CN113721554A - Motion control system - Google Patents
Motion control system Download PDFInfo
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- CN113721554A CN113721554A CN202111044015.4A CN202111044015A CN113721554A CN 113721554 A CN113721554 A CN 113721554A CN 202111044015 A CN202111044015 A CN 202111044015A CN 113721554 A CN113721554 A CN 113721554A
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- 239000011248 coating agent Substances 0.000 claims abstract description 14
- 238000000576 coating method Methods 0.000 claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000005491 wire drawing Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 15
- 239000003292 glue Substances 0.000 description 12
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- 238000005476 soldering Methods 0.000 description 2
- 238000007711 solidification Methods 0.000 description 2
- 230000008023 solidification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32026—Order code follows article through all operations
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Coating Apparatus (AREA)
Abstract
The invention relates to the technical field of motion control, and discloses a motion control system which comprises a handheld box, a motion controller and a motion control module, wherein the handheld box is used for editing motion control data and downloading the motion control data to the motion controller; the motion controller receives and stores the motion control data and controls the motion of the automation equipment according to the motion control data; according to the invention, through point instructions, straight line instructions, multi-segment line instructions, arc instructions, curve instructions, circle instructions, ellipse instructions, runway instructions, rectangle instructions, spiral line instructions, rectangle coating instructions and other instructions, corresponding graphic elements can be directly drawn, when a user uses the system, the system has abundant manual teaching functions and graphic preview functions, the user can quickly get on the hand, and the system is simple and convenient to use; the whole motion control system has various functions, high automation degree and simple operation.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a motion control system.
Background
With the rapid development of automation technology, automation equipment such as a dispenser, a soldering machine, a screw machine, a robot, a packaging machine, a precision machine tool and the like can be controlled by externally arranging a programmable motion control system in order to improve the working efficiency of automation, wherein the programmable motion control system mainly comprises a controller and a handheld box, is programmed and controlled by the handheld box, sends a control signal to a motion controller, and then controls the automation equipment to work; the existing motion control system has single function, cannot meet more automation requirements, and is excessively fussy to operate.
Disclosure of Invention
Based on the above, the invention aims to provide a motion control system which has multiple functions, high automation degree and simple operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
the present invention provides a motion control system comprising:
the handheld box is used for editing motion control data and downloading the motion control data to the motion controller;
the motion controller receives and stores the motion control data and controls the motion of the automation equipment according to the motion control data;
the motion control data comprises a data instruction editing module;
the data instruction editing module comprises one or more instruction combinations of a point instruction, a straight line instruction, a multi-section line instruction, an arc instruction, a curve instruction, a circle instruction, an ellipse instruction, a runway instruction, a rectangular instruction, a spiral line instruction and a coating instruction;
the automatic equipment is a dispenser.
Further, the motion control data further comprises a file instruction editing module;
the file instruction editing module comprises one or more instruction combinations of a file opening instruction, a file newly-built instruction, a file editing instruction, a file saving instruction, a file deleting instruction, a data downloading instruction, a data uploading instruction, an equipment parameter instruction and a working mode instruction.
Further, the equipment parameter instruction comprises one or more combinations of reset speed, highest speed, acceleration, corner acceleration, user password, power-on reset, shaft pulse equivalent, shaft stroke and equipment origin point direction setting.
Further, the working mode instruction comprises one or more of the combination of an execution mode, a reset mode, a yield setting, a default parameter, a drawing process, a stop position, a drop-making function and an idle moving speed.
Further, the data instruction editing module further comprises a marking point instruction used for needle alignment operation of the marking points on the jig.
Further, the data instruction editing module further comprises one or more instruction combinations of a null instruction, a path point instruction, a delay instruction and a pause instruction.
Further, the wire drawing process comprises: no wire drawing, backward cable drawing after lifting, forward cable drawing or forward cable drawing after lifting.
Further, the upload data command includes acquiring motion control data stored in the motion controller and uploading the motion control data to the handheld box.
Further, the motion control data further includes a movement module for directly moving the automation device.
