CN219854654U - Mechanical arm repeated positioning precision testing device and system - Google Patents
Mechanical arm repeated positioning precision testing device and system Download PDFInfo
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- CN219854654U CN219854654U CN202320782976.3U CN202320782976U CN219854654U CN 219854654 U CN219854654 U CN 219854654U CN 202320782976 U CN202320782976 U CN 202320782976U CN 219854654 U CN219854654 U CN 219854654U
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- 238000012360 testing method Methods 0.000 title claims abstract description 91
- 238000006073 displacement reaction Methods 0.000 claims abstract description 78
- 239000000523 sample Substances 0.000 claims abstract description 25
- 238000005259 measurement Methods 0.000 claims description 21
- 230000003252 repetitive effect Effects 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The utility model discloses a device and a system for testing repeated positioning accuracy of a mechanical arm, wherein the testing device specifically comprises the following components: the base comprises a bottom plate and a mounting plate obliquely arranged relative to the bottom plate; at least one mounting seat is fixedly arranged on the mounting plate, and each mounting seat is used for mounting three displacement sensors; the measuring probes of the three displacement sensors arranged on the mounting seat are mutually perpendicular and face to the same measuring center point; the mounting seat is detachably connected with a calibration piece, and the calibration piece is used for calibrating the initial positions of the three displacement sensor measuring probes mounted on the mounting seat. According to the scheme provided by the embodiment of the utility model, the cost can be reduced while the test precision is ensured; the testing device is detachable and convenient to carry and transport; and when the device and the system provided by the embodiment of the utility model are adopted for testing, the testing process is simple, and the operation difficulty is low.
Description
Technical Field
The utility model relates to the technical field of mechanical arm positioning measurement, in particular to a mechanical arm repeated positioning precision testing device and system.
Background
The positioning accuracy of the mechanical arm is an extremely important parameter of the mechanical arm, and accurate measurement of the positioning accuracy is one of important indexes for evaluating whether the mechanical arm is qualified or not. At present, the repeated positioning accuracy test method for the mechanical arm is less, and a laser tracker is generally adopted. The laser tracker has high precision and accuracy, but the measurement process is complex, and the equipment is also more expensive; the laser is required to always track the test ball head, so that the requirement on the accuracy of operation is high; the laser equipment is easy to damage during transportation and is inconvenient to carry.
Disclosure of Invention
In view of the above problems, the present utility model provides a device and a system for testing repeated positioning accuracy of a mechanical arm, which overcome or at least partially solve the above problems, and the technical scheme is as follows:
the mechanical arm repeated positioning precision testing device comprises a base, wherein the base comprises a bottom plate and a mounting plate obliquely arranged relative to the bottom plate; at least one mounting seat is fixedly arranged on the mounting plate, and each mounting seat is used for mounting three displacement sensors; the measuring probes of the three displacement sensors arranged on the mounting seat are mutually perpendicular and face the same measuring center point; the mounting seat is detachably connected with a calibration piece, and the calibration piece is used for calibrating the initial positions of the three displacement sensor measuring probes mounted on the mounting seat.
In the above device, optionally, the calibration member includes a calibration ball, and when the calibration member is connected to the mounting base, a center of the calibration ball coincides with a measurement center point of the mounting base.
According to the device, optionally, when the calibration piece is connected to the mounting seat, the positions of the three displacement sensors mounted on the mounting seat are adjusted, so that the measurement probes of the three displacement sensors are in contact with the calibration ball head, and the displacement data collected by the three displacement sensors are initial set values.
The device is optional, the mounting seat is provided with a connecting hole, the calibration piece further comprises a connecting piece, one end of the connecting piece is provided with the calibration ball head, and the other end of the connecting piece is inserted into the connecting hole.
In the above device, optionally, the connector is disposed vertically with respect to the mounting plate when the calibration member is connected to the mounting base.
