CN106607878A - Six-degree-of-freedom mechanical arm device of block press dedicated for optical element, and picking and placing method thereof - Google Patents
Six-degree-of-freedom mechanical arm device of block press dedicated for optical element, and picking and placing method thereof Download PDFInfo
- Publication number
- CN106607878A CN106607878A CN201710082923.XA CN201710082923A CN106607878A CN 106607878 A CN106607878 A CN 106607878A CN 201710082923 A CN201710082923 A CN 201710082923A CN 106607878 A CN106607878 A CN 106607878A
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- pedestal
- forearm
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- 230000003287 optical effect Effects 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims description 9
- 210000000707 wrist Anatomy 0.000 claims abstract description 21
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 17
- 230000008859 change Effects 0.000 claims abstract description 7
- 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 54
- 210000000245 forearm Anatomy 0.000 claims description 43
- 238000000465 moulding Methods 0.000 claims description 31
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 210000004247 hand Anatomy 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 238000003825 pressing Methods 0.000 abstract description 2
- 239000011521 glass Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 239000005304 optical glass Substances 0.000 description 2
- 206010053615 Thermal burn Diseases 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000009747 press moulding Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0024—Wrist motors at rear part of the upper arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a six-degree-of-freedom mechanical arm device of a block press dedicated for an optical element. The six-degree-of-freedom mechanical arm device comprises a base, a rotary driving component, a big arm component, a small arm component, a hand component and a wrist component, wherein the rotary driving component comprises a base motor, a harmonic reducer, a base rotation shaft and a coupler; the big arm component comprises a big arm, a big arm driving motor and a first cycloidal pin gear reducer; the small arm component comprises a small arm, a small arm driving motor and a second cycloidal pin gear reducer; the big arm driving motor is connected with the bottom of a big arm; the base motor, the big arm driving motor and the small arm driving motor are all hollow shaft motors; the hand component is provided with a minitype temperature sensor. The six-degree-of-freedom mechanical arm device has the advantages of compact and simple structure, convenience in pipeline arrangement, easiness in operation and convenience in adjustment, a workpiece and a mould can be picked and placed, the temperature change of the workpiece and the mould after mould pressing can be detected in real time, the use efficiency of the block press is improved, and the damage possibility of the workpiece and the mould can be lowered.
Description
Technical field
The present invention relates to a kind of parts of moulding press, more particularly to a kind of six degree of freedom of the special moulding press of optical element
Robot device and its pick and place method.
Background technology
Moulding technology may become in the future the mainstream technology of optical glass lens production.During die forming
First glass preform is positioned in high-precision mould, then under conditions of high temperature, molding pressure and anaerobic, by high accuracy
Mould direct pressing shapes and to reach the glass elements of use requirement.The method technological process is simple, and production efficiency is high, and has
Low cost, the advantage that can be mass.Molding workpiece is typically disposed in high-precision mold, and mould is usually hard alloy, is passed
Hot good, after hot press moulding, mold temperature is higher, if directly picked and placeed with handss, people is known from experience and causes to scald, may be further
Mould and workpiece is caused to smash.
Mechanical hand is applied quite varied in modern intelligence change system, the such as quick pickup of tiered warehouse facility.In reality
In automated system, it would be desirable to the different mechanical hand of various properities to meet practical application in different reality will
Ask.Six axis robot is the mechanical hand for having six servomotors.Six axis robot arm is entered using the rotation and movement of x, y, z axle
The mechanical hand of row operation.Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field,
Its body can be seen in fields such as industrial manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probations
Shadow.Although their form is had nothing in common with each other, they have one it is common the characteristics of, can exactly receive instruction, it is accurately fixed
Position is to three-dimensional（Or two dimension）Certain point spatially carries out operation.