Further, the file instruction editing module further comprises an inserting instruction, an editing instruction and a deleting instruction.
The invention has the beneficial effects that:
corresponding graphic elements can be directly drawn through instructions such as a point instruction, a straight line instruction, a multi-segment line instruction, an arc instruction, a curve instruction, a circle instruction, an ellipse instruction, a runway instruction, a rectangular instruction, a spiral line instruction, a rectangular coating instruction and the like, and when the user uses the teaching tool, the teaching tool is rich in manual teaching function and graphic preview function, the user can quickly use the teaching tool, and the use is simple and convenient; the whole motion control system has various functions, high automation degree and simple operation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic diagram of a motion control system according to the present invention;
FIG. 2 is a schematic diagram of a motion control data structure of a motion control system according to the present invention;
FIG. 3 is a block diagram of a data command editing module of the motion control system according to the present invention;
FIG. 4 is a schematic diagram of a file command editing module of the motion control system according to the present invention;
FIG. 5 is a schematic diagram of a plot of a motion control system according to the present invention;
FIG. 6 is a schematic diagram of a rectilinear graph structure of a motion control system according to the present invention;
FIG. 7 is a schematic diagram of a multi-segment line drawing diagram of a motion control system according to the present invention;
FIG. 8 is a graphical depiction of a motion control system according to the present invention;
FIG. 9 is a schematic diagram of an arc drawing configuration for a motion control system according to the present invention;
FIG. 10 is a schematic diagram of a circle drawing configuration for a motion control system according to the present invention;
FIG. 11 is a schematic diagram of a graphical ellipse drawing configuration for a motion control system according to the present invention;
FIG. 12 is a schematic diagram of a graphical runway layout for a motion control system according to the present invention;
FIG. 13 is a schematic diagram of a rectangular drawing of a motion control system according to the present invention;
FIG. 14 is a schematic diagram of a spiral line for the motion control system of the present invention;
FIG. 15 is a schematic diagram of a painting and coating pattern structure of a motion control system according to the present invention;
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 1, the present invention provides a motion control system comprising:
the handheld box is used for editing motion control data and downloading the motion control data to the motion controller; the handheld box can download the motion control data to the motion controller in a wired connection mode or a wireless connection mode;
the motion controller receives and stores the motion control data and controls the motion of the automation equipment according to the motion control data;
the automatic equipment is a dispenser, and it should be noted that the automatic equipment can also be a soldering machine screw machine, a robot, a packaging machine, a precision machine tool and the like, and is a dispenser in this embodiment;
preferably, if the motion controller stores motion control data and the handheld box does not have corresponding motion control data in the motion controller currently, the handheld box can recognize the corresponding motion control data in the motion controller currently and upload the motion control data to the handheld box;
as shown in fig. 2 and 3, the motion control data includes a data command editing module;
the data instruction editing module comprises one or more instruction combinations of a point instruction, a straight line instruction, a multi-section line instruction, an arc instruction, a curve instruction, a circle instruction, an ellipse instruction, a runway instruction, a rectangular instruction, a spiral line instruction and a coating instruction;
specifically, as shown in fig. 5, the handheld box edits the motion control data, edits the execution point command, and after the corresponding command is downloaded to the motion controller, the motion controller controls the dispenser according to the point command, and then the dispenser performs dispensing; as shown in fig. 6, after the straight line command is edited and the corresponding command is downloaded to the motion controller, the motion controller controls the dispenser according to the straight line command, and the dispenser performs straight line dispensing; as shown in fig. 7, after the multi-segment instructions are edited and the corresponding instructions are downloaded to the motion controller, the motion controller controls the dispenser according to the multi-segment instructions, and then the dispenser performs multi-segment dispensing; as shown in fig. 8, a curve instruction is edited, and after a corresponding instruction is downloaded to the motion controller, the motion controller controls the dispenser according to the curve instruction, and then the dispenser performs curve-drawing dispensing; as shown in fig. 9, after the circular arc