CN101462267B - Three-arm buttjunction module flat lattice type self-reorganization robot - Google Patents
Three-arm buttjunction module flat lattice type self-reorganization robot Download PDFInfo
- Publication number
- CN101462267B CN101462267B CN2009100450657A CN200910045065A CN101462267B CN 101462267 B CN101462267 B CN 101462267B CN 2009100450657 A CN2009100450657 A CN 2009100450657A CN 200910045065 A CN200910045065 A CN 200910045065A CN 101462267 B CN101462267 B CN 101462267B
- Authority
- CN
- China
- Prior art keywords
- butt joint
- panel
- motor
- housing
- spiral drum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a planar crystal lattice type self-reconstructing robot with a three-arm butted module in the technical field of machinery, which comprises a central frame body and three butted single arms. The central frame body is an regular triangle prism, and each lateral surface of the regular triangle prism is fixedly connected with one butted single arm respectively; and each butted single arm comprises a first inner frame, a first turning motor, a middle frame, a rotating motor, a second inner frame, a second turning motor, an outer frame and a butted surface device, wherein the first inner frame is fixedly connected with a lateral surface of the central frame body, the first turning motor is fixed in the first inner frame, the rotating motor is fixed in the middle frame, an output disc of the rotating motor is connected with the second inner frame to form a second rotary motion joint, the second turning motor is fixed in the second inner frame, a driving shaft of the second turning motor is connected with the outer frame to form a third turning joint, and one end face of the outer frame is provided with the butted surface device. The planar crystal lattice type self-reconstructing robot has a large planar coverage factor and can achieve a plurality of deformation modes.
Description
Technical field
The present invention relates to a kind of robot of field of mechanical technique, specifically is a kind of three arms butt joint module flat lattice type self-reorganization robot.
Background technology
Flat lattice type self-reorganization robot is made up of the similar or identical basic module of many geometries, function and structure, thereby thereby the connection that can change fast each other change integral layout.Designed polytype module at present both at home and abroad, its pluses and minuses have respectively been arranged.
Find by prior art documents, the patent No. is US 6,635,781 United States Patent (USP), patent name is: Distributed Control and Collaboration of Autonomous Agents ina Dynamic Reconfigurable System (dynamically in the self-reconstruction system from the distributed control and the cooperation of main control main body), relate to a kind of Superbot self-reorganization robot module in this patent, adopt two cubes and utilize the motor output shaft splicing, obtain two duplicate interfaces, be provided with on the interface and be four slide block chucks that diagonal is arranged, thereby intermodule can be clamped down on and securely to connecting with matching each other.But this self-reorganization robot module volume is big, quality is also bigger, can't satisfy the demand that crystal lattice type spreads out in big plane, and only has two interfaces can not guarantee the connection of a plurality of modules in the dimensional orientation, only is applicable to the chain type link of polyphone.
Retrieval is found again, the patent No. is US 6,568, the United States Patent (USP) of 869B1, patent name is (ThreeDimensional Universal Unit for Movable Structure (the three-dimensional GU Generic Unit of removable frame), relate to a kind of M-TRAN series self-reorganization robot module in this patent, adopt the structure of two interfaces of two cubes equally.But since it in can only the implementation space upset and can't finish the rotation plane in, so the limitation of being out of shape is equally very big.
Retrieval is also found, at people's (" IEEE/ASME mechano-electronic journal ") (Vol.7 such as " IEEE/ASME TRANSACTIONS ON MECHATRONICS " author Mark Yim, No.4, in December, 2002) publish an article in " Connecting and Disconnecting for Chain Self-Reconfiguration withPolyBot " (" connection of chain type self-reorganization robot---PolyBot and disconnection "), the self-reorganization robot module of its proposition surrounds plane lattice by the strand connection.Reach two holes that are complementary with it by four axles on the interface during butt joint, securely to connecting by SMA marmem control size.But this design cost cost is too high and the power consumption of SMA marmem is many, can not guarantee the connection of space multiposition module equally, realizes that large-area difficulty and cost from the reconstruct task is bigger.
At present, the similar field such as solar cell for space use battle array on big plane press for the self-reorganization robot mechanism with intelligence assembling and self-repair function, but also do not have relevant invention to occur.