It is therefore possible to use mechanical hand is picking and placeing the high voltage workpiece and mould of moulding press, but existing industrial robot
For Design of Mechanical Structure, pipeline layout is one of difficult point, how reasonably to arrange various pipes in narrow and small mechanical arm space
Line（Drives line, encoder line, brake cable, trachea, control line of electromagnetic valve, pickup wire of six motors etc.）So as to do not closed
The impact of nodal axisn rotation, is a problem for being worth deeply considering；And moulding press cannot allow mechanical hand to have foot due to working environment
Enough spaces are gone to arrange various pipelines；And, common mechanical hand does not typically possess temperature detecting function, it is impossible to real-time detection mould
The workpiece taken out in press and the temperature of mould, and optical glass device needs to carry out optical measurement after taking-up（To optics glass
Glass component temperature is required）, therefore, common mechanical hand cannot be applied to the workpiece of moulding press（Optical element）Take with mould
Put.
The content of the invention
The present invention is in order to solve defect and deficiency present in above-mentioned prior art, there is provided it is a kind of be both capable of achieving workpiece and
Mould is picked and placeed, temperature change that again can be after real-time detection molding, has both improve the service efficiency of moulding press, reduces mould again
With the probability of workpiece destruction, and simple and compact for structure, pipeline arrangement is convenient, moreover it is possible to realize real-time monitored workpiece and mould
Temperature, facilitates workpiece to carry out six degree of freedom robot device and its side of picking and placeing of the special moulding press of optical element of optical measurement
Method.
Technical scheme：A kind of six degree of freedom robot device of the special moulding press of optical element, including pedestal,
The rotary drive assembly that is arranged in pedestal, the big arm component being arranged on pedestal, the little arm component being arranged on big arm component
And the hand component being arranged on little arm component and the wrist component being arranged between big arm component and little arm component, the rotation
Turning drive component includes that the pedestal motor for driving big arm component to rotate, the harmonic speed reducer being connected on pedestal motor, connection are big
The pedestal gyroaxis of arm component and the shaft coupling of connection pedestal motor shaft and pedestal gyroaxis；The big arm component includes big
Arm, the large arm motor for driving big arm swing and the first planet-cycloid reducer being connected on large arm motor；It is described
Little arm component includes forearm, the forearm motor for driving little arm swing and the second cycloidal pin being connected on forearm motor
Wheel decelerator；The pedestal gyroaxis top is provided with arm hinged seat, and the large arm motor and forearm motor are pacified
It is mounted on arm hinged seat, the large arm motor is connected with large arm bottom, the forearm motor passes through crank connecting link
Mechanism is connected with wrist component, and the pedestal motor, large arm motor and forearm motor are hollow shaft motor, described
Micro temperature sensor is installed on hand component.
Preferably, the crank connecting includes the crank being connected on forearm motor, is connected to crank and wrist
Connecting rod and the pitman shaft bearing sleeve and connecting rod bearing cap installed in connecting rod two ends between parts.
Preferably, the pedestal top is provided with pedestal blind flange, and the arm hinged seat is fixed on pedestal gyroaxis top,
The pedestal flange lid is provided with mounting flange on gyroaxis, and the harmonic speed reducer is provided with mounting flange under gyroaxis, institute
State base interior and be provided with pedestal motor mounting flange.
Preferably, the arm hinged seat is provided with large arm motor mounting flange and forearm motor Method for Installation
It is blue.
Preferably, the wrist component is passed using two harmonic speed reducers, two timing belts and bevel-gear sett are secondary
Dynamic input.
Preferably, the wrist component is provided with the rotary drive motor for driving forearm rotation.
Preferably, the hand component front end is provided with magnetic chuck, and the micro temperature sensor is placed in magnetic chuck.
Preferably, the shaft coupling is elastic dowel pin shaft coupling.
A kind of six degree of freedom robot device of the special moulding press of optical element picks and places method, comprises the steps：
1）After workpiece and mould are annealed, moulding press discharge outlet is reached, pedestal Motor drive large arm and forearm rotate to specified
Angle, large arm motor drives and swing under large arm specified angle, and forearm motor drives forearm and magnetic chuck to swing to
Specified location, rotary drive motor drives forearm and magnetic chuck to turn to specified drawing direction；
2）Magnetic chuck will action automatically take out workpiece and mould, the micro temperature sensor in magnetic chuck can measure work
The temperature change of part and mould, the temperature conditionss of measurement, place it on specified optical measurement platform required for reaching.
