CN107962207A - A kind of packaged type parallel connection drilling robot - Google Patents
A kind of packaged type parallel connection drilling robot Download PDFInfo
- Publication number
- CN107962207A CN107962207A CN201711021539.5A CN201711021539A CN107962207A CN 107962207 A CN107962207 A CN 107962207A CN 201711021539 A CN201711021539 A CN 201711021539A CN 107962207 A CN107962207 A CN 107962207A
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- leg
- supporting block
- branch
- packaged type
- parallel connection
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/0021—Stands, supports or guiding devices for positioning portable tools or for securing them to the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Machine Tool Units (AREA)
- Drilling And Boring (AREA)
Abstract
The present invention relates to a kind of packaged type parallel connection drilling robot, including movable platform, the drill bit for machining being arranged at movable platform bottom centre position, the multigroup compound leg being placed in by connecting bracket uniform rotation on movable platform side, the compound leg connects the connecting bracket by joint unit respectively including upper end, converge three branch's legs for connecting same supporting block in lower end, Liang Ge branches therein leg is symmetrical, and its lower end passes through supporting block described in the first flexural pivot chain link, the lower end of another branch's leg is fixedly connected with the supporting block, three branch's legs have the function of that non-interference independence is moved along its axial stretching, the bottom of the supporting block is provided with the fixing piece being positioned on workpiece to be processed by the second spherical hinge.Compared with prior art, the present invention has the ability for voluntarily adjusting posture, voluntarily walking and firm absorption in workpiece surface, suitable for processing of regulation part and large complicated carved part etc..
Description
Technical field
The present invention relates to processing of robots field, more particularly, to a kind of packaged type parallel connection drilling robot.
Background technology
Aerospace field is all the hot topic of China technical staff research all the time, but to realize aircraft manufacturing
Automation and mechanization, are not an easy thing.Show according to investigations, during aircraft manufacturing, riveting, the drilling of fuselage
And substantial amounts of installment work is required for manually to complete.When these techniques are also not carried out automation, it is necessary to consume
Take a large amount of artificial and long period production cycles.Prolonged work will necessarily cause decline, the drop of efficiency of drilling precision
It is low.This substantial amounts of operation not exclusively is needed in aerospace field, other Large Crankshaft parts, Plate-shaped parts are required to
Substantial amounts of bore operation.Therefore complete just to be very necessary using the robot of an opposite automation.Drilling robot
Not only there is high accuracy, the drilling horizontal of high quality, but also there is the advantages that process-cycle is short, easily controllable.
The form of parallel robot is varied, and the environment used is also different, is developed so far, and is widely used always
It is the indispensable application of today's society in fields such as military project, medical treatment, industry.It is mainly by movable platform and peace
The leg formula structure composition that platform is connected.In order to solve the problems, such as large complicated class drilling part, present invention employs sucker to replace foot
The design of the palm, and parallel robot is optimized design, it is had more stronger universality.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of packaged type is in parallel
Drilling robot.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of packaged type parallel connection drilling robot, including movable platform, be arranged at movable platform bottom centre position
Drill bit for machining, the multigroup compound leg being placed in by connecting bracket uniform rotation on movable platform side, the compound leg
The connecting bracket is connected by joint unit respectively including upper end, three branches for connecting same supporting block are converged in lower end
Leg, Liang Ge branches therein leg is symmetrical, and its lower end passes through supporting block described in the first flexural pivot chain link, another branch's leg
Lower end be fixedly connected with the supporting block, there is three branch's legs non-interference independence to be moved along its axial stretching
Function, the bottom of the supporting block are provided with the fixing piece being positioned on workpiece to be processed by the second spherical hinge.
Preferably, the connecting bracket includes two groups of connecting rods and triangle connecting rack, described two groups of connecting rod phases
It is mutually parallel and be rotatably arranged on movable platform side, it is equipped with shaft through hole, described two shaft through holes in two groups of connection boom ends
Line perpendicular to connecting rod rotation direction, the top margin both sides of the triangle connecting rack, which are machined with, stretches into the shaft through hole
First rotating shaft, and triangle connecting rack can be rotated around the first rotating shaft, at three turnings of triangle connecting rack
Put three branch's legs for being made up of the compound leg joint unit installation respectively.