Summary of the invention
The objective of the invention is at above-mentioned the deficiencies in the prior art, a kind of three arms butt joint module flat lattice type self-reorganization robot has been proposed, make it control single joint motions, finished the distortion of whole piece butt joint single armed, thereby drive the motion and the distortion of entire machine people module by single motor.For different distortion demands, the present invention can adopt the interior upset of perpendicular and two kinds of different modes of the interior rotation of horizontal plane to finish the action of docking on the direction, and connect to dock by the slide block chuck and finish from the reconstruct task with other modules, plane of the present invention coverage rate is big, can realize that deformation pattern is many, for similar application such as the intelligence assembling of the solar cell for space use array module on big plane and selfreparing provide technical support.
The present invention is achieved through the following technical solutions, the present invention includes: center framework and some butt joint single armeds, wherein, the center framework is the equilateral triangle prism, each side of equilateral triangle prism is docked single armed and is fixedly linked with one respectively, every the butt joint single armed includes: first inside casing, the first upset motor, middle boxes, electric rotating machine, second inside casing, the second upset motor, housing, the interface device, a side of first inside casing and center framework is fixedly linked, the first upset motor is fixed on the first inside casing inside, the turning cylinder of the first upset motor links to each other with middle boxes and constitutes the first flip-flop movement joint, electric rotating machine is fixed on middle boxes inside, the output panel of electric rotating machine links to each other with second inside casing and constitutes second joint that rotatablely moves, the second upset motor is fixed on the second inside casing inside, the turning cylinder of the second upset motor links to each other with housing and constitutes the 3rd upset joint, and an end face of housing is provided with the interface device.
Described interface device, comprise: the control motor, the butt joint panel, four slide block chucks, ball, the spiral drum, the control motor is fixed on the housing, the output shaft and the spiral drum of control motor fix, the end face of housing is provided with circular port, the spiral drum is a loop configuration, on the spiral drum sidewall circumferential groove is arranged, corresponding with the circular port of housing, be provided with ball between the groove of spiral drum and the circular port of housing, the helix panel surface is provided with helix groove, and the top of spiral drum is provided with the butt joint panel, and four slide block chucks link to each other with the butt joint panel with the spiral drum respectively.
Described butt joint panel, its surface is provided with four groups of concentric fan-shaped annular grooves and a criss-cross straight line chute, four groups of concentric fan-shaped annular grooves are distributed in criss-cross straight line chute and will dock in four zones that panel is divided into, fan-shaped annular groove is as electric interfaces, and criss-cross straight line chute is used for retraining four slide block chucks.
Described slide block chuck, comprise: clutch shaft bearing, two second bearings, intermediate mass, gripping portion, the two bottom sides of gripping portion is equipped with second bearing, second bearing is arranged in the straight line chute that docks on the panel, the below of two second bearings is provided with intermediate mass, bottom one side of intermediate mass is provided with clutch shaft bearing, and clutch shaft bearing places in the wire casing of spiral drum.
Described gripping portion, form by step base and an inversion terrace with edge structure, inversion terrace with edge structure places the upper end of step base, the bottom surface of being inverted the terrace with edge structure is a trapezium structure, during butt joint, a side of the gripping portion terrace with edge structure in the slide block chuck of a gripping portion side of terrace with edge structure and another robot coincide in twos, to guarantee the degree of relaxing one's efforts of clamping, makes the module that is held be unlikely to loosening.
Described butt joint panel, its four summits are equipped with infrared diode, two infrared diodes on the diagonal are one group, are respectively emitting diode and reception diode, during butt joint, butt joint panel and the emitting diode that is docked on the panel send infrared light, by after reception diode is received separately, feedback position has been finished correction respectively, and the butt joint panel is docked with quilt, and panel is drawn close and finally finish butt joint, carry out position correction by infrared diode, can significantly improve the positional precision of butt joint.
Described center framework, it is as carrying platform, be mounted with solar panel, control circuit board and load-carrying wheel, solar panel all links to each other with the first upset motor, electric rotating machine, the second upset motor, interface device with control circuit board, solar panel is the said apparatus power supply, the action of control circuit board control said apparatus, the lower end of load-carrying wheel centering framework.
The described first upset motor, electric rotating machine, the second upset motor are servomotor.