The present invention is using the advantage of hollow shaft motor：The various control pipelines of robot can directly be worn from motor center
Cross, no matter how joint shaft rotates, pipeline will not with rotation, even if rotation, pipeline due to being arranged on rotation axiss, so
With minimum radius of turn.This kind of structure preferably resolves the pipeline layout problem of industrial robot.
Beneficial effects of the present invention：Simple and compact for structure, pipeline arrangement is convenient, it is easy to operate, and debugs conveniently, is both capable of achieving
Part mould is picked and placeed, again can after real-time detection molding workpiece and mould temperature change, both improve moulding press using effect
Rate, reduces the probability of mould and workpiece destruction, moreover it is possible to realize real-time monitored again.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the workpiece that the present invention is picked and placeed and mould；
1. pedestal in figure, 2. pedestal motor, 3. pedestal motor mounting flange, 4. harmonic speed reducer, 5. shaft coupling, 6. pedestal revolution
Axle, 7. pedestal blind flange, 8. mounting flange on gyroaxis, 9. arm hinged seat, 10. forearm motor, 11. second cycloidal pins
Wheel decelerator, 12. pitman shaft bearing sleeves, 13. cranks, 14. connecting rod bearing caps, 15. connecting rods, 16. thin-walleds sealing crossed cylindrical roller
Bearing, 17. wrist components, 18. hand components, 19. first planet-cycloid reducers, 20. large arm motor mounting flanges,
21. large arm motors, 22. forearm motor mounting flanges, 23. large arm, 24. forearms, 25. magnetic chucks, 26. gyroaxises
Lower mounting flange, 27. rotary drive motors, A. upper cores, die under B., C. inner sleeves, D. outer sleeves, E. workpiece to be picked and placeed.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is further detailed explanation with the course of work, but is not to present invention protection
The restriction of scope.
As illustrated in fig. 1 and 2, a kind of six degree of freedom robot device of the special moulding press of optical element, including pedestal 1, set
Put the rotary drive assembly in pedestal 1, the big arm component being arranged on pedestal 1, the little arm component being arranged on big arm component
And the hand component 18 being arranged on little arm component and the wrist component 17 being arranged between big arm component and little arm component.Rotation
Turning drive component includes the pedestal motor 2 for driving big arm component to rotate, the harmonic speed reducer 4 being connected on pedestal motor 2, connection
The pedestal gyroaxis 6 of big arm component and the shaft coupling 5 of connection pedestal motor shaft and pedestal gyroaxis 6.Big arm component includes big
Arm 23, the large arm motor 21 for driving the swing of large arm 23 and the first cycloidal-pin wheel being connected on large arm motor 21 slow down
Device 19.Little arm component includes forearm 24, the forearm motor 10 of the driving swing of forearm 24 and is connected to forearm motor 10
On the second planet-cycloid reducer 11；The top of pedestal gyroaxis 6 is provided with arm hinged seat 9, large arm motor 21 and forearm
Motor 10 is installed on arm hinged seat 9, and large arm motor 21 is connected with the bottom of large arm 23, forearm motor 10
It is connected with wrist component 17 by toggle, pedestal motor 2, large arm motor 21 and forearm motor 10 are
Hollow shaft motor, on hand component 18 micro temperature sensor is provided with.Crank connecting includes that being connected to forearm drives electricity
Crank 13 on machine 10, the connecting rod 15 being connected between crank 13 and wrist component 17 and the connecting rod installed in the two ends of connecting rod 15
Bearing holder (housing, cover) 12 and connecting rod bearing cap 14.The top of pedestal 1 is provided with pedestal blind flange 7, and arm hinged seat 9 is fixed on pedestal gyroaxis 6
Top, pedestal blind flange 7 is provided with mounting flange 8 on gyroaxis, and harmonic speed reducer 4 is provided with mounting flange 26 under gyroaxis,
Pedestal motor mounting flange 3 is provided with inside pedestal 1.Arm hinged seat 9 is provided with large arm motor mounting flange 20 and forearm
Motor mounting flange 22, the top of large arm 23 seals crossed cylindrical roller bearing 16 and cuts with scissors with the bottom of wrist component 17 by thin-walled
Connect.Wrist component 17 is using two harmonic speed reducers, two timing belts and bevel-gear sett auxiliary driving input.Wrist component
17 are provided with the rotary drive motor 27 for driving the rotation of forearm 24.The front end of hand component 18 is provided with magnetic chuck 25, Miniature temperature
Sensor is placed in magnetic chuck 25, and the size of magnetic chuck 25 matches with the size of mould to be picked and placeed, and workpiece E to be picked and placeed consolidates
It is scheduled in mould to be picked and placeed.Mould to be picked and placeed include upper cores A, lower die B, be arranged on it is interior between upper cores A and lower die B
Sleeve C and the outer sleeve D being enclosed within outside inner sleeve C, workpiece E to be picked and placeed is located between upper cores A, lower die B and inner sleeve C.Connection
Axle device 5 is elastic dowel pin shaft coupling.