It is furthermore preferred that the joint unit includes the mounting bracket being fixed on triangle connecting rack, on mounting bracket
Equipped with the second shaft perpendicular to first rotating shaft, its axial direction is provided with the 3rd shaft in second shaft, described three
The upper end of branch's leg is set in the 3rd shaft.
Preferably, the telescopic drive part of three branch's legs, which uses, includes spindle motor, feed screw nut and leading screw
The ball-screw component of screw rod.
Preferably, the bottom of the symmetrical Liang Ge branches leg connects the supporting block by connection cover, described
Connection cover uses symmetrical structure, its upside is fixedly connected with the bottom of described two branch's legs, and downside is provided with the round hole of perforation, institute
The intermediate symmetrical position for stating round hole is processed into sphere, and first spherical hinge with being rotatably installed in supporting block is with being combined
Into spherical pair.
It is furthermore preferred that two the first spherical hinges for corresponding to branch's leg connection in same supporting block respectively are arranged symmetrically simultaneously
On same axis.
Preferably, the bottom of the supporting block sets second spherical hinge, second spherical hinge by installing end cap
Bottom connect the fixing piece.
It is furthermore preferred that connected between the bottom of second spherical hinge and fixing piece by prismatic pair.
Preferably, the movable platform uses regular hexagon structure, and the compound leg corresponds to movable platform side number and sets
There are six groups, and be distributed in 60 ° of interval angle holohedral symmetrys on the side of movable platform.
Preferably, the fixing piece is sucker.
The present invention at work, is then cooperateed with by sucker suction on the surface of the workpiece by symmetrical compound leg
Movement, does not interfere with each other, common to complete the work such as mobile, adjustment posture, drilling.
Compared with prior art, the present invention has the following advantages：
(1) present invention can be with automatic moving, it is not necessary to which other equipment carries out synkinesia；
(2) present invention can be voluntarily adsorbed in the workpiece surface to be processed using sucker；
(3) present invention can not only carry out the processing of regulation part, can more carry out large complicated carved processing；
(4) present invention can substitute substantial amounts of manual work, shorten the process-cycle；
(5) robot not only has high accuracy, the drilling horizontal of high quality, but also has good rigidity, easily controllable,
The advantages that adjust automatically posture.
Brief description of the drawings
Fig. 1 is the structure diagram of the drilling robot of the present invention；
Fig. 2 is the structure diagram of the compound leg of the present invention；
Fig. 3 is the structure diagram of the connecting rod of the present invention；
Fig. 4 is the structure diagram of the supporting block of the present invention；
Fig. 5 is the structure diagram of the triangle connecting rack of the present invention；
Fig. 6 is the structure diagram of the connection cover of the present invention；
Fig. 7 is the structure diagram of the first spherical hinge of the present invention；
Fig. 8 is the structure diagram of the second spherical hinge of the present invention；
Fig. 9 is the structure diagram of the installation end cap of the present invention；
Figure 10 is the structure diagram of the sucker of the present invention；
In figure, 1- movable platforms, the compound legs of 2-, 3- fixing pieces, 4- drill bits, 5- workpiece, 6- connecting rods, the connection of 7- triangles
Frame, the first branches of 8- leg, the second branches of 9- leg, 10- spindle motors, 11- feed screw nuts, 12- leading screw screw rods, the second branches of 13-
Leg, the 3rd branch's legs of 14-, the first spherical hinges of 15-, the second spherical hinges of 16-, 17- installation end caps, 18- suckers, 19- connection covers,
20- supporting blocks.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
A kind of packaged type parallel connection drilling robot, its structure is as shown in Figure 1, including movable platform 1, be arranged on movable put down
Drill bit for machining 4 at 1 bottom centre position of platform, is placed in multigroup on 1 side of movable platform by connecting bracket uniform rotation
Compound leg 2, as shown in Fig. 2, compound leg 2 includes, upper end connects connecting bracket by joint unit respectively, connection is converged in lower end
Three branch's legs of same supporting block 20, Liang Ge branches therein leg is symmetrical, and its lower end is connected by the first spherical hinge 15
Supporting block 20 is connect, the lower end of another branch's leg is fixedly connected with supporting block 20, and three branch's legs have non-interference independence
The function of being moved along its axial stretching, the bottom of supporting block 20 is provided with by the second spherical hinge 16 is positioned at workpiece to be processed 5
On fixing piece 3, fixing piece 3 preferably uses sucker 18, its structure is as shown in Figure 10.