When the present invention works, every the butt joint single armed is unrelated, the motor independent rotation separately of three movable joints on every butt joint single armed, wherein the first upset motor can be controlled the partial switching of butt joint single armed except that first inside casing, electric rotating machine can be controlled second inside casing and the whole rotation of housing, the second upset motor can be controlled the outer frame part upset, thereby the robot module can finish 180 ° of butt joints of upset or can finish the rotation butt joint in horizontal plane in perpendicular.During butt joint, four slide block chucks all are positioned at the outermost end of butt joint panel straight line chute originally, the control motor output panel of interface device is rotated counterclockwise, because second bearing of four slide block chucks is constrained in the straight line chute that docks on the panel, clutch shaft bearing constrains in the helix groove of spiral drum, the helix disc spins drives clutch shaft bearing and moves along helix groove, four slide block chucks are drawn close to the butt joint face plate center along the straight line chute on the butt joint panel, until the slide block chuck that clamps on another robot module's interface device, control motor and stop the rotation this moment, perhaps be rotated in place and make that four slide block chucks all draw in the butt joint face plate center and wait for that the slide block chuck that is docked on the panel by another robot module clamps, thereby finish two robot modules' butt joint by the control motor; When control motor edge turns clockwise, drive the counter-rotating of spiral drum, four slide block chucks are opened, be in releasing orientation.
Beneficial effect of the present invention: the present invention controls single joint motions by single motor, has finished the distortion of whole piece butt joint single armed, thereby drives the motion and the distortion of entire machine people module.For different distortion demands, the present invention can adopt the interior upset of perpendicular and two kinds of different modes of the interior rotation of horizontal plane to finish the action of docking on the direction, and connect to dock by the slide block chuck and finish from the reconstruct task with other modules, the present invention adopts SERVO CONTROL, makes that the motor shaft output speed and the anglec of rotation and position are precisely controlled.And the framework each several part all adopts securing member to connect among the present invention, thereby can change, and makes the robot module can further adjust size according to the actual requirements.So overall structure of the present invention has the internal structure compactness, be easy to realize, install, dock characteristics conveniently and solidly between the module, the present invention not only can be used as the self-reorganization robot module, also can be used as the individual machine people and carries platform application and be generalized to other field.Particularly to providing technological means with similar application such as the intelligence assembling of the solar cell for space use array module on big plane and selfreparings.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the structural representation of the interface device among the present invention;
Wherein: figure (a) is the stereogram at interface device oblique upper visual angle, and figure (b) is the tiltedly stereogram at visual angle, below of interface device.
Fig. 3 is the structural representation of the spiral drum among the present invention.
Fig. 4 is the structural representation of the slide block chuck among the present invention;
Among the figure: center framework 1, first inside casing 2, the first upset motor 3, middle boxes 4, electric rotating machine 5, second inside casing 6, the second upset motor 7, housing 8, control motor 9, butt joint panel 10, four slide block chucks 11, ball 12, spiral drum 13, clutch shaft bearing 14, concentric fan-shaped annular groove 15, two second bearings 16, intermediate mass 17, criss-cross straight line chute 18, gripping portion 19.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, shown in 2, present embodiment comprises: center framework 1 and some butt joint single armeds, wherein, center framework 1 is the equilateral triangle prism, each side of equilateral triangle prism is docked single armed and is fixedly linked with one respectively, every the butt joint single armed includes: first inside casing 2, the first upset motor 3, middle boxes 4, electric rotating machine 5, second inside casing 6, the second upset motor 7, housing 8, the interface device, first inside casing 2 is fixedly linked with a side of center framework 1, the first upset motor 3 is fixed on first inside casing, 1 inside, the turning cylinder of the first upset motor 3 links to each other with middle boxes 4 and constitutes the first flip-flop movement joint, electric rotating machine 5 is fixed on middle boxes 4 inside, the output panel of electric rotating machine 5 links to each other with second inside casing 6 and constitutes second joint that rotatablely moves, the second upset motor 7 is fixed on second inside casing, 6 inside, the power transmission shaft of the second upset motor 7 links to each other with housing 8 and constitutes the 3rd upset joint, and an end face of housing 8 is provided with the interface device.
