CN214954676U - Detection equipment for robot multi-axis servo driver control panel - Google Patents
Detection equipment for robot multi-axis servo driver control panel Download PDFInfo
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- CN214954676U CN214954676U CN202120735542.9U CN202120735542U CN214954676U CN 214954676 U CN214954676 U CN 214954676U CN 202120735542 U CN202120735542 U CN 202120735542U CN 214954676 U CN214954676 U CN 214954676U
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Abstract
The application discloses check out test set for multiaxis servo driver control panel of robot for detect the multiaxis servo driver control panel that awaits measuring, include: the test tool table is provided with a tool main control board and a test needle bed, the tool main control board is provided with a main control chip, and the main control chip comprises a signal circuit, a chip test circuit, an RS485 communication circuit and an encoder circuit. Through set up signal circuit, chip test circuit, RS485 communication and encoder circuit on the master control chip, only need to await measuring multiaxis servo driver control panel and test needle bed be connected, just can carry out omnidirectional electrical property test to it, do not need manual operation to await measuring multiaxis servo driver control panel and place many check out test set and carry out different electrical property tests, easy operation to the realization is improved and is produced line efficiency.
Description
Technical Field
The utility model belongs to servo driver control panel detection area, in particular to check out test set for multiaxis servo driver control panel of robot.
Background
In recent years, with the rapid development of automation technology, industrial robots, numerical control machines, and automation lines are replacing manual work, and servo drivers are increasingly used. The control board is an indispensable module of the servo driver, and signal detection points such as 485 differential signals, DI/DO, STO and the like, chip functional modules such as ARM1, ARM2, ARM3, FPGA1, FPFA2, FPGA3 and an encoder functional module (see fig. 4) are generally arranged on the control board. Before the control board of the multi-axis servo driver to be tested leaves the factory, different electrical performance tests must be performed on the functional modules, such as the frequency and wavelength of a test signal, the logic function of a test chip and the output waveform of an encoder.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the application is to provide a check out test set for multiaxis servo driver control panel of robot, can carry out comprehensive automatic electrical property test to multiaxis servo driver control panel, improves work efficiency.
The embodiment of the application provides a check out test set for multiaxis servo driver control panel of robot for detect the multiaxis servo driver control panel that awaits measuring, wherein, include: the test tool table is provided with a tool main control board and a test needle bed, and the tool main control board is used for driving a multi-shaft servo driver control board to be tested to perform electrical performance test; the tool main control board is provided with a main control chip, the main control chip comprises a signal circuit, a chip test circuit and an RS485 communication and encoder circuit, the signal circuit is used for detecting BK, DI, DO and STO signals of the multi-axis servo driver control board to be tested, the RS485 communication and encoder circuit is used for detecting the functions of a multi-path encoder and 485 differential signals of the multi-axis servo driver control board to be tested, and the chip test circuit is used for detecting the functions of an ARM chip and an FPGA chip of the multi-axis servo driver control board to be tested; the tool main control board is electrically connected with the test needle bed; the test needle bed is used for being connected with a multi-axis servo driver control board to be tested so as to realize the electric connection of the tool main control board and the multi-axis servo driver control board to be tested.
The detection equipment for multi-axis servo driver control panel of robot that this application embodiment provided can carry out comprehensive electrical property detection to the multi-axis servo driver control panel of awaiting measuring through setting up signal circuit, chip test circuit, RS485 communication and encoder circuit at main control chip, realizes the automation mechanized operation, has saved the manpower.
The detection equipment for the robot multi-axis servo driver control board is characterized in that the test tool table comprises a first program-controlled power supply, a second program-controlled power supply and a third program-controlled power supply; the first program-controlled power supply, the second program-controlled power supply and the third program-controlled power supply are all electrically connected with the testing needle bed so as to supply power to the control board of the multi-axis servo driver to be tested.
The detection equipment for the robot multi-axis servo driver control board is characterized in that the tool main control board comprises a signal detection circuit, and the signal detection circuit is connected between a main control chip and a test needle bed and used for testing a feedback signal of the multi-axis servo driver control board to be tested.
The detection equipment for the robot multi-axis servo driver control board is characterized in that the signal detection circuit comprises a 3.3V voltage detection point, a 5V voltage detection point and a 24V voltage detection point, the 5V voltage detection point is used for supplying power to the multi-axis servo driver control board to be tested, the 3.3V voltage detection point is used for detecting the signal function of the multi-axis servo driver control board to be tested, and the 24V voltage detection point is used for detecting the chip function of the multi-axis servo driver control board to be tested.