As a preferred embodiment of the present invention, as shown in Figure 3 and Figure 5, connecting bracket includes two groups of connecting rods 6
With triangle connecting rack 7, two groups of connecting rods 6 are parallel to each other and are rotatably arranged on 1 side of movable platform, at two groups of 6 ends of connecting rod
Portion is equipped with shaft through hole, and the line of two shaft through holes is perpendicular to 6 rotation direction of connecting rod, the top margin two of triangle connecting rack 7
Side is machined with the first rotating shaft for stretching into shaft through hole, and triangle connecting rack 7 can be rotated around first rotating shaft, connects in triangle
Three corner locations for connecing frame 7 are made up of three branch's legs of compound leg 2 joint unit installation respectively.
It is furthermore preferred that joint unit includes the mounting bracket being fixed on triangle connecting rack 7, it is equipped with and hangs down on mounting bracket
Directly in being provided with the 3rd shaft perpendicular to its axial direction in the second shaft of first rotating shaft, second shaft, three branch's legs it is upper
End cap is located in the 3rd shaft, referring to Fig. 2.
As a preferred embodiment of the present invention, the telescopic drive part of three branch's legs is electric using leading screw is included
The ball-screw component of machine 10, feed screw nut 11 and leading screw screw rod 12, referring to Fig. 2.
As a preferred embodiment of the present invention, the bottom of symmetrical Liang Ge branches leg passes through connection cover 19
Supporting block 20 is connected, connection cover 19 uses symmetrical structure, its upside is fixedly connected with the bottom of Liang Ge branches leg, and downside is provided with perforation
Round hole, the intermediate symmetrical position of round hole is processed into sphere, and the first spherical hinge with being rotatably installed in supporting block 20
15 with spherical pair is combined into, referring to Fig. 6.
It is furthermore preferred that two 15 symmetrical cloth of the first spherical hinge of branch's leg connection are corresponded in same supporting block 20 respectively
Put and be located on same axis, referring to Fig. 2 and Fig. 4.
As a preferred embodiment of the present invention, the bottom of supporting block 20 sets the second ball by installing end cap 17
The structure of hinge 16, the bottom connecting sucker 18 of second spherical hinge 16, the second spherical hinge 16 and installation end cap 17 is respectively such as Fig. 8
Shown in Fig. 9.
It is furthermore preferred that being connected between the bottom of the second spherical hinge 16 and sucker 18 by prismatic pair, realized so as to additional
The functions such as linear movement.
As a preferred embodiment of the present invention, movable platform 1 uses regular hexagon structure, and compound leg 2 corresponds to
1 side number of movable platform is equipped with six groups, and is distributed in 60 ° of interval angle holohedral symmetrys on the side of movable platform 1.
The present invention at work, is adsorbed on 5 surface of workpiece by sucker 18, then passes through symmetrical compound leg 2
Cooperative motion, does not interfere with each other, common to complete the work such as mobile, adjustment posture, drilling.