Described interface device, comprise: control motor 9, butt joint panel 10, four slide block chucks 11, ball 12, spiral drum 13, control motor 9 is fixed on the housing 8, the output shaft and the spiral drum 13 of control motor 9 fix, the end face of housing 8 is provided with circular port, spiral drum 13 is a loop configuration, on spiral drum 13 sidewalls circumferential groove is arranged, corresponding with the circular port of housing 8, be provided with ball 12 between the circular port of the groove of spiral drum 13 and housing 8, spiral drum 13 its surfaces are provided with helix groove, as shown in Figure 3, the top of spiral drum 13 is provided with 10, four slide block chucks 11 of butt joint panel and links to each other with butt joint panel 10 with spiral drum 13 respectively.
Described butt joint panel 10, its surface is provided with four groups of concentric fan-shaped annular grooves 15 and a criss-cross straight line chute 18, four groups of concentric fan-shaped annular grooves 15 are distributed in criss-cross straight line chute 18 and will dock in four zones that panel 10 is divided into, fan-shaped annular groove 15 is as electric interfaces, and criss-cross straight line chute 18 is used for retraining four slide block chucks 11.
As shown in Figure 4, described slide block chuck 11, comprise: clutch shaft bearing 14, two second bearings 16, intermediate mass 17, gripping portion 19, the two bottom sides of gripping portion 19 is equipped with second bearing 16, second bearing 16 is arranged in the straight line chute that docks on the panel 10, the below of two second bearings 16 is provided with intermediate mass 17, and bottom one side of intermediate mass 17 is provided with clutch shaft bearing 14, and clutch shaft bearing 14 places in the wire casing of spiral drum 13.
Described gripping portion 19, form by step base and an inversion terrace with edge structure, inversion terrace with edge structure places the upper end of step base, the bottom surface of being inverted the terrace with edge structure is a trapezium structure, during butt joint, a side of the gripping portion terrace with edge structure in the slide block chuck of a gripping portion side of terrace with edge structure and another robot coincide in twos, to guarantee the degree of relaxing one's efforts of clamping, makes the module that is held be unlikely to loosening.
Described butt joint panel 10, its four summits are equipped with infrared diode, two infrared diodes on the diagonal are one group, are respectively emitting diode and reception diode, during butt joint, butt joint panel and the emitting diode that is docked on the panel send infrared light, by after reception diode is received separately, feedback position has been finished correction respectively, and the butt joint panel is docked with quilt, and panel is drawn close and finally finish butt joint, carry out position correction by infrared diode, can significantly improve the positional precision of butt joint.
Described center framework 1, it is as carrying platform, be mounted with solar panel, control circuit board and load-carrying wheel, solar panel all links to each other with the first upset motor 3, electric rotating machine 5, the second upset motor 7, interface device with control circuit board, solar panel is the said apparatus power supply, the action of control circuit board control said apparatus, the lower end of load-carrying wheel centering framework 1.
The described first upset motor 3, electric rotating machine 5, the second upset motor 7 are servomotor.
During present embodiment work, every docking arm is unrelated, the motor independent rotation separately of three movable joints on every butt joint single armed, wherein the first upset motor 3 can be controlled the part of butt joint single armed except that first inside casing 2 and do ± 165 ° of upsets, electric rotating machine 5 can be controlled ± 165 ° of rotations of second inside casing 6 and the whole do of housing, the second upset motor 7 can be controlled outer frame part and do ± 165 ° of upsets, so the robot module can finish 180 ° of butt joints of upset or can finish the rotation butt joint in horizontal plane in perpendicular.During butt joint, four slide block chucks 11 all are positioned at the outermost end of butt joint panel 11 straight line chutes originally, control motor 9 output panels in the interface device are rotated counterclockwise, because second bearing 16 of four slide block chucks 11 is constrained in the straight line chute that docks on the panel 10, clutch shaft bearing 14 constrains in the helix groove of spiral drum 13, spiral drum 13 rotation drives clutch shaft bearing 14 and moves along helix groove, four slide block chucks 11 are drawn close to butt joint panel 10 centers along the straight line chute on the butt joint panel 10, until the slide block chuck that clamps on another robot module's interface, control motor 9 and stop the rotation this moment, perhaps be rotated in place and make four slide block chucks 11 all draw in and wait for that the slide block chuck that is docked on the panel by another robot module clamps, thereby finish two robot modules' butt joint in butt joint panel 10 centers by the control motor; When control motor 9 edges turn clockwise, drive 13 counter-rotatings of spiral drum, four slide block chucks 11 are opened, be in releasing orientation.
