CN108942877A - Movable base locking device, locking method and industrial robot - Google Patents
Movable base locking device, locking method and industrial robot Download PDFInfo
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- CN108942877A CN108942877A CN201811168470.3A CN201811168470A CN108942877A CN 108942877 A CN108942877 A CN 108942877A CN 201811168470 A CN201811168470 A CN 201811168470A CN 108942877 A CN108942877 A CN 108942877A
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- pedestal
- locking device
- movable
- movable pedestal
- locking piece
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- 238000000034 method Methods 0.000 title abstract description 13
- 238000003825 pressing Methods 0.000 claims abstract description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 95
- 229910003460 diamond Inorganic materials 0.000 claims description 13
- 239000010432 diamond Substances 0.000 claims description 13
- 230000007423 decrease Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 5
- 238000006243 chemical reaction Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 235000003283 Pachira macrocarpa Nutrition 0.000 description 1
- 241001083492 Trapa Species 0.000 description 1
- 235000014364 Trapa natans Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 235000009165 saligot Nutrition 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a movable base locking device, a movable base locking method and an industrial robot. The mobile base locking device includes: the device comprises a rail, a first locking piece and a second locking piece, wherein a pressing plate is arranged on the rail; the base, the bottom of base is provided with the lift wheel subassembly, the base passes through the movably installation of lift wheel subassembly is in on the track, first locking piece is used for with the base locking is in the bottom of clamp plate. According to the invention, when the station of the industrial robot is converted, no hoisting equipment is needed, the risk of safety accidents of personnel is reduced, and the industrial robot is not required to be hoisted, so that the damage to the industrial robot is reduced. In addition, the fixing screws do not need to be repeatedly disassembled when the industrial robot changes stations, the mounting and the fixing are convenient and quick, and the efficiency is improved.
Description
Technical field
The present invention relates to industrial machinery technical fields, in particular to a kind of movable pedestal locking device, lock
Determine method and industrial robot.
Background technique
It assembles in industrial robot, spray, debug, test, be put in storage in a series of production procedures, industrial robot needs frequency
It is numerous to be moved between different station.Existing technology mainly has following disadvantage:
1, using firm banking, using lifting equipments such as fork truck, driving, cantilever cranes, each conversion station is both needed to demountor
Device people's pedestal fixed screw, is reinstalled on new station.
2, using movable simple platform.The stage+module has the wheel of trough of belt, travels on the track of fixed route, can
Meet the production requirement when inoperatives such as assembling, spraying, but industrial robot is both needed to consolidate pedestal in debugging or test
It has higher requirements, the simple mobile platform with wheel is usually unable to satisfy requirement, it is still desirable to using lifting equipment to industry
Robot carries out disassembly and retransfers station installation, and there are security risks.
3, using heavy moveable platform.The type platform high degree of automation can meet industrial robot rectification life
Produce the mobile demand in process.But usually construction is complicated, and higher cost is more demanding to using area, can not popularize.
Summary of the invention
The main purpose of the present invention is to provide a kind of movable pedestal locking device, locking means and industrial machines
People, to solve the problems, such as that security risk when industrial robot conversion station in the prior art is high, time-consuming.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of movable pedestal locking device, packet
Include: track is provided with pressing plate on the track, the first locking piece is provided on the pressing plate；The bottom of pedestal, the pedestal is set
It is equipped with lifting wheel assembly, the pedestal is movably mounted on the track by the lifting wheel assembly, first lock
Part is determined for the pedestal to be locked in the bottom of the pressing plate.
Further, the track includes two sliding rails disposed in parallel, and two pieces of pressing plates are fixed on correspondingly
The sliding rail side.
Further, the bottom of the pressing plate is provided with evacuation notch, and the side of the pedestal is provided with for being plugged in
The convex block is locked in ground from the top of the evacuation notch by the convex block in the evacuation notch, first locking piece
On.
Further, the movable pedestal locking device further includes the first actuator, and first actuator is for driving
First locking piece is moved towards direction stretching motion close or far from the track.
Further, first locking piece is locking bolt.
Further, first locking piece is one or two or two or more, when first locking piece is two
Or when more than two, length direction arranged for interval of first locking piece along the track.
Further, first actuator is Pneumatic/electric motor or handwheel.
Further, the lifting wheel assembly includes: support plate, and the support plate is fixed on the bottom of the pedestal；It rises
Frame drops, and the crane is fixed on the bottom of the support plate；Movable pulley, the movable pulley are fixed on the bottom of the crane
Portion.