The detection device for multiaxis servo driver control panel of robot, wherein, signal detection circuitry includes first operational amplifier U3, opto-isolator U4A, opto-isolator U4B, second operational amplification module and third operational amplification module, the output signal of the multiaxis servo driver control panel that awaits measuring is inserted to first operational amplifier U3's input, first operational amplifier U3's output with opto-isolator U4A's input is connected, opto-isolator U4A with opto-isolator U4B's output with the input of second operational amplification module is connected, the output of second operational amplification module with the input of third operational amplification module is connected, the output of third operational amplification module with main control chip connects.
The detection equipment for the robot multi-axis servo driver control board comprises a test tool table, a tool main control board and a test tool, wherein the test tool table further comprises an indicator light, and the indicator light is electrically connected with the tool main control board and used for displaying a test result.
The detection equipment for the robot multi-axis servo driver control board is characterized in that the test tool table further comprises a switch key used for triggering the multi-axis servo driver control board to be tested to test.
The detection equipment for the robot multi-axis servo driver control board comprises a test fixture, wherein the test fixture comprises a test fixture for fixing the multi-axis servo driver control board to be tested.
The detection equipment for the robot multi-axis servo driver control board is characterized in that the test tool table comprises a pneumatic device used for driving the test fixture to enable the multi-axis servo driver control board to be tested to be tightly attached to the test needle bed.
The detection equipment for the robot multi-axis servo driver control panel further comprises an industrial personal computer, and the industrial personal computer is electrically connected with the test tool table.
By last, the utility model discloses a check out test set for multiaxis servo driver control panel of robot, through set up signal circuit, chip test circuit, RS485 communication and encoder circuit at main control chip, only need to await measuring multiaxis servo driver control panel and test needle bed and be connected, just can carry out the omnidirectional electrical property test to it, do not need manual operation to await measuring multiaxis servo driver control panel and place and carry out different electrical property tests at many check out test set, and easy operation to the line efficiency is produced in the realization improvement.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
Fig. 1 is a connection diagram of a main control board according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a detection apparatus for a robot multi-axis servo driver control board according to an embodiment of the present disclosure.
Fig. 3 is a circuit diagram of a signal detection circuit according to an embodiment of the present disclosure.
Fig. 4 is a diagram of a multi-axis servo driver control board to be tested according to an embodiment of the present application.
Fig. 5 is a diagram of a detection apparatus according to an embodiment of the present application.
Description of reference numerals: 100. testing a tool table; 200. a tool main control board; 300. testing the needle bed; 210. a main control chip; 211. a signal circuit; 212. a chip test circuit; 213. RS485 communication and encoder circuits; 400. a multi-axis servo driver control board to be tested; 110. a first programmable power supply; 120. a second programmable power supply; 130. a third programmable power supply; 220. a signal detection circuit; 221. a second operational amplification module; 222. a third operational amplification module; 150. testing the clamp; 140. a pneumatic device; 500. and an industrial personal computer.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Fig. 4 is a multi-axis servo driver control board 400 to be tested according to an embodiment of the present application, where different functional modules and interfaces are disposed on the board, and the functional modules and the interfaces may be disposed according to actual situations, which is not limited in the present application.
As shown in fig. 1, an embodiment of the present application provides a detection apparatus for a multi-axis servo driver control board of a robot, for detecting a multi-axis servo driver control board 400 to be tested, including: the test tooling table 100 is provided with a tooling main control board 200 and a test needle bed 300, wherein the tooling main control board 200 is used for driving a multi-axis servo driver control board 400 to be tested to perform electrical performance test; the tool main control board 200 is provided with a main control chip 210, the main control chip 210 comprises a signal circuit 211, a chip test circuit 212 and an RS485 communication and encoder circuit 213, the signal circuit 211 is used for detecting BK, DI, DO and STO signals of a multi-axis servo driver control board to be tested, the RS485 communication and encoder circuit 213 is used for detecting functions of a multi-path encoder and 485 differential signals of the multi-axis servo driver control board to be tested, and the chip test circuit 212 is used for detecting functions of an ARM chip and an FPGA chip of the multi-axis servo driver control board to be tested; the tool main control board 200 is electrically connected with the test needle bed 300; the testing needle bed 300 is used for connecting with the multi-axis servo driver control board 400 to be tested, so as to realize the electrical connection between the tool main control board 200 and the multi-axis servo driver control board 400 to be tested. The signal circuit 211, the chip test circuit 212, the RS485 communication and encoder circuit 213 that are arranged on the main control chip 210 of the present application are all existing test circuits, and are not described herein again.