A kind of six degree of freedom robot device of the special moulding press of optical element picks and places method, comprises the steps：
1）After workpiece and mould are annealed, moulding press discharge outlet is reached, pedestal Motor drive large arm and forearm rotate to specified
Angle, large arm motor drives and swing under large arm specified angle, and forearm motor drives forearm and magnetic chuck to swing to
Specified location, rotary drive motor drives forearm and magnetic chuck to turn to specified drawing direction；
2）Magnetic chuck will action automatically take out workpiece and mould, the micro temperature sensor in magnetic chuck can measure work
The temperature change of part and mould, the temperature conditionss of measurement, place it on specified optical measurement platform required for reaching.
In the present invention wrist component and hand component of robot device be on the market standard machinery wrist parts and
Hand component is identical, therefore does not carefully state.
Claims (10)
1. a kind of six degree of freedom robot device of the special moulding press of optical element, including pedestal, the rotation being arranged in pedestal
Drive component, the big arm component being arranged on pedestal, the little arm component being arranged on big arm component and it is arranged on little arm component
Hand component and the wrist component that is arranged between big arm component and little arm component, it is characterised in that：The rotation driving
Component includes the pedestal motor for driving big arm component to rotate, the harmonic speed reducer being connected on pedestal motor, connects big arm component
Pedestal gyroaxis and connection pedestal motor shaft and pedestal gyroaxis shaft coupling；The big arm component includes large arm, drives
The large arm motor of big arm swing and the first planet-cycloid reducer being connected on large arm motor；The little arm component
Slow down including forearm, the forearm motor of the little arm swing of driving and the second cycloidal-pin wheel being connected on forearm motor
Device；The pedestal gyroaxis top is provided with arm hinged seat, and the large arm motor and forearm motor are installed in handss
On arm hinged seat, the large arm motor is connected with large arm bottom, the forearm motor by toggle with
Wrist component connects, and the pedestal motor, large arm motor and forearm motor are hollow shaft motor, the hand group
Micro temperature sensor is installed on part.
2. a kind of six degree of freedom robot device of the special moulding press of optical element according to claim 1, its feature exists
In：The crank connecting includes the crank being connected on forearm motor, is connected between crank and wrist component
Connecting rod and the pitman shaft bearing sleeve and connecting rod bearing cap installed in connecting rod two ends.
3. a kind of six degree of freedom robot device of the special moulding press of optical element according to claim 1, its feature exists
In：The pedestal top is provided with pedestal blind flange, and the arm hinged seat is fixed on pedestal gyroaxis top, the pedestal flange
Cover and be provided with mounting flange on gyroaxis, the harmonic speed reducer is provided with mounting flange under gyroaxis, the base interior sets
There is pedestal motor mounting flange.
4. a kind of six degree of freedom robot device of the special moulding press of optical element according to claim 1, its feature exists
In：The arm hinged seat is provided with large arm motor mounting flange and forearm motor mounting flange, the large arm top
Portion seals crossed cylindrical roller bearing and is hinged with wrist component bottom by thin-walled.