Further, the crane includes two diamond shape body cradles, and four vertex of two diamond shape body cradles are logical
Four middle axises are crossed to connect correspondingly；The movable pedestal locking device further includes thread spindle and the second actuator, institute
State thread spindle be connected to the diamond shape body cradle it is diagonal on two middle axises between, second actuator with it is described
Thread spindle is drivingly connected.
Further, the movable pulley is H-shaped rail wheel.
Further, the lifting wheel assembly is four, and four lifting wheel assemblies are arranged in the pedestal two-by-two
Two sides.
Further, second actuator is Pneumatic/electric motor or handwheel.
Further, the height after the convex block rises is less than the height that first locking piece is vacantly located, the convex block
Positioned at the lower section of first locking piece.
According to another aspect of the present invention, provide a kind of industrial robot, the industrial robot include it is above-mentioned can
Mobile base locking device.
In accordance with a further aspect of the present invention, a kind of movable pedestal locking means, the movable pedestal locking are provided
Method realizes that the movable pedestal locking means include: to increase lifting wheel group using above-mentioned movable pedestal locking device
Part makes pedestal increase predetermined position, and lifting wheel assembly is made to be moved to pressing plate bottom along track, then makes to go up and down wheel assembly decline,
The first locking piece is recycled to lock pedestal on the ground.
It applies the technical scheme of the present invention, in actual use, when shifting the station of industrial robot if necessary, it is only necessary to
The effect of adjustment lifting wheel assembly, pedestal is adjusted to certain altitude, so that lifting wheel assembly is moved along track, is moved when by pedestal
When moving to pressing plate bottom, making to go up and down wheel assembly is reduced, so that pedestal is taken in orbit, then utilizes the first locking piece the bottom of by
Seat locking is on the ground, simple and quick.
As it can be seen that not needing to reduce personnel using lifting equipment and safety occurs when industrial robot conversion station of the invention
The risk of accident, and do not need to lift, reduce the damage to industrial robot.In addition, the present invention converts work in industrial robot
It does not need to dismantle fixed screw repeatedly when position, is arranged and fixed conveniently fast, improves efficiency.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates perspective view when industrial robot conversion station of the invention；
Fig. 2 diagrammatically illustrates the perspective view of lifting wheel assembly of the invention；
Fig. 3 diagrammatically illustrates the side view of clamp portion of the invention.
Wherein, the above drawings include the following reference numerals:
10, track；11, sliding rail；20, pressing plate；21, notch is avoided；30, the first locking piece；40, pedestal；41, lifting wheel group
Part；411, support plate；412, crane；4121, diamond shape body cradle；4122, middle axis；413, movable pulley；414, thread spindle；
42, convex block；50, the first actuator；60, the second actuator；70, clamping screw.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Referring to shown in Fig. 1 to Fig. 3, according to an embodiment of the invention, a kind of industrial robot is provided, in the present embodiment
Industrial robot includes movable pedestal locking device, which includes track 10 and pedestal 40.
When actual installation, on the base 40 it by the fuselage installation of industrial robot, pressing plate 20, pedestal are provided on track 10
The first locking piece 30 is provided on 40；The bottom of pedestal 40 is provided with lifting wheel assembly 41, and pedestal 40 passes through lifting wheel assembly 41
It is movably mounted on track 10, the first locking piece 30 is used to for pedestal 40 being locked in the bottom of pressing plate 20.
When in actual use, if necessary to the station of transfer industrial robot, it is only necessary to the work of adjustment lifting wheel assembly 41
With pedestal 40 being adjusted to certain altitude, so that lifting wheel assembly 41 is moved along track 10, when pedestal 40 is moved to pressing plate 20
When bottom, makes to go up and down the reduction of wheel assembly 41, so that pedestal 40 rides on track 10, then utilize the first locking piece 30 bottom of by
40 locking of seat is on the ground, simple and quick.
As it can be seen that not needing to reduce personnel using lifting equipment and safety occurs when industrial robot conversion station of the invention
The risk of accident, and do not need to lift, reduce the damage to industrial robot.In addition, the present invention converts work in industrial robot
It does not need to dismantle fixed screw repeatedly when position, is arranged and fixed conveniently fast, improves efficiency.