By arranging the signal circuit 211, the chip test circuit 212, the RS485 communication and encoder circuit 213 on the tool main control board 200, the multi-axis servo driver control board 400 to be tested can be subjected to comprehensive and automatic electrical performance test before leaving the factory, the quality of the control board is controlled, the links of manually adopting a plurality of test devices to test the multi-axis servo driver control board are reduced, and the production efficiency of a production line is improved.
In a further embodiment, referring to fig. 2, the test tool station 100 includes a first programmable power supply 110, a second programmable power supply 120, and a third programmable power supply 130; the first programmable power supply 110, the second programmable power supply 120 and the third programmable power supply 130 are all electrically connected with the testing needle bed 300 to realize the power supply of the multi-axis servo driver control board 400 to be tested. The programmable power supply can provide a voltage-stabilizing, constant-current, phase-shifting and frequency-variable large-power frequency sinusoidal signal and can adapt to the detection function of each functional module. In this application, set up three programme-controlled power because the power parameter of different test module demands is different, in practical application, can set up its quantity according to the required power parameter of the passageway of actual programme-controlled power and test module.
In a further embodiment, the tool main control board 200 includes a signal detection circuit 220 therein, one end of the signal detection circuit 220 is electrically connected to the main control chip 210, and the signal detection circuit 220 is connected between the main control chip 210 and the testing needle bed 300, and is used for testing a feedback signal of the multi-axis servo driver control board 400 to be tested. By the arrangement mode, the output signal of the multi-axis servo driver control board 400 to be tested can be fed back to the tool main control board 200 in time in the testing process, and whether the testing can be continued or not can be judged on the output result.
In a further embodiment, the signal detection circuit 220 includes a 3.3V voltage detection point, a 5V voltage detection point and a 24V voltage detection point, in practical applications, the 5V voltage detection point is used to supply power to the multi-axis servo driver control board 400 to be tested, the 3.3V voltage detection point is used to detect the signal function of the multi-axis servo driver control board 400 to be tested, and the 24V voltage detection point is used to detect the chip function of the multi-axis servo driver control board 400 to be tested. By the arrangement mode, different voltage detection can be performed on the functional modules of the multi-axis servo driver control board 400 to be tested.
Referring to fig. 3, an embodiment of the present application further provides a voltage signal detection circuit, the signal detection circuit 220 includes a first operational amplifier U3, an opto-isolator U4A, an opto-isolator U4B, a second operational amplification module 221 and a third operational amplification module 222, an input end of the first operational amplifier U3 is connected to an output signal of the multi-axis servo driver control board 400 to be tested, an output end of the first operational amplifier U3 is connected to one end of a sixth resistor R6, the other end of the sixth resistor R6 is connected to an input end of the opto-isolator U4A, the second operational amplification module 221 includes an amplifier U5A and an amplifier U5B, an output end of the opto-isolator U4A is connected in parallel to a positive input end of the amplifier U5A and an eighth resistor R8, the other end of the eighth resistor R8 is grounded, a positive input end of the amplifier U5B is connected to an output end of the opto-isolator U4B, an input end of the opto-isolator U4B is connected to a sliding rheostat 7, the other end of the slide rheostat R7 is connected to the fixed voltage 15V, the output end of the amplifier U5A is connected to one end of a thirteenth resistor R13, the other end of the thirteenth resistor R13 is connected to the input end of the third operational amplification module 222, the output end of the amplifier U5B is connected in parallel to a fourteenth resistor R14 and a sixteenth resistor R16, the other end of the sixteenth resistor R16 is grounded, the other end of the fourteenth resistor R14 is connected to the input end of the third operational amplification module 222, and the output end of the third operational amplification module 222 is connected to the main control chip 210. Through the connection mode, the path of noise interference can be isolated before the signal enters the second operational amplification module 221, so that the effect of noise suppression is achieved, and the main control chip 210 can acquire the accurate output signal of the multi-axis servo driver control board 400 to be tested.
In a further embodiment, the test tool table 100 further includes an indicator light electrically connected to the tool main control board 200 and configured to display a test result. In practical application, the indicator lamps can display the test results of the functional modules, a plurality of indicator lamps can be arranged to correspond to the functional modules of the multi-axis servo driver control board 400 to be tested, and a worker can conveniently check whether the multi-axis servo driver control board 400 to be tested normally runs or not.