The device comprises a mounting seat, wherein the mounting seat comprises a first mounting surface, a second mounting surface and a third mounting surface which are arranged vertically to each other, the first mounting surface is perpendicular to the plane of the mounting plate, the second mounting surface and the third mounting surface are both arranged at an included angle of 45 degrees with the plane of the mounting plate, and measuring probes of three displacement sensors mounted on the mounting seat are respectively perpendicular to the first mounting surface, parallel to the second mounting surface and parallel to the third mounting surface.
In the above device, optionally, the mounting plate and the bottom plate form an included angle of 45 degrees.
In the above device, optionally, five mounting seats are disposed on the mounting plate.
A robotic arm repositioning accuracy testing system, comprising:
the test device adopts the mechanical arm repeated positioning precision test device;
the test ball head is connected to the mechanical arm and driven by the mechanical arm to move to the measurement center point of each mounting seat;
and the processor is communicated with each displacement sensor and receives the displacement data acquired by each displacement sensor.
The system, optionally, the mechanical arm repeated positioning precision testing system further comprises a hub, wherein each displacement sensor is connected with the processor through the hub;
the processor is also communicated with the mechanical arm, and the mechanical arm is controlled to drive the test ball head to repeatedly move to the measurement center point of each mounting seat.
Compared with the prior art, the utility model has the following advantages: in the scheme provided by the embodiment of the utility model, the displacement sensor is installed by arranging the installation piece on the base for testing, so that the cost is low and the displacement sensor can ensure the testing precision; the testing device is detachable and convenient to carry and transport; when the device and the system provided by the embodiment of the utility model are adopted for testing, the testing process is simple, and the operation difficulty is low; and before the test, the displacement sensor can be calibrated through the calibration piece, so that the measurement accuracy is ensured.
The foregoing description is only an overview of the present utility model, and is intended to be implemented in accordance with the teachings of the present utility model in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present utility model more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the utility model. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic structural diagram of a mechanical arm repeated positioning accuracy testing system according to an embodiment of the present utility model;
fig. 2 is a schematic structural diagram of a mechanical arm repeated positioning accuracy testing device according to an embodiment of the present utility model;
FIG. 3 is a schematic diagram of another embodiment of a device for testing the accuracy of repeated positioning of a mechanical arm according to the present utility model;
the device comprises a 1-mechanical arm repeated positioning precision testing device; 2-a mounting base; 21-a first mounting surface; 22-a second mounting surface; 23-a third mounting surface; 24-a sensor mount; 25-side plates; 3-a bottom plate; 4-mounting plates; a 5-displacement sensor; 6-calibrating the ball head; 7-connecting piece; 8-testing the ball head; 9-a processor; 10-a mechanical arm; 11-the end of the mechanical arm; 12-hubs; 13-a cable; 14-bracket.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the utility model provides a device for testing the repeated positioning precision of a mechanical arm, which can be used for acquiring a displacement value of each time when a test ball head repeatedly reaches a designated position when the repeated positioning precision test of the mechanical arm is carried out, and processing and calculating according to the displacement value can obtain the repeated positioning precision of the mechanical arm. Referring to fig. 1, a schematic diagram of overall system connection when the mechanical arm positioning accuracy testing device 1 provided by the embodiment of the present utility model is used for performing mechanical arm positioning accuracy testing is shown, and referring to fig. 2 and fig. 3, a schematic diagram of a specific structure of the mechanical arm positioning accuracy testing device 1 is shown, where fig. 2 and fig. 3 are a front view and a right view, respectively, and fig. 2 and fig. 3 only show a case where one mounting seat 2 is provided on the mounting plate 4, and when more than one mounting seat 2 is provided on the mounting plate 4, the arrangement may be performed in a similar manner.