Referring to shown in Fig. 1 and Fig. 3, the track 10 in the present embodiment includes two sliding rails 11 disposed in parallel, two pressure plates
20 are fixed on the side of sliding rail 11 by clamping screw 70 correspondingly, so that two pressure plates 20 are separately fixed at track 10
Two sides, convenient for carrying out stable position and installation to pedestal 40.
For the ease of pedestal 40 is fixed, the bottom of the pressing plate 20 in the present embodiment is provided with evacuation notch 21, bottom
Seat 40 side be provided with for be plugged in evacuation notch 21 in convex block 42, the first locking piece 30 from evacuation notch 21 top
On the ground by the locking of convex block 42.When pedestal 40 is moved to 20 bottom of pressing plate, convex block 42 can be plugged in evacuation notch 21,
Then convex block 42 is locked on the ground by the first locking piece 30, it is simple and quick.
Movable pedestal locking device in the present embodiment further includes the first actuator 50, and first actuator 50 is for driving
Convex block 42 towards the close perhaps direction stretching motion far from track 10 and then is locked or is unclamped by dynamic first locking piece 30.
Preferably, the first locking piece 30 in the present embodiment is locking bolt.First actuator 50 is Pneumatic/electric horse
It reaches, convenient for driving locking bolt to rotate forward or inverting to unclamp the locking of convex block 42 on the ground or from track 10.Certainly,
In other embodiments of the invention, the structures such as handwheel can also be set by the first actuator 50, as long as of the invention
Other modes of texturing under design, it is within the scope of the present invention.
In order to which the first locking piece 30 to be stably locked on ground, the first locking piece 30 in the present embodiment can be with
It is set as one, may be set to be two or more, when the first locking piece 30 is two or more, the first lock
Length direction arranged for interval of the part 30 along track 10 is determined, convenient for pedestal 40 to be stably locked on ground.
Referring to figure 1 and figure 2, the lifting wheel assembly 41 in the present embodiment include support plate 411, crane 412 and
Movable pulley 413, wherein support plate 411 is fixed on the bottom of pedestal 40；Crane 412 is fixed on the bottom of support plate 411；It moves
Driving wheel 413 is fixed on the bottom of crane 412.By the lifting of crane 412, it is adjusted convenient for the height to pedestal 40.
Specifically, the crane 412 in the present embodiment includes two diamond shape body cradles 4121, two diamond shape body cradles
4121 four vertex are connected correspondingly by four middle axises 4122；Movable pedestal locking device further includes thread spindle
414 and second actuator 60, thread spindle 414 be connected to diamond shape body cradle 4121 it is diagonal on two middle axises 4122 between,
Second actuator 60 is drivingly connected with thread spindle 414, drives thread spindle 414 to rotate by the second actuator 60, and then adjust water chestnut
The deformation of shape body cradle 4121 is flexible, and then the height of adjustment base 40, and structure is simple, is easy to implement.
Certainly, in other embodiments of the invention, scissors fork elevating frame can also be set by crane 412, as long as
Other modes of texturing under design of the invention, it is within the scope of the present invention.
Preferably, the movable pulley 413 in the present embodiment is H-shaped rail wheel, is easily installed on track 10 and along track 10
It is mobile.
Preferably, the lifting wheel assembly 41 in the present embodiment is four, and four lifting wheel assemblies 41 are arranged in pedestal two-by-two
40 two sides, convenient for carrying out stablizing support and movement to pedestal 40.
The second actuator 60 in the present embodiment is Pneumatic/electric motor, convenient for driving thread spindle 414 to rotate forward or reversion
Drive diamond shape body cradle 4121 flexible.Certainly, in other embodiments of the invention, the second actuator 60 can also be set to
The structures such as handwheel, as long as other modes of texturing under design of the invention, within the scope of the present invention.
For the ease of carrying out quick lock in pedestal 40, the height after the convex block 42 in the present embodiment rises is locked less than first
Determine the height that part 30 is vacantly located, which is located at the lower section of the first locking piece 30, it is slid at evacuation notch 21 convenient for convex block 42,
And convex block 42 is locked on the ground using the first locking piece 30.
According to the above embodiments it is recognised that the present invention installs four movable pulleys 413 on the base 40 it, and use one
A switch synchronizes lifting, the rise of realization pedestal 40 with fall.Movable pulley 413 is placed on track 10, can be along track
10 is mobile.Two pressure plates 20 are installed on 10 two sides of track, the industrial robot pedestal 40 after rising can be made to pass through, and use the
One locking piece 30 compresses it on the ground, realizes the fixation of robot base 40.
