provides power, under the resultant force that two motors provide, the left arm of mechanical arm is made to realize bigger torsion
Power；Similarly, the right shoulder headstock 3 designs in the same way, and the right arm of mechanical arm is made also to realize bigger torsion；By institute
The end rotation of left wrist steering engine 8, right wrist steering engine 9 relative to the left forearm 6, the right forearm 7 is stated, realizes two dimensions
Movement.The mechanical arm of the big torsion eight degrees of freedom realizes the movement of eight dimensions of big torsion as a result,.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (10)
1. a kind of mechanical arm of big torsion eight degrees of freedom characterized by comprising
Mainframe box, the mainframe box are internally provided with power device and control device；
Shoulder headstock, the shoulder headstock include left shoulder headstock and right shoulder headstock, the left shoulder headstock with it is described
Right shoulder headstock is symmetrically disposed on the two sides of the mainframe box, and passes through connecting rod with the power device in the mainframe box respectively
Connection, suitable for being rotated under the driving of the power device by axis of the connecting rod；
Upper arm, the upper arm include left upper arm and right upper arm, and the left upper arm is flexibly connected with the left shoulder headstock, the right side
Upper arm is flexibly connected with the right shoulder headstock；
Forearm, the forearm include left forearm and right forearm, and the left forearm is connect with the left upper arm；The right forearm and institute
State right upper arm connection；
Wrist steering engine, the wrist steering engine include left wrist steering engine and right wrist steering engine, the left wrist steering engine with it is described left front
The end of arm connects, and the right wrist steering engine is connect with the right forearm.
2. the mechanical arm of big torsion eight degrees of freedom according to claim 1, which is characterized in that the left shoulder headstock it is interior
Portion is provided with the first power motor, suitable for driving the left upper arm to rotate by connecting shaft；The inside of the right shoulder headstock is set
It is equipped with the second power motor, suitable for driving the right upper arm to rotate by connecting shaft.
3. the mechanical arm of big torsion eight degrees of freedom according to claim 2, which is characterized in that outside the left shoulder headstock
It is additionally provided with the first traction wheel on wall, traction rope, one end of the traction rope and the left side are wound on first traction wheel
Forearm is fixedly connected；It is additionally provided with the second traction wheel on the outer wall of the right shoulder headstock, is wound on second traction wheel
Traction rope, one end of the traction rope are fixedly connected with the right forearm.
4. the mechanical arm of big torsion eight degrees of freedom according to claim 3, which is characterized in that the left forearm, the right side
Fixed plate is provided on forearm, the fixed plate is equipped with through-hole, and the through-hole, which is suitable for the traction rope, to be fixed.
5. the mechanical arm of big torsion eight degrees of freedom according to claim 4, which is characterized in that inside the left shoulder headstock
It is additionally provided with the first traction electric machine, first traction electric machine is suitable for driving the first traction wheel rotation, thus described in control
The folding and unfolding of traction rope；The second traction electric machine is additionally provided with inside the right shoulder headstock, second traction electric machine is suitable for driving
The second traction wheel rotation, to control the folding and unfolding of the traction rope；
First traction electric machine is set to the top of first power motor；Second traction electric machine is set to described
The top of two power motors.
6. the mechanical arm of big torsion eight degrees of freedom according to claim 5, which is characterized in that further include shoulder spring, institute
The one end for stating shoulder spring is fixed on the host box outer wall, and the other end is fixed on the outer wall of the shoulder headstock, is fitted
Restoring force is provided in the reset for the shoulder headstock.
7. the mechanical arm of big torsion eight degrees of freedom according to claim 6, which is characterized in that described in the mainframe box
Power device includes first motor, the second motor, neck motor, and the first motor passes through connecting rod and the left shoulder headstock
Connection, second motor are connect by connecting rod with the right shoulder headstock；The neck motor passes through connecting rod and machine
Head part's connection；
The control device is controller, and the controller is suitable for controlling the first motor, second motor, the neck
The opening and closing of motor, first power motor, the second power motor, the first traction electric machine, the second traction electric machine；
Power supply unit is additionally provided in the mainframe box, the power supply unit is battery.
8. the mechanical arm of big torsion eight degrees of freedom according to any one of claims 1-7, which is characterized in that
The left forearm is hinged by left ancon with the left upper arm；The right forearm is cut with scissors with the right upper arm by right ancon
It connects；
Left ancon spring is additionally provided at the left ancon, one end of the left ancon spring is fixed in the left upper arm, separately
One end is fixed on the left forearm, and the reset for being suitable for the left ancon provides restoring force；
Right ancon spring is additionally provided at the right ancon, one end of the right ancon spring is fixed in the right upper arm, separately
One end is fixed on the right forearm, and the reset for being suitable for the right ancon provides restoring force.
9. the mechanical arm of big torsion eight degrees of freedom according to claim 8, which is characterized in that the left upper arm, right upper arm,
Left ancon, right ancon, left forearm, right forearm are made of stainless steel or iron.
10. the mechanical arm of big torsion eight degrees of freedom according to claim 9, which is characterized in that the wrist steering engine also connects
It is connected to one or both of manipulator, magnet.
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| CN201821247639.XU CN208880764U (en) | 2018-08-03 | 2018-08-03 | A kind of mechanical arm of big torsion eight degrees of freedom |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110575200A (en) * | 2019-09-28 | 2019-12-17 | 张海霞 | Ultrasonic examination auxiliary frame |
| CN111131769A (en) * | 2019-12-03 | 2020-05-08 | 重庆特斯联智慧科技股份有限公司 | Fire-fighting access emergency exit state monitoring alarm system based on thing networking |
| CN111959313A (en) * | 2020-07-20 | 2020-11-20 | 杭州电子科技大学 | Mobile charging pile robot and charging method thereof |
-
2018
- 2018-08-03 CN CN201821247639.XU patent/CN208880764U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110575200A (en) * | 2019-09-28 | 2019-12-17 | 张海霞 | Ultrasonic examination auxiliary frame |
| CN111131769A (en) * | 2019-12-03 | 2020-05-08 | 重庆特斯联智慧科技股份有限公司 | Fire-fighting access emergency exit state monitoring alarm system based on thing networking |
| CN111131769B (en) * | 2019-12-03 | 2021-06-04 | 重庆特斯联智慧科技股份有限公司 | Fire-fighting access emergency exit state monitoring alarm system based on thing networking |
| CN111959313A (en) * | 2020-07-20 | 2020-11-20 | 杭州电子科技大学 | Mobile charging pile robot and charging method thereof |
| CN111959313B (en) * | 2020-07-20 | 2021-09-28 | 杭州电子科技大学 | Mobile charging pile robot and charging method thereof |
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