Embodiment 1
A kind of packaged type parallel connection drilling robot, its structure is referring to Fig. 1, including movable platform 1, is arranged on movable platform
Drill bit for machining 4 at 1 bottom centre position, is placed in multigroup multiple on 1 side of movable platform by connecting bracket uniform rotation
Leg 2 is closed, shown in Figure 2, compound leg 2 includes upper end and converges connection by joint unit connection connecting bracket, lower end respectively
Three branch's legs of same supporting block 20, Liang Ge branches therein leg (i.e. first branch's leg 8 and second branch's leg 139) symmetrically divide
Cloth, and its lower end connects supporting block 20 by the first spherical hinge 15, (i.e. the 3rd branch's leg 14, it is with first for another branch's leg
8 and second branch's leg 139 of branch's leg preferably uses unsymmetrical arrangement) lower end be fixedly connected with supporting block 20, three branch's legs
Have the function of that non-interference independence is moved along its axial stretching, the bottom of supporting block 20 is provided with by the second spherical hinge 16
The fixing piece 3 being positioned on workpiece to be processed 5, fixing piece 3 preferably use sucker 18, its structure is as shown in Figure 10.This implementation
Example is in arrangement, since drill bit 4 drills device therefor (i.e. drill bit 4 etc.) below movable platform 1, due to drilling device
It is not symmetrically to arrange, so being distributed near the center of movable platform 1, is so conducive to robot overall weight
Distribution, so as to improve overall stability.
The above-mentioned each component (including connecting bracket etc.) being related to preferably uses following concrete structures：
Referring to Fig. 3 and Fig. 5, connecting bracket includes two groups of connecting rods 6 and triangle connecting rack 7, and two groups of connecting rods 6 are mutually flat
Go and be rotatably arranged on 1 side of movable platform, shaft through hole, the line of two shaft through holes are equipped with two groups of 6 ends of connecting rod
Perpendicular to 6 rotation direction of connecting rod, the top margin both sides of triangle connecting rack 7 are machined with the first rotating shaft for stretching into shaft through hole, and
So that triangle connecting rack 7 can be rotated around first rotating shaft, pass through universal joint respectively in three corner locations of triangle connecting rack 7
Unit installation forms three branch's legs of compound leg 2, in this way, real by the revolute pair that connecting rod 6 and triangle connecting rack 7 form
The fixed-axis rotation of the compound leg 2 of single group in the horizontal and vertical directions is showed.
Joint unit includes the mounting bracket being fixed on triangle connecting rack 7, is equipped with mounting bracket perpendicular to first
Second shaft of shaft, is provided with the 3rd shaft in second shaft, the upper end of three branch's legs is set in perpendicular to its axial direction
In 3rd shaft, referring to Fig. 2.By said structure, every group of compound leg 2 all has 6 frees degree, 3 active frees degree and 3
Passive freedom degree.By 1-UP and 2-UPS, and the secondary compositions of a S are added in end.To ensure isotropism, each several part part is all
Symmetric design is employed as far as possible, includes the distribution of branch's leg.
The telescopic drive part of three branch's legs uses the rolling for including spindle motor 10, feed screw nut 11 and leading screw screw rod 12
Ballscrew component, referring to Fig. 2.
The bottom of symmetrical Liang Ge branches leg connects supporting block 20 by connection cover 19, and connection cover 19 uses symmetrical junction
Structure, its upside are fixedly connected with the bottom of Liang Ge branches leg, and downside is provided with the round hole of perforation, and the intermediate symmetrical position of round hole adds
Work is into sphere, and the first spherical hinge 15 with being rotatably installed in supporting block 20 is with being combined into spherical pair, referring to Fig. 6.Same branch
Two the first spherical hinges 15 for corresponding to branch's leg connection on bracer 20 respectively are arranged symmetrically and on same axis, referring to
Fig. 2 and Fig. 4.The structure of first spherical hinge 15 can be found in shown in Fig. 7, it uses the middle pivot structure for being equipped with bulb, and both ends
Rotate and be arranged on the hole of supporting block 20 respectively.
The bottom of supporting block 20 sets the second spherical hinge 16, the bottom connection of second spherical hinge 16 by installing end cap 17
The structure difference of sucker 18, the second spherical hinge 16 and installation end cap 17 is as shown in Figure 8 and Figure 9.
Connected between the bottom of second spherical hinge 16 and sucker 18 by prismatic pair, linear movement etc. is realized so as to additional
Function.
In order to reduce difficulty of processing and workload, while isotropism is also preferably maintained, movable platform 1 uses positive six
Side shape structure, compound leg 2 corresponds to 1 side number of movable platform and is equipped with six groups, and is distributed in movable platform in 60 ° of interval angle holohedral symmetrys
On 1 side.