In a further embodiment, the test fixture 100 further includes a switch button for triggering the multi-axis servo driver control board 400 to be tested for testing. In practical application, the switch key controls a worker to perform testing only through one-key operation.
In the conventional embodiment, the multi-axis servo driver control board 400 to be tested can be pressed against the testing needle bed 300 by means of manual pressing. In a preferred embodiment, a test fixture 150 may be provided at the test tool table 100 for fixing the multi-axis servo driver control board 400 to be tested. In the present application, the test fixture is the prior art, and is not described herein again. In practical application, the test fixture 150 is used for attaching and pressing the multi-axis servo driver control board 400 to be tested to the test needle bed 300, so that poor contact caused by movement of the multi-axis servo driver control board 400 to be tested in the test process can be avoided, and the accuracy of the test result is ensured.
In a further embodiment, the test fixture 100 may further include a pneumatic device 140 (including an air cylinder) for driving the test fixture 150 to make the multi-axis servo driver control board 400 to be tested closely contact with the test needle bed 300, so as to further ensure that each test port is in good contact with the corresponding test probe. In practical applications, the pneumatic device 140 may be a mechanical arm, and a fixed gripping device is disposed at the end of the mechanical arm for fixing the test fixture 150, so that the multi-axis servo driver control board 400 to be tested is moved from the production line to the test tool table 100 for testing by the lifting of the mechanical arm.
In a conventional implementation manner, the embodiment of the present application is further equipped with an industrial personal computer 500, and the industrial personal computer 500 is electrically connected with the test tool table 100. The industrial personal computer 500 is a prior art and is not described herein again. In practical application, an operator can debug the test program on the industrial personal computer 500, and also can edit the test program on the industrial personal computer 500, and adjust different test parameters to make the test result of the multi-axis servo driver control board 400 to be tested more accurate.
In summary, referring to fig. 5, the detection apparatus for a multi-axis servo driver control board of a robot according to the embodiment of the present disclosure operates as follows, taking the test of the 5V voltage detection of the multi-axis servo driver control board 400 to be tested as an example, first, the multi-axis servo driver control board to be tested is placed on the test fixture table 100; then, by turning on a switch key, operating on the industrial personal computer 500 and sending an instruction to the tool main control board 200, and triggering to enter an automatic test process of the multi-axis servo driver control board 400; then, starting the pneumatic device 140, and pressing the multi-axis servo driver control board 400 to be tested and the testing needle bed 300 tightly; after receiving the sent test instruction, the tool main control board 200 controls the program-controlled power supply to be powered on, and starts to supply power to the 5V voltage power supply position of the multi-axis servo driver control board 400 to be tested, and after receiving the output signal of the 5V voltage of the multi-axis servo driver control board 400 to be tested through the signal detection circuit 220, the tool main control board 200 judges whether the multi-axis servo driver control board is working normally. And then testing the encoder test points of the multi-axis servo driver control board 400 to be tested, testing the RS485 communication test points, testing the test points of chips of ARM1, ARM2, ARM3, FPGA1, FPGA2 and FPGA3, and testing the BK, DI, DO and STO signal test points. And after the test is finished, powering down the programmable power supply to finish the test. In the whole testing process, when the tool main control board 200 determines that a certain output signal of the multi-axis servo driver control board 400 to be tested is abnormal or a corresponding functional module in the control board may have a fault, the tool main control board flashes an indicator light and sends an alarm to prompt, and the detection is stopped until the tool main control board 200 receives a trigger signal again and enters the testing process again.
In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.
Claims (10)
1. A test apparatus for a multi-axis servo driver control panel of a robot for testing the multi-axis servo driver control panel to be tested, comprising: the test fixture table (100) is provided with a fixture main control board (200) and a test needle bed (300), and the fixture main control board (200) is used for driving a multi-axis servo driver control board (400) to be tested to perform electrical performance test; the tool main control board (200) is provided with a main control chip (210), the main control chip (210) comprises a signal circuit (211), a chip test circuit (212) and an RS485 communication and encoder circuit (213), the signal circuit (211) is used for detecting BK, DI, DO and STO signals of a multi-axis servo driver control board to be tested, the RS485 communication and encoder circuit (213) is used for detecting functions of a multi-path encoder and 485 differential signals of the multi-axis servo driver control board to be tested, and the chip test circuit (212) is used for detecting functions of an ARM chip and an FPGA chip of the multi-axis servo driver control board to be tested; the tool main control board (200) is electrically connected with the test needle bed (300); the test needle bed (300) is used for being connected with a multi-axis servo driver control board (400) to be tested so as to realize the electric connection of the tool main control board (200) and the multi-axis servo driver control board (400) to be tested.