The structure shown in fig. 1-3 is a feasibility implementation scheme of the embodiment of the utility model, and the mechanical arm repeated positioning precision testing device 1 specifically includes: the base comprises a bottom plate 3 and a mounting plate 4 which is obliquely arranged relative to the bottom plate; at least one mounting seat 2 is fixedly arranged on the mounting plate 4, and each mounting seat 2 is used for mounting three displacement sensors 5; the measuring probes of the three displacement sensors 5 arranged on the mounting seat 2 are mutually perpendicular and face the same measuring center point; the mounting seat 2 is detachably connected with a calibration piece, and the calibration piece is used for calibrating the initial positions of the three displacement sensors 5 measurement probes mounted on the mounting seat 2.
In the device provided by the embodiment of the utility model, the mounting plate 4 is obliquely arranged relative to the bottom plate 3, so that the mounting plate 4 and the bottom plate 3 form a certain included angle; optionally, the included angle between the mounting plate 4 and the bottom plate can be adjusted according to the test requirement, and generally, if the bottom plate 3 is parallel to the horizontal plane, the mounting plate 4 and the bottom plate 3 can be optionally arranged to form a 45-degree included angle so as to meet the test requirement. According to the device provided by the embodiment of the utility model, the inclined plane precision and the like of the mounting plate 4 do not need to reach the measuring tool level, and because the repeated positioning precision of the measuring mechanical arm only needs to compare repeated position displacement deviations for a plurality of times and does not need too high reference plane precision, the manufacturing difficulty and the cost of the device provided by the embodiment of the utility model are low, and the device can be ensured to be stably used for a long time without deformation.
In the device provided by the embodiment of the utility model, at least one mounting seat 2 is fixedly arranged on the mounting plate 4, each mounting seat 2 corresponds to one measurement center point, the number and the positions of the measurement center points can be set according to the test requirements, usually, five measurement center points in different positions are required to be set, and repeated positioning accuracy tests are respectively carried out on the measurement center points in the five different positions. Optionally, in the device provided by the embodiment of the present utility model, five mounting seats 2 are provided on the mounting plate, and each mounting seat structure may be the same or different structures for mounting the displacement sensor. The specific technical field has specific industry standard for the repeated positioning accuracy test of the mechanical arm, for example, when the repeated positioning accuracy test is performed on the tail end of the mechanical arm of the surgical robot, five measurement points are required to be selected in the inclined plane of the effective working space, in the embodiment, the inclined plane of the optional working space, namely, the plane of the mounting plate 2, is an inclined plane forming an angle of 45 degrees with the horizontal plane, and five mounting seats 2 are arranged on the mounting plate 2 corresponding to the five test points.
In the device provided by the embodiment of the utility model, each mounting seat 2 is used for mounting three displacement sensors 5, and each displacement sensor 5 comprises a measuring probe; during testing, the test ball 8 is connected to the mechanical arm 1, and the mechanical arm 1 drives the test ball 8 to move to the measurement center point of each mounting seat 2, so that the test ball 8 is in contact with the measurement probes of the three displacement sensors 5 on the mounting seats 2. Further, the measuring probes of the three displacement sensors 5 mounted on the same mounting seat 2 are arranged to be perpendicular to each other and face the same measuring center point, a space coordinate system is established, the directions of the measuring probes of the three displacement sensors 5 are respectively parallel to three directions of XYZ of the space coordinate system, and when the testing ball head 8 moves to the measuring center point of one mounting seat 2, the three displacement sensors 5 on the mounting seat 2 acquire displacement data of the testing ball head 8 in the three directions of XYZ through the respective measuring probes.
In the device provided by the embodiment of the utility model, the three displacement sensors 5 on each mounting seat 2 can be calibrated before the test, the calibration piece is detachably connected to the mounting seat 2, the calibration piece is connected to the mounting seat 2 during the calibration, and the calibration piece is removed after the calibration is completed and then the test is performed.