The present embodiment overall structure has the internal structure compactness, is easy to realize, installs, and docks characteristics conveniently and solidly between the module, not only can be used as the self-reorganization robot module, also can be used as the individual machine people and carries platform application and be generalized to other field.Particularly to providing technological means with similar application such as the intelligence assembling of the solar cell for space use array module on big plane and selfreparings.
Claims (3)
1. an arm docks module flat lattice type self-reorganization robot, it is characterized in that, comprise: center framework and three butt joint single armeds, described center framework is the equilateral triangle prism, each side of equilateral triangle prism is docked single armed and is fixedly linked with one respectively, every the butt joint single armed includes: first inside casing, the first upset motor, middle boxes, electric rotating machine, second inside casing, the second upset motor, housing, the interface device, wherein: a side of first inside casing and center framework is fixedly linked, the first upset motor is fixed on the first inside casing inside, the turning cylinder of the first upset motor links to each other with middle boxes and constitutes the first flip-flop movement joint, electric rotating machine is fixed on middle boxes inside, the output panel of electric rotating machine links to each other with second inside casing and constitutes second joint that rotatablely moves, the second upset motor is fixed on the second inside casing inside, the second upset drive axle of motor links to each other with housing and constitutes the 3rd upset joint, and an end face of housing is provided with the interface device;
Described interface device, comprise: the control motor, the butt joint panel, four slide block chucks, ball, the spiral drum, the control motor is fixed on the housing, the output shaft and the spiral drum of control motor fix, the end face of housing is provided with circular port, the spiral drum is a loop configuration, on the spiral drum sidewall circumferential groove is arranged, corresponding with the circular port of housing, be provided with ball between the groove of spiral drum and the circular port of housing, the helix panel surface is provided with helix groove, and the top of spiral drum is provided with the butt joint panel, and four slide block chucks link to each other with the butt joint panel with the spiral drum respectively;
Described butt joint panel, its surface are provided with four groups of concentric fan-shaped annular grooves and a criss-cross straight line chute, and four groups of concentric fan-shaped annular grooves are distributed in criss-cross straight line chute and will dock in four zones that panel is divided into;
Described butt joint panel, its four summits are equipped with infrared diode, and two infrared diodes on the diagonal are one group, are respectively emitting diode and reception diode;
Described slide block chuck, comprise: clutch shaft bearing, two second bearings, intermediate mass, gripping portion, the two bottom sides of gripping portion is equipped with second bearing, second bearing is arranged in the straight line chute that docks on the panel, the below of two second bearings is provided with intermediate mass, bottom one side of intermediate mass is provided with clutch shaft bearing, and clutch shaft bearing places in the wire casing of spiral drum;
Described gripping portion is made up of step base and an inversion terrace with edge structure, is inverted the upper end that the terrace with edge structure places the step base, and the bottom surface of being inverted the terrace with edge structure is a trapezium structure.
2. three arms butt joint module flat lattice type self-reorganization robot according to claim 1, it is characterized in that, described center framework, it is as carrying platform, be mounted with solar panel, control circuit board and load-carrying wheel, solar panel all links to each other the lower end of load-carrying wheel centering framework with control circuit board with the first upset motor, electric rotating machine, the second upset motor, interface device.