The robot of the present embodiment at work, is adsorbed on 5 surface of workpiece, then by symmetrical by sucker 18
2 cooperative motion of compound leg, do not interfere with each other, it is common to complete the work such as mobile, adjustment posture, drilling.
The movable type drilling robot in parallel of the present embodiment can not only carry out the processing of regulation part, can more carry out big
The complex-curved processing of type.Such as, the Drilling operation of airframe, the processing of Large Crankshaft part etc. other complex zero
Part.Biggest advantage of the present invention is can voluntarily to adjust posture, voluntarily walking and firmly ability of the absorption on 5 surface of workpiece.
The above-mentioned description to embodiment is understood that for ease of those skilled in the art and using invention.
Person skilled in the art obviously easily can make these embodiments various modifications, and described herein general
Principle is applied in other embodiment without by performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
Field technique personnel disclose according to the present invention, do not depart from improvement that scope made and modification all should be the present invention's
Within protection domain.
Claims (10)
1. a kind of packaged type parallel connection drilling robot, it is characterised in that including movable platform (1), be arranged on movable platform (1)
Drill bit for machining (4) at bottom centre position, is placed in multigroup on movable platform (1) side by connecting bracket uniform rotation
Compound leg (2), the compound leg (2) is including upper end connects the connecting bracket by joint unit respectively, lower end is converged
Three branch's legs of same supporting block (20) are connected, Liang Ge branches therein leg is symmetrical, and its lower end passes through the first flexural pivot
Chain (15) connects the supporting block (20), and the lower end of another branch's leg is fixedly connected with the supporting block (20), described three
Branch's leg has the function of that non-interference independence is moved along its axial stretching, and the bottom of the supporting block (20) passes through second
Spherical hinge (16) is provided with the fixing piece (3) for being positioned on workpiece to be processed (5).
A kind of 2. packaged type parallel connection drilling robot according to claim 1, it is characterised in that the connecting bracket
Including two groups of connecting rods (6) and triangle connecting rack (7), described two groups of connecting rods (6) are parallel to each other and are rotatably arranged on work
On moving platform (1) side, shaft through hole is equipped with two groups of connecting rod (6) ends, the line of described two shaft through holes is perpendicular to even
Extension bar (6) rotation direction, the top margin both sides of the triangle connecting rack (7), which are machined with, stretches into first turn of the shaft through hole
Axis, and triangle connecting rack (7) can be rotated around the first rotating shaft, in three corner locations of triangle connecting rack (7)
Three branch's legs of the compound leg (2) are made up of joint unit installation respectively.
A kind of 3. packaged type parallel connection drilling robot according to claim 2, it is characterised in that the universal joint list
Member includes the mounting bracket being fixed on triangle connecting rack (7), and the second shaft perpendicular to first rotating shaft is equipped with mounting bracket,
Its axial direction is provided with the 3rd shaft in second shaft, the upper end of three branch's legs is set in the 3rd shaft.
A kind of 4. packaged type parallel connection drilling robot according to claim 1, it is characterised in that three branches
The telescopic drive part of leg uses the ball-screw group for including spindle motor (10), feed screw nut (11) and leading screw screw rod (12)
Part.
5. a kind of packaged type parallel connection drilling robot according to claim 1, it is characterised in that described is symmetrical
The bottom of Liang Ge branches leg the supporting block (20) is connected by connection cover (19), the connection cover (19) uses symmetrical junction
Structure, its upside are fixedly connected with the bottom of described two branch's legs, and downside is provided with the round hole of perforation, and the centre of the round hole is right
Position is claimed to be processed into sphere, and first spherical hinge (15) with being rotatably installed in supporting block (20) is with being combined into sphere
It is secondary.
A kind of 6. packaged type parallel connection drilling robot according to claim 5, it is characterised in that same supporting block (20)
Upper two the first spherical hinges (15) for corresponding to branch's leg connection respectively are arranged symmetrically and on same axis.