Optionally, the calibration piece includes calibration bulb 6, when the calibration piece is connected to mount pad 2, the center of sphere of calibration bulb 6 with the measurement center point coincidence of mount pad 2 for the displacement sensing ability of three displacement sensor 5 after the calibration through this calibration bulb 6 to the test bulb is accurate and unanimous for the measurement center point. The calibration piece is optionally used for calibrating the initial positions of the measurement probes of the three displacement sensors 5 installed on the installation seat 2, when the calibration piece is installed on the installation seat 2, the spherical center of the calibration ball head 6 is ensured to coincide with the measurement center point of the installation seat 2, then the positions of the three displacement sensors 5 installed on the installation seat 2 are adjusted, so that the measurement probes of the three displacement sensors 5 are in contact with the calibration ball head 6, and the displacement data acquired by the three displacement sensors 5 are initial set values. The initial set value can be set by itself, if the initial set value is set to be zero or other values, the initial set value is subtracted from the data obtained by the test in the actual test to obtain the actual displacement value.
Further, the calibration piece further comprises a connecting piece 7, the calibration ball head 6 is mounted on the mounting seat 2 through the connecting piece 7, referring to fig. 2, a connecting hole is formed in the mounting seat 2, one end of the connecting piece 7 is provided with the calibration ball head 6, and the other end of the connecting piece 7 is inserted into the connecting hole. Further, the connector 7 may be disposed vertically with respect to the mounting plate 4 when the alignment member is attached to the mounting plate 2. The connecting piece 7 can be selected to be long rod structure, and the connecting hole orientation is perpendicular to the direction setting of mounting panel 4, and after the connecting piece 7 one end of long rod structure inserts in the connecting hole, the center of sphere of the calibration bulb 6 that the other end set up coincides with the measurement center point of mount pad 2.
In the device provided by the embodiment of the utility model, three displacement sensors 5 with measurement probes perpendicular to each other and facing the same measurement center point are mounted on one mounting seat 2, optionally, the mounting seat 2 comprises a first mounting surface 21, a second mounting surface 22 and a third mounting surface 23 which are perpendicular to each other, the first mounting surface 21 is perpendicular to the plane of the mounting plate 4, the second mounting surface 22 and the third mounting surface 23 are both arranged at an included angle of 45 degrees with respect to the plane of the mounting plate 4, referring to fig. 2, the first mounting surface 21 is perpendicular to the plane of the mounting plate 4 and is perpendicular to the second mounting surface 22 and the third mounting surface 23, the second mounting surface 22 is perpendicular to the plane of the mounting plate 4 and is perpendicular to the first mounting surface 21 and the third mounting surface 23, and the third mounting surface 23 is perpendicular to the plane of the mounting plate 4 and is at an included angle of 45 degrees with respect to the plane of the first mounting surface 21 and the second mounting surface 22.
Optionally, a side plate 25 is formed on the first mounting surface 21, and a through hole is formed on the side plate 25, and the displacement sensor 5 is disposed through the through hole, so that the measuring probe of the displacement sensor 5 is perpendicular to the first mounting surface 21. Two sensor seats 24 are optionally provided on the second mounting surface 22 and the third mounting surface 23, respectively, two displacement sensors 5 are mounted on the second mounting surface 22 and the third mounting surface 23 through the two sensor seats 24, respectively, and measuring probes of the two displacement sensors 5 are parallel to the second mounting surface 22 and the third mounting surface 23, respectively.
Further, the second mounting surface 22 and the third mounting surface 23 are connected by a fourth mounting surface, two sides of the two pairs of the fourth mounting surface respectively intersect with the second mounting surface 22 and the third mounting surface 23, and the fourth mounting surface is parallel to the plane of the mounting plate 4, and a connection hole for mounting the calibration piece can be formed in the fourth mounting surface.
The embodiment of the utility model also provides a system for testing the repeated positioning precision of the mechanical arm by using the device for testing the repeated positioning precision of the mechanical arm, which referring to fig. 1, specifically comprises the following steps: the test device adopts the mechanical arm repeated positioning precision test device 1, and the test device can be installed by selecting a bracket 14; the test ball head 8 is connected to the mechanical arm 10, and is driven by the mechanical arm 10 to move to the measurement center point of each mounting seat 2; and a processor 9, which is communicated with each displacement sensor 5 and receives the displacement data acquired by each displacement sensor 5.