It is described further now in conjunction with example:
When needing mobile robot pedestal 40, the second actuator 60 of the same switch control drives spiral shell connected to it
Line axis 414 synchronizes rotating Vortex.Wherein, middle axis 4122 is not subjected to displacement when thread spindle 414 is rotated with it, only serves support
Effect has middle axis 4122 to have the threaded hole coincideing with thread spindle 414, can generate position with it when thread spindle 414 is rotated
It moves.Therefore, when Pneumatic/electric motor is rotated to certain direction, 4121 horizontal direction diagonal line of diamond shape body cradle shortens, therefore perpendicular
Histogram is extended to object line, and diamond shape body cradle 4121 is raised, and robot base 40 connected to it is lifted.
According to another aspect of the present invention, a kind of movable pedestal locking means are provided, the movable pedestal locking side
Method realized using above-mentioned movable pedestal locking device, which includes: that raise pedestal 40 predetermined
Position makes lifting wheel assembly 41 be moved to 20 bottom of pressing plate along guide rail, then makes to go up and down the decline of wheel assembly 41, recycles the first lock
Determine part 30 to lock pedestal on the ground.
Specifically, when industrial robot pedestal 40 is elevated predetermined position, stop the second actuator 60, at this time due to
Pedestal 40 is whole to leave ground, therefore can move freely along track 10.Height and width after the rise of convex block 42 are less than pressure
The height and width that the first locking piece 30 on plate 20 is vacantly located.Pedestal 40 is moved to 20 lower section approximate location of pressing plate, is used
The rotation of second actuator, 60 opposite direction, pedestal 40 are decreased until that convex block 42 completely attaches to ground and can independently play a supporting role.
Convex block 42 is in 30 lower section of the first locking piece at this time, is driven using the first actuator 50 of the same switch control connected to it
First locking piece 30, which synchronizes, to be rotate in same direction, and moves it in the vertical direction, and withstands the convex block 42 immediately below it, makes pedestal
40 firmly compress on the ground, it is difficult to generate movement, complete the quick fixation of robot base 40.When needing mobile robot bottom
When seat 40, this process is inversely carried out.
It can be seen from the above description that the above embodiments of the present invention realized the following chievements:
The present invention does not need to be reduced personnel using lifting equipment and safety accident is occurred in industrial robot conversion station
Risk.
The present invention does not need to dismantle fixed screw repeatedly in industrial robot conversion station, is arranged and fixed conveniently fast,
It improves efficiency.
The present invention does not need to lift in industrial robot conversion station, reduces the damage to industrial robot.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (15)
1. a kind of movable pedestal locking device characterized by comprising
Track (10) is provided with pressing plate (20) on the track (10), is provided with the first locking piece (30) on the pressing plate (20)；
Pedestal (40), the bottom of the pedestal (40) are provided with lifting wheel assembly (41), and the pedestal (40) passes through the lifting
Wheel assembly (41) is movably mounted on the track (10), and first locking piece (30) is used to lock the pedestal (40)
It is scheduled on the bottom of the pressing plate (20).
2. movable pedestal locking device according to claim 1, which is characterized in that the track (10) includes two flat
The sliding rail (11) of row setting, two pieces of pressing plates (20) are fixed on the sliding rail (11) side correspondingly.
3. movable pedestal locking device according to claim 1, which is characterized in that the bottom of the pressing plate (20) is arranged
Have evacuation notch (21), the side of the pedestal (40) is provided with the convex block for being plugged in evacuation notch (21)
(42), first locking piece (30) locks the convex block (42) on the ground from the top of evacuation notch (21).
4. movable pedestal locking device according to claim 3, which is characterized in that the movable pedestal locking device
Further include the first actuator (50), first actuator (50) for driving first locking piece (30) towards close or
Direction stretching motion far from the track (10).
5. movable pedestal locking device according to any one of claim 1 to 4, which is characterized in that first lock
Determining part (30) is locking bolt.
6. movable pedestal locking device according to claim 1, which is characterized in that first locking piece (30) is one
It is a or two or more, when first locking piece (30) be two or more when, first locking piece (30)
Along the length direction arranged for interval of the track (10).
7. movable pedestal locking device according to claim 4, which is characterized in that first actuator (50) is gas
Dynamic/electric motor or handwheel.