command is edited and the corresponding command is downloaded to the motion controller, the motion controller controls the dispenser according to the circular arc command, and the dispenser performs circular arc dispensing; as shown in fig. 10, after a circle instruction is edited and a corresponding instruction is downloaded to the motion controller, the motion controller controls the dispenser according to the circle instruction, and the dispenser performs circle-drawing dispensing; as shown in fig. 11, an ellipse instruction is edited, the ellipse may be a horizontal ellipse or a vertical ellipse, in this embodiment, the ellipse instruction is a horizontal ellipse, after the corresponding instruction is downloaded to the motion controller, the motion controller controls the dispenser according to the ellipse instruction, and then the dispenser performs ellipse drawing dispensing; as shown in fig. 12, a runway instruction is edited, and after a corresponding instruction is downloaded to the motion controller, the motion controller controls the dispenser according to the runway instruction, and then the dispenser performs runway dispensing; as shown in fig. 13, a rectangle instruction is edited, the rectangle may be a rounded rectangle or a right-angled rectangle, in this embodiment, the rectangle is a direct rectangle, after the corresponding instruction is downloaded to the motion controller, the motion controller controls the dispenser according to the rectangle instruction, and then the dispenser performs rectangular dispensing; as shown in fig. 14, after the spiral line command is edited and the corresponding command is downloaded to the motion controller, the motion controller controls the dispenser according to the spiral line command, and the dispenser performs spiral line dispensing; as shown in fig. 15, a coating instruction is edited, the coating may be rectangular coating or circular coating, in this embodiment, rectangular coating, after the corresponding instruction is downloaded to the motion controller, the motion controller controls the dispenser according to the coating instruction, and then the dispenser executes painting, coating and dispensing; the editing of the motion control data is not limited to the above-described shape dispensing, and may be performed in other shapes, and when a specific command is edited, the size or position of the dot command, the straight line command, or the like may be edited by a corresponding shape by moving the shape or editing a coordinate axis. Further, the point instruction, the straight line instruction and the like included in the data instruction editing module may be executed separately or in a combined manner, for example, the straight line instruction and the circular arc instruction are executed in a combined manner.
In the embodiment of the invention, corresponding graphic elements can be directly drawn through editing point instructions, straight line instructions, multi-section line instructions, arc instructions, curve instructions, circle instructions, ellipse instructions, runway instructions, rectangle instructions, spiral line instructions, rectangle coating instructions and other instructions in the handheld box, when a user uses the handheld box, the handheld box is rich in manual teaching function and graphic preview function, the user can quickly get on the hand, and the handheld box is simple and convenient to use; the whole motion control system has various functions, high automation degree and simple operation.
As shown in fig. 3, as a preferred mode of the embodiment of the present invention, the data instruction editing module further includes one or more instruction combinations of a null instruction, a waypoint instruction, a delay instruction, and a pause instruction. Specifically, the null instruction is used for disconnection between the polylines; the path point instruction is used for the automatic equipment to run to a specified point in an interpolation mode, and only acts but does not discharge glue; the delay instruction is used for adding a delay function between instructions; the pause instruction is used for a pause function added between instructions; by setting one or more of a null instruction, a path point instruction, a delay instruction and a pause instruction, when different instructions are edited and combined, manual operation on the automation equipment is reduced for more convenience.
As shown in fig. 3, as a preferred mode of the embodiment of the present invention, the data instruction editing module further includes a mark point instruction, which is used for performing a needle alignment operation on a mark point on the jig. Specifically, the mark point command comprises a single-point mark and a double-point mark, and the double-point mark positioning can correct errors of the workpiece caused by the placing angle and position deviation.
As shown in fig. 2 and 4, as a preferred mode of the embodiment of the present invention, the motion control data further includes a file instruction editing module;
the file instruction editing module comprises one or more instruction combinations of a file opening instruction, a file newly-built instruction, a file editing instruction, a file saving instruction, a file deleting instruction, a data downloading instruction, a data uploading instruction, an equipment parameter instruction and a working mode instruction.