2. The inspection apparatus for robotic multi-axis servo driver control board of claim 1, wherein the test tool table (100) comprises a first programmable power supply (110), a second programmable power supply (120), and a third programmable power supply (130); the first programmable power supply (110), the second programmable power supply (120) and the third programmable power supply (130) are electrically connected with the testing needle bed (300) so as to supply power to the multi-axis servo driver control board (400) to be tested.
3. The inspection apparatus for a multi-axis servo driver control board of a robot of claim 1, wherein the tool main control board (200) comprises a signal detection circuit (220), the signal detection circuit (220) is connected between a main control chip (210) and the test needle bed (300) for testing a feedback signal of the multi-axis servo driver control board (400) to be tested.
4. The inspection apparatus for a multi-axis servo driver control board of a robot according to claim 3, wherein the signal detection circuit (220) includes a 3.3V voltage detection point, a 5V voltage detection point and a 24V voltage detection point, the 5V voltage detection point is used to supply power to the multi-axis servo driver control board (400) to be tested, the 3.3V voltage detection point is used to detect a signal function of the multi-axis servo driver control board (400) to be tested, and the 24V voltage detection point is used to detect a chip function of the multi-axis servo driver control board (400) to be tested.
5. The inspection apparatus for a multi-axis servo driver control board of a robot as claimed in claim 3, the signal detection circuit (220) is characterized by comprising a first operational amplifier U3, an optical coupler isolator U4A, an optical coupler isolator U4B, a second operational amplification module (221) and a third operational amplification module (222), the input end of the first operational amplifier (U3) is connected with the output signal of the multi-axis servo driver control board (400) to be tested, the output end of the first operational amplifier (U3) is connected with the input end of the optical coupling isolator U4A, the output ends of the optical coupler isolator U4A and the optical coupler isolator U4B are connected with the input end of the second operational amplification module (221), the output end of the second operational amplification module (221) is connected with the input end of the third operational amplification module (222), the output end of the third operational amplification module (222) is connected with the main control chip (210).
6. The inspection apparatus for multi-axis servo driver control board of robot according to claim 1, wherein the test tool table (100) further comprises an indicator light electrically connected to the tool main control board (200) and used to display a test result.
7. The inspection apparatus for a multi-axis servo driver control board of a robot of claim 1, wherein the test tool table (100) further comprises a switch button for triggering the multi-axis servo driver control board (400) to be tested to perform a test.
8. The inspection apparatus for a multi-axis servo driver control board of a robot according to claim 1, wherein the test tooling table (100) comprises a test fixture (150) for fixing the multi-axis servo driver control board (400) to be tested.
9. The inspection apparatus for a multi-axis servo driver control board of a robot according to claim 8, wherein the test tooling table (100) comprises a pneumatic device (140) for driving the test fixture (150) to bring the multi-axis servo driver control board (400) to be tested into close contact with the test needle bed (300).
10. The detection apparatus for a multi-axis servo driver control board of a robot according to claim 1, further comprising an industrial personal computer (500), wherein the industrial personal computer (500) is electrically connected with the test tooling table (100).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115436784A (en) * | 2022-09-06 | 2022-12-06 | 广东若铂智能机器人有限公司 | Servo driver logic board quality inspection system |
| CN115629288A (en) * | 2022-09-06 | 2023-01-20 | 广东若铂智能机器人有限公司 | Servo driver power board quality inspection system |
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2021
- 2021-04-12 CN CN202120735542.9U patent/CN214954676U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115436784A (en) * | 2022-09-06 | 2022-12-06 | 广东若铂智能机器人有限公司 | Servo driver logic board quality inspection system |
| CN115629288A (en) * | 2022-09-06 | 2023-01-20 | 广东若铂智能机器人有限公司 | Servo driver power board quality inspection system |
| CN115629288B (en) * | 2022-09-06 | 2024-05-24 | 广东若铂智能机器人有限公司 | Servo driver power board quality inspection system |
| CN115436784B (en) * | 2022-09-06 | 2024-06-18 | 广东若铂智能机器人有限公司 | Servo driver logic board quality inspection system |
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