3. three arms butt joint module flat lattice type self-reorganization robot according to claim 1 is characterized in that, the described first upset motor, electric rotating machine, the second upset motor are servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100450657A CN101462267B (en) | 2009-01-08 | 2009-01-08 | Three-arm buttjunction module flat lattice type self-reorganization robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100450657A CN101462267B (en) | 2009-01-08 | 2009-01-08 | Three-arm buttjunction module flat lattice type self-reorganization robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101462267A CN101462267A (en) | 2009-06-24 |
| CN101462267B true CN101462267B (en) | 2010-08-18 |
Family
ID=40803182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100450657A Expired - Fee Related CN101462267B (en) | 2009-01-08 | 2009-01-08 | Three-arm buttjunction module flat lattice type self-reorganization robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101462267B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101670586B (en) * | 2009-10-19 | 2012-09-05 | 上海交通大学 | Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging |
| CN101919738B (en) * | 2010-08-21 | 2012-06-27 | 上海交通大学 | Multiple degrees of freedom flexible motion arm mechanism |
| CN105034017B (en) * | 2015-08-11 | 2017-03-15 | 上海交通大学 | A kind of reconfigurable modularization robot cellular construction |
| CN105093963B (en) * | 2015-08-12 | 2018-05-04 | 上海交通大学 | Modular robot selfreparing analogue system and method |
| CN105137961B (en) * | 2015-08-19 | 2018-01-19 | 上海交通大学 | A kind of self-repair method of extensive crystal lattice type modular robot system |
| CN106334833A (en) * | 2016-10-14 | 2017-01-18 | 浙江锯力煌锯床股份有限公司 | Computerized numerical control rectangular sawing machine tool |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6568869B1 (en) * | 1999-11-09 | 2003-05-27 | Agency Of Industrial Science & Technology | Three dimensional universal unit for movable structure |
| CN1775489A (en) * | 2005-12-15 | 2006-05-24 | 上海交通大学 | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module |
| CN101254594A (en) * | 2008-04-17 | 2008-09-03 | 上海交通大学 | Standard butt-joint device self-repair module |
-
2009
- 2009-01-08 CN CN2009100450657A patent/CN101462267B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6568869B1 (en) * | 1999-11-09 | 2003-05-27 | Agency Of Industrial Science & Technology | Three dimensional universal unit for movable structure |
| CN1775489A (en) * | 2005-12-15 | 2006-05-24 | 上海交通大学 | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module |
| CN101254594A (en) * | 2008-04-17 | 2008-09-03 | 上海交通大学 | Standard butt-joint device self-repair module |
Non-Patent Citations (2)
| Title |
|---|
| 王建中,刘晶晶.微小型多机器人自重构的红外定位及对接方法.北京理工大学学报.2006,26(10),879-882. * |
| 费燕琼,夏振兴,张鑫.自重构机器人模块间对接位姿的调整.上海交通大学学报.2008,42(4),544-547. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101462267A (en) | 2009-06-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101462267B (en) | Three-arm buttjunction module flat lattice type self-reorganization robot | |
| CN102248460B (en) | Crystal blank automatic grinding and polishing system, grinding and polishing machine and auxiliary machine thereof | |
| CN112123323B (en) | 4UPU-UP redundant drive parallel robot | |
| CN102240943A (en) | Automatic grinding and polishing system for crystal blank, and auxiliary machinery of automatic grinding and polishing system | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN203765449U (en) | Automatic feeding and discharging mechanism of six-axis five-linkage tool grinder | |
| CN110125594A (en) | Pot body closing end positioning device | |
| CN110509285A (en) | A kind of huge revolving class component movable type machining robot | |
| TW202103833A (en) | Support mechanism | |
| CN110039524A (en) | Two turn of one shift redundancy drives full symmetric parallel institution | |
| CN102152132B (en) | Self-propelled type mechanism for inner wall processing of large barrel | |
| CN202240787U (en) | Automatic grinding and polishing system for crystal blank | |
| CN105690165A (en) | Large-altitude-angle 2R1T three-degree-of-freedom spatial parallel mechanism | |
| CN103286078B (en) | Three-degree-of-freedom parallel material vibration sorting platform | |
| WO2022088891A1 (en) | Reconfigurable robot unit module and reconfigurable robot | |
| CN112757110B (en) | Grinding device is used in screw processing | |
| CN107901029B (en) | Six-axis parallel mechanism and robot | |
| CN202162659U (en) | Crystal blank automatic grinding and polishing system | |
| CN105598996A (en) | Novel under-actuated robot wrist device based on nonholonomic constraint | |
| CN206105843U (en) | Four degree of freedom parallel robots | |
| CN101497193B (en) | Laser processing robot mechanism | |
| CN201154478Y (en) | Laser processing robot mechanism | |
| CN202144035U (en) | Auxiliary machine used for automatic crystal blank grinding and polishing system | |
| CN209035871U (en) | A kind of electric cylinders pressure welding positioner | |
| CN101633166A (en) | Restructurable industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100818 Termination date: 20130108 |