Specifically, the file opening instruction is used for opening a file of an SD card in the current handheld box; the new file command is used for creating a motion control data; the file editing instruction is used for editing the entering motion control data; the file saving instruction is used for saving the motion control data; the file deleting instruction is used for deleting motion control data; the download data instruction is used for downloading motion control data to the motion controller; the data uploading instruction comprises the steps of obtaining motion control data stored in a motion controller and uploading the motion control data to the handheld box; further, the device parameter instruction is used for editing device parameters, and the device parameter instruction includes one or more combinations of reset speed, maximum speed, acceleration, corner acceleration, user password, power-on reset, shaft pulse equivalent, shaft stroke, and device origin direction setting. The reset speed refers to the speed of the automatic equipment during reset; the maximum speed is the limit of the maximum operating speed of the automation equipment; the acceleration refers to the acceleration of the equipment; the corner acceleration refers to the corner acceleration of the automation equipment; the user password is a password entering the system; the starting reset refers to a shaft channel for resetting the automation equipment; the manual acceleration refers to an acceleration when the automation device is manually moved; manual speed refers to the speed at which the automated equipment is moved manually; the idle movement smoothness refers to the radius of circular arc transition during idle movement; the shaft pulse equivalent refers to the distance of movement of one pulse of each shaft of the automatic equipment; shaft formation refers to the actual working stroke of each shaft of the automation equipment; the equipment origin direction setting refers to setting an origin according to the origin of the automatic equipment, and aims to enable a direction key of the handheld box to be consistent with the moving direction of the automatic equipment and facilitate teaching operation;
further, the working mode instruction comprises one or more of the combination of an execution mode, a reset mode, a yield setting, a default parameter, a drawing process, a stop position, a drop-making function and an idle moving speed. The execution mode is used for setting an automatic working mode or a manual working mode; the reset mode is used for setting whether the equipment is automatically reset after all instructions are executed, and ensuring the absolute position of the zero point of the coordinate so as to eliminate the dislocation phenomenon caused by the step loss of the automation equipment; the yield setting means a number of times for setting work, that is, (yield), and the automated equipment stops working when the yield has reached the pre-yield; the default parameters are default parameters for setting some action instructions, and comprise a glue gun channel for controlling a glue gun, the time for delaying glue opening after the glue gun is opened, the time for delaying glue closing after the glue gun is closed, the position for returning the glue gun by fingers, the gun closing in advance and the like; the wire drawing process comprises no wire drawing, backward cable drawing after being lifted, forward cable drawing or forward cable drawing after being lifted; the stop position is used for setting the stop position after the equipment runs; the fixed-dropping function means that when the automatic equipment does not work for a long time, the needle head can be blocked due to the solidification of the glue, and after parameters are set, the glue can be automatically dropped to prevent the needle head from being blocked due to the solidification of the glue; the idle speed refers to the speed of the automated equipment when the glue is not discharged and idle.
As a preferred mode of the embodiment of the present invention, the file instruction editing module further includes an insertion instruction, an editing instruction, and a deletion instruction. Specifically, the step of inserting the instruction refers to inserting a new instruction into the upper line of the selected instruction in the motion control data editing module; the editing instruction refers to editing a currently selected instruction in a motion control data editing module for modification; the deleting instruction refers to deleting the currently selected instruction in the motion control data editing module.
As shown in fig. 2, as a preferable mode of the embodiment of the present invention, the motion control data further includes a moving module for directly moving the automation device. The movement of the corresponding shaft of the automation equipment can be directly controlled through the moving module, and the alignment and the comparison are convenient.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A motion control system, comprising:
the handheld box is used for editing motion control data and downloading the motion control data to the motion controller;
the motion controller receives and stores the motion control data and controls the motion of the automation equipment according to the motion control data;
the automatic equipment is a dispenser;
the motion control data comprises a data instruction editing module;
the data instruction editing module comprises one or more instruction combinations of a point instruction, a straight line instruction, a multi-segment line instruction, an arc instruction, a curve instruction, a circle instruction, an ellipse instruction, a runway instruction, a rectangular instruction, a spiral line instruction and a coating instruction.