5. a kind of six degree of freedom robot device of the special moulding press of optical element according to claim 1, its feature exists
In：The wrist component is using two harmonic speed reducers, two timing belts and bevel-gear sett auxiliary driving input.
6. a kind of six degree of freedom robot device of the special moulding press of optical element according to claim 5, its feature exists
In：The wrist component is provided with the rotary drive motor for driving forearm rotation.
7. a kind of six degree of freedom robot device of the special moulding press of optical element according to claim 1, its feature exists
In：The hand component front end is provided with magnetic chuck, and the micro temperature sensor is placed in magnetic chuck, the magnetic chuck
Size match with the size of mould to be picked and placeed, workpiece to be picked and placeed is fixed in mould to be picked and placeed.
8. a kind of six degree of freedom robot device of the special moulding press of optical element according to claim 7, its feature exists
In：The mould to be picked and placeed includes upper cores, lower die, the inner sleeve being arranged between upper cores and lower die and is enclosed within inner sleeve
Outer sleeve outside cylinder, the workpiece to be picked and placeed is located between upper cores, lower die and inner sleeve.
9. a kind of six degree of freedom robot device of the special moulding press of optical element according to claim 1, its feature exists
In：The shaft coupling is elastic dowel pin shaft coupling.
10. the side of picking and placeing of the six degree of freedom robot device of the special moulding press of a kind of optical element according to claim 1
Method, it is characterised in that：It comprises the steps：
1) after workpiece and mould are annealed, moulding press discharge outlet is reached, pedestal Motor drive large arm and forearm rotate to specified
Angle, large arm motor drives and swing under large arm specified angle, and forearm motor drives forearm and magnetic chuck to swing to
Specified location, rotary drive motor drives forearm and magnetic chuck to turn to specified drawing direction；
2) magnetic chuck will action automatically take out workpiece and mould, the micro temperature sensor in magnetic chuck can measure work
The temperature change of part and mould, the temperature conditionss of measurement, place it on specified optical measurement platform required for reaching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710082923.XA CN106607878A (en) | 2017-02-16 | 2017-02-16 | Six-degree-of-freedom mechanical arm device of block press dedicated for optical element, and picking and placing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710082923.XA CN106607878A (en) | 2017-02-16 | 2017-02-16 | Six-degree-of-freedom mechanical arm device of block press dedicated for optical element, and picking and placing method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607878A true CN106607878A (en) | 2017-05-03 |
Family
ID=58636448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710082923.XA Pending CN106607878A (en) | 2017-02-16 | 2017-02-16 | Six-degree-of-freedom mechanical arm device of block press dedicated for optical element, and picking and placing method thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN106607878A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322369A (en) * | 2017-07-28 | 2017-11-07 | 上海理工大学 | Support the laser and machine vision metrology machine in position automatic measuring of digital control processing |
| CN107662200A (en) * | 2017-11-07 | 2018-02-06 | 山东大学 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
| CN107775634A (en) * | 2017-11-29 | 2018-03-09 | 北京圣世信通科技发展有限公司 | A kind of biomimetic manipulator underwater units for imitating mankind's paw |
| CN107932555A (en) * | 2017-11-03 | 2018-04-20 | 江苏新铁重工装备有限公司 | A kind of industrial robot mounting seat |
| CN108748273A (en) * | 2018-08-28 | 2018-11-06 | 埃夫特智能装备股份有限公司 | A kind of robot interior humidity control system |
| CN112728341A (en) * | 2020-12-18 | 2021-04-30 | 东南大学 | Mechanical structure of intelligent remote monitoring holder equipment |
| CN114317265A (en) * | 2021-12-23 | 2022-04-12 | 苏州大学 | Dynamic embryo culture device and method based on liquid drop self-driving technology |
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| CN107322369A (en) * | 2017-07-28 | 2017-11-07 | 上海理工大学 | Support the laser and machine vision metrology machine in position automatic measuring of digital control processing |
| CN107932555A (en) * | 2017-11-03 | 2018-04-20 | 江苏新铁重工装备有限公司 | A kind of industrial robot mounting seat |
| CN107662200A (en) * | 2017-11