A kind of 7. packaged type parallel connection drilling robot according to claim 1, it is characterised in that the supporting block
(20) bottom is provided with second spherical hinge (16), and the bottom of second spherical hinge (16) connects the fixing piece (3).
A kind of 8. packaged type parallel connection drilling robot according to claim 7, it is characterised in that second flexural pivot
It is connected between the bottom of chain (16) and fixing piece (3) by prismatic pair.
A kind of 9. packaged type parallel connection drilling robot according to claim 1, it is characterised in that the movable platform
(1) regular hexagon structure is used, corresponding movable platform (1) side number of the compound leg (2) is equipped with six groups, and is in 60 ° of spacer clips
Angle holohedral symmetry is distributed on the side of movable platform (1).
A kind of 10. packaged type parallel connection drilling robot according to claim 1, it is characterised in that the fixing piece
(3) it is sucker (18).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711021539.5A CN107962207B (en) | 2017-10-27 | 2017-10-27 | A kind of packaged type parallel connection drilling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711021539.5A CN107962207B (en) | 2017-10-27 | 2017-10-27 | A kind of packaged type parallel connection drilling robot |
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| CN107962207A true CN107962207A (en) | 2018-04-27 |
| CN107962207B CN107962207B (en) | 2019-06-18 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941688A (en) * | 2018-07-18 | 2018-12-07 | 张超 | A kind of high-precision hand-held drilling machine |
| CN110509257A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of adjustable absorption type machining robot of pose |
| CN110509258A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of parallel connection absorption type machining robot |
| CN110509067A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of complex large-scale component original position processing multi-robot system equipment |
| CN110757283A (en) * | 2019-10-16 | 2020-02-07 | 广州铁路职业技术学院（广州铁路机械学校） | Corner polisher |
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| WO2022001129A1 (en) * | 2020-06-28 | 2022-01-06 | 清华大学 | Adhesion-type parallel machining robot |
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| CN114481879A (en) * | 2022-01-25 | 2022-05-13 | 同济大学 | Telescopic position-changing self-adaptive wind barrier structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108941688A (en) * | 2018-07-18 | 2018-12-07 | 张超 | A kind of high-precision hand-held drilling machine |
| CN110509257A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of adjustable absorption type machining robot of pose |
| CN110509258A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of parallel connection absorption type machining robot |
| CN110509067A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of complex large-scale component original position processing multi-robot system equipment |
| CN110509258B (en) * | 2019-07-31 | 2021-06-29 | 清华大学 | Parallel adsorption type processing robot |
| CN110757283A (en) * | 2019-10-16 | 2020-02-07 | 广州铁路职业技术学院（广州铁路机械学校） | Corner polisher |
| WO2022001129A1 (en) * | 2020-06-28 | 2022-01-06 | 清华大学 | Adhesion-type parallel machining robot |
| CN113399711B (en) * | 2021-08-06 | 2022-11-22 | 中国十九冶集团有限公司 | Pull rod punching equipment support |
| CN113399711A (en) * | 2021-08-06 | 2021-09-17 | 中国十九冶集团有限公司 | Pull rod punching equipment support |
| CN114603541A (en) * | 2022-01-19 | 2022-06-10 | 南京理工大学 | Modularization mobile robot |
| CN114603541B (en) * | 2022-01-19 | 2024-05-17 | 南京理工大学 | Modularized movable robot |
| CN114481879A (en) * | 2022-01-25 | 2022-05-13 | 同济大学 | Telescopic position-changing self-adaptive wind barrier structure |
| CN114227142A (en) * | 2022-01-27 | 2022-03-25 | 上海交通大学 | Three-dimensional material reducing machining method and machining platform |
| CN114227142B (en) * | 2022-01-27 | 2022-12-09 | 上海交通大学 | Three-dimensional material reducing machining method and machining platform |
| CN114654445A (en) * | 2022-03-02 | 2022-06-24 | 上海工程技术大学 | Line-driven flexible robot |
| CN114654445B (en) * | 2022-03-02 | 2023-06-02 | 上海工程技术大学 | Line-driven flexible robot |
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| CN107962207B (en) | 2019-06-18 |
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