8. movable pedestal locking device according to claim 1, which is characterized in that lifting wheel assembly (41) packet
It includes:
Support plate (411), the support plate (411) are fixed on the bottom of the pedestal (40)；
Crane (412), the crane (412) are fixed on the bottom of the support plate (411)；
Movable pulley (413), the movable pulley (413) are fixed on the bottom of the crane (412).
9. movable pedestal locking device according to claim 8, which is characterized in that the crane (412) includes two
Four vertex of a diamond shape body cradle (4121), two diamond shape body cradles (4121) pass through four middle axises (4122) one by one
It is correspondingly connected；
The movable pedestal locking device further includes thread spindle (414) and the second actuator (60), and the thread spindle (414) is even
Connect the diamond shape body cradle (4121) it is diagonal on two middle axises (4122) between, second actuator (60)
It is drivingly connected with the thread spindle (414).
10. movable pedestal locking device according to claim 8, which is characterized in that the movable pulley (413) is H-shaped
Rail wheel.
11. movable pedestal locking device according to claim 1, which is characterized in that the lifting wheel assembly (41) is
Four, four liftings wheel assembly (41) are arranged in the two sides of the pedestal (40) two-by-two.
12. movable pedestal locking device according to claim 9, which is characterized in that second actuator (60) is
Pneumatic/electric motor or handwheel.
13. movable pedestal locking device according to claim 3, which is characterized in that after the convex block (42) is risen
Height is less than the height that first locking piece (30) is vacantly located, and the convex block (42) is located under first locking piece (30)
Side.
14. a kind of industrial robot, which is characterized in that the industrial robot includes described in any one of claims 1 to 13
Movable pedestal locking device.
15. a kind of movable pedestal locking means, which is characterized in that the movable pedestal locking means use claim 1
It is realized to movable pedestal locking device described in any one of 13, the movable pedestal locking means include:
Lifting wheel assembly (41) is increased, pedestal (40) is made to increase predetermined position, makes to go up and down wheel assembly (41) along track (10) movement
To pressing plate (20) bottom, then makes to go up and down wheel assembly (41) decline, the first locking piece (30) is recycled to be locked in pedestal (40)
On ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811168470.3A CN108942877A (en) | 2018-10-08 | 2018-10-08 | Movable base locking device, locking method and industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811168470.3A CN108942877A (en) | 2018-10-08 | 2018-10-08 | Movable base locking device, locking method and industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942877A true CN108942877A (en) | 2018-12-07 |
Family
ID=64472853
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811168470.3A Pending CN108942877A (en) | 2018-10-08 | 2018-10-08 | Movable base locking device, locking method and industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108942877A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111420828A (en) * | 2019-01-09 | 2020-07-17 | 上海交通大学 | Rail type spraying robot |
| CN112059477A (en) * | 2020-08-28 | 2020-12-11 | 安徽双骏智能科技有限公司 | Robot welding equipment with accurate positioning function and use method thereof |
| CN113043330A (en) * | 2021-03-29 | 2021-06-29 | 中电鹏程智能装备有限公司 | Flexible arrangement structure of automatic production line robot and station switching method |
| CN116872173A (en) * | 2023-09-07 | 2023-10-13 | 宁波华众模具制造有限公司 | Manipulator convenient to move |
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| CN111420828A (en) * | 2019-01-09 | 2020-07-17 | 上海交通大学 | Rail type spraying robot |
| CN111420828B (en) * | 2019-01-09 | 2022-01-04 | 上海交通大学 | Rail type spraying robot |
| CN112059477A (en) * | 2020-08-28 | 2020-12-11 | 安徽双骏智能科技有限公司 | Robot welding equipment with accurate positioning function and use method thereof |
| CN112059477B (en) * | 2020-08-28 | 2022-01-28 | 安徽双骏智能科技有限公司 | Robot welding equipment with accurate positioning function and use method thereof |
| CN113043330A (en) * | 2021-03-29 | 2021-06-29 | 中电鹏程智能装备有限公司 | Flexible arrangement structure of automatic production line robot and station switching method |
| CN116872173A (en) * | 2023-09-07 | 2023-10-13 | 宁波华众模具制造有限公司 | Manipulator convenient to move |
| CN116872173B (en) * | 2023-09-07 | 2024-01-05 | 宁波华众模具制造有限公司 | Manipulator convenient to move |
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Application publication date: 20181207 |
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