In the system provided by the embodiment of the utility model, the test ball 8 is optionally connected to the tail end 11 of the mechanical arm, for example, the tail end of the mechanical arm is connected with a linear shaft, the test ball 8 is connected to the linear shaft, and the linear shaft drives the test ball 8 to reciprocate, so that the test ball 8 repeatedly passes through the measurement center point of each mounting seat 2 to be contacted with the measurement probes of the displacement sensors 5 in three directions. The robotic arm 10 may optionally be mounted on a measurement bench.
In the system provided by the embodiment of the utility model, the processor 9 is used for acquiring all displacement data acquired by each displacement sensor 5, and obtaining the repeated positioning accuracy result of the mechanical arm after analysis and calculation. Further, the mechanical arm repeated positioning precision testing system further comprises a hub 12, and each displacement sensor 5 is connected with the processor 9 through the hub 12; optionally, each displacement sensor 5 sends a measurement signal to the hub 12 through a 485 interface, then the hub 12 sends the measurement signal to the processor 9 through the cable 13, the processor 9 is optionally a computer, and software in the computer converts the measurement signal sent by the hub 12 into measurement data, and records and analyzes the measurement data.
In the system provided by the embodiment of the present utility model, optionally, the processor 9 is further in communication with the mechanical arm 10, and controls the mechanical arm 10 to drive the test ball 8 to repeatedly move to the measurement center point of each mounting seat 2. The arm 10 optionally includes a drive control module, and the processor 9 communicates with the drive control module of the arm 10 via a cable 13 and generates control signals to control the rotation of the joints of the arm 10 and to control the movement of the linear axis at the end of the arm 10.
When the system provided by the embodiment of the utility model is used for carrying out the mechanical arm repeated positioning precision test, the mechanical arm repeated positioning precision test device 1 is installed, five positions to be tested are set, the displacement sensors 5 are installed at the corresponding positions through the installation seats 2, each displacement sensor 5 is connected with the processor 9 through the hub 12 through the cable 13, the processor 9 is connected with the mechanical arm 10 through the cable 13, and after the initial positions of the measuring probes of the three displacement sensors 5 on each installation seat 2 are calibrated by using the calibration piece, the test is started.
When the speed is measured, the test ball 8 is connected to the tail end 11 of the mechanical arm, the processor 9 sets and sends out a preset movement positioning instruction to control the mechanical arm 10 to move, so that the tail end of the mechanical arm 10 executes the preset positioning instruction for a plurality of times, the mechanical arm 10 drives the test ball 8 to reciprocate, and the test ball 8 moves and positions from the initial position to a measuring area of the measuring center point of each mounting seat 2.
For each mounting seat 2, the test ball 8 reciprocates between a starting point and a measurement center point according to a designated track, when the test ball 8 reaches the measurement center point, the test ball 8 can pause for 2s and then continue to move, three mutually perpendicular and adjacent surfaces of the test ball 8 are respectively contacted with three measuring probes of three displacement sensors 5 on the corresponding mounting seat 2, corresponding measuring signals are respectively formed on the three displacement sensors 5 on the corresponding mounting seat 2, and the displacement of the position coordinates of the test ball 8 in the three directions of XYZ (x, y) is measured by the three displacement sensors 5 on the corresponding mounting seat 2; the displacement data collected by the three displacement sensors 5 on each mounting seat 2 are sent to the processor 9, the processor calculates the repeated positioning precision of the tail end of the mechanical arm according to the multiple measurement results, specifically, the processor 9 calculates the accuracy of the pose of the tail end of the mechanical arm according to the displacement data measured by each displacement sensor 5, calculates the repeated positioning precision according to the accuracy of the pose of the tail end of the mechanical arm, finally evaluates the position repeatability deviation index, and judges whether the repeated positioning precision of the mechanical arm meets the standard requirement according to the index.