2. A motion control system according to claim 1, wherein the motion control data further comprises a file instruction editing module;
the file instruction editing module comprises one or more instruction combinations of a file opening instruction, a file newly-built instruction, a file editing instruction, a file saving instruction, a file deleting instruction, a data downloading instruction, a data uploading instruction, an equipment parameter instruction and a working mode instruction.
3. The motion control system of claim 2, wherein the device parameter commands comprise one or more of a reset speed, a maximum speed, an acceleration, a corner acceleration, a user password, a power-on reset, an axis pulse equivalent, an axis stroke, and a device origin direction setting.
4. A motion control system according to claim 2, wherein the operating mode instructions comprise one or more of a combination of execution mode, reset mode, throughput setting, default parameters, draw process, stop position, drip function, and idle speed.
5. The motion control system of claim 1, wherein the data command editing module further comprises a marking point command for performing needle-pointing operation on a marking point on the jig.
6. The motion control system of claim 1, wherein the data command editing module further comprises one or more command combinations of a null command, a waypoint command, a delay command, and a pause command.
7. A motion control system according to claim 4, wherein the drawing process comprises: no wire drawing, backward cable drawing after lifting, forward cable drawing or forward cable drawing after lifting.
8. The motion control system of claim 2, wherein the upload data command comprises a command to retrieve motion control data stored in the motion controller and upload the motion control data to the handheld box.
9. The motion control system of claim 1, wherein the motion control data further comprises a movement module for directly moving the automation device.
10. The motion control system of claim 2, wherein the file command editing module further comprises an insert command, an edit command, and a delete command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111044015.4A CN113721554A (en) | 2021-09-07 | 2021-09-07 | Motion control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111044015.4A CN113721554A (en) | 2021-09-07 | 2021-09-07 | Motion control system |
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| CN113721554A true CN113721554A (en) | 2021-11-30 |
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| CN202111044015.4A Pending CN113721554A (en) | 2021-09-07 | 2021-09-07 | Motion control system |
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| JPH0458703U (en) * | 1990-09-27 | 1992-05-20 | ||
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| CN101382795A (en) * | 2008-09-28 | 2009-03-11 | 广东工业大学 | Multi-shaft motion control system for water-fire heating plate bending machine |
| CN203235623U (en) * | 2013-03-04 | 2013-10-16 | 王辉 | Screw-metering integrated dispenser |
| US20180354130A1 (en) * | 2015-10-30 | 2018-12-13 | Keba Ag | Method, control system and movement setting means for controlling the movements of articulated arms of an industrial robot |
| CN109002895A (en) * | 2018-07-17 | 2018-12-14 | 深圳市雷赛控制技术有限公司 | A kind of desktop dispensing teaching method and device |
| CN208819043U (en) * | 2018-07-07 | 2019-05-03 | 深圳市力为自动化有限公司 | A kind of dispenser system |
| CN112765697A (en) * | 2021-01-25 | 2021-05-07 | 深圳市旗众智能科技有限公司 | Method for point drilling machine to generate drill point teaching according to track |
-
2021
- 2021-09-07 CN CN202111044015.4A patent/CN113721554A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0458703U (en) * | 1990-09-27 | 1992-05-20 | ||
| CN101278244A (en) * | 2005-10-06 | 2008-10-01 | Abb股份有限公司 | Control system and teaching kit for industry robot |
| CN101382795A (en) * | 2008-09-28 | 2009-03-11 | 广东工业大学 | Multi-shaft motion control system for water-fire heating plate bending machine |
| CN203235623U (en) * | 2013-03-04 | 2013-10-16 | 王辉 | Screw-metering integrated dispenser |
| US20180354130A1 (en) * | 2015-10-30 | 2018-12-13 | Keba Ag | Method, control system and movement setting means for controlling the movements of articulated arms of an industrial robot |
| CN208819043U (en) * | 2018-07-07 | 2019-05-03 | 深圳市力为自动化有限公司 | A kind of dispenser system |
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