The foregoing is merely exemplary of the present utility model and is not intended to limit the present utility model. Various modifications and variations of the present utility model will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are to be included in the scope of the claims of the present utility model.
Claims (10)
1. The mechanical arm repeated positioning precision testing device is characterized by comprising a base, wherein the base comprises a bottom plate and a mounting plate obliquely arranged relative to the bottom plate; at least one mounting seat is fixedly arranged on the mounting plate, and each mounting seat is used for mounting three displacement sensors; the measuring probes of the three displacement sensors arranged on the mounting seat are mutually perpendicular and face the same measuring center point; the mounting seat is detachably connected with a calibration piece, and the calibration piece is used for calibrating the initial positions of the three displacement sensor measuring probes mounted on the mounting seat.
2. The mechanical arm repeated positioning precision testing device according to claim 1, wherein the calibration member comprises a calibration ball, and a center of the calibration ball coincides with a measurement center point of the mount when the calibration member is connected to the mount.
3. The mechanical arm repeated positioning precision testing device according to claim 2, wherein when the calibration piece is connected to the mounting seat, positions of three displacement sensors mounted on the mounting seat are adjusted so that measurement probes of the three displacement sensors are all in contact with the calibration ball head, and displacement data acquired by the three displacement sensors are initial set values.
4. The mechanical arm repeated positioning precision testing device according to claim 2 or 3, wherein the mounting seat is provided with a connecting hole, the calibration piece further comprises a connecting piece, one end of the connecting piece is provided with the calibration ball head, and the other end of the connecting piece is inserted into the connecting hole.
5. The mechanical arm repetitive positioning accuracy testing device according to claim 4, wherein the connecting member is arranged vertically with respect to the mounting plate when the calibration member is connected to the mounting base.
6. The mechanical arm repeated positioning precision testing device according to claim 1 or 5, wherein the mounting seat comprises a first mounting surface, a second mounting surface and a third mounting surface which are arranged perpendicular to each other, the first mounting surface is arranged perpendicular to the mounting plate plane, the second mounting surface and the third mounting surface are arranged at an included angle of 45 degrees with the mounting plate plane, and measurement probes of three displacement sensors mounted on the mounting seat are respectively arranged perpendicular to the first mounting surface, parallel to the second mounting surface and parallel to the third mounting surface.
7. The mechanical arm repeated positioning precision testing device according to claim 1, wherein the mounting plate and the bottom plate form an included angle of 45 degrees.
8. The mechanical arm repeated positioning precision testing device according to claim 1, wherein five mounting seats are arranged on the mounting plate.
9. The utility model provides a mechanical arm repeated positioning precision test system which characterized in that includes:
a test device employing the mechanical arm repetitive positioning accuracy test device according to any one of claims 1 to 8;
the test ball head is connected to the mechanical arm and driven by the mechanical arm to move to the measurement center point of each mounting seat;
and the processor is communicated with each displacement sensor and receives the displacement data acquired by each displacement sensor.
10. The robotic arm repositioning accuracy testing system according to claim 9, further comprising a hub through which each displacement sensor is coupled to the processor;
the processor is also communicated with the mechanical arm, and the mechanical arm is controlled to drive the test ball head to repeatedly move to the measurement center point of each mounting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320782976.3U CN219854654U (en) | 2023-04-10 | 2023-04-10 | Mechanical arm repeated positioning precision testing device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320782976.3U CN219854654U (en) | 2023-04-10 | 2023-04-10 | Mechanical arm repeated positioning precision testing device and system |
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| Publication Number | Publication Date |
|---|---|
| CN219854654U true CN219854654U (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202320782976.3U Active CN219854654U (en) | 2023-04-10 | 2023-04-10 | Mechanical arm repeated positioning precision testing device and system |
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| Country | Link |
|---|---|
| CN (1) | CN219854654U (en) |
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2023
- 2023-04-10 CN CN202320782976.3U patent/CN219854654U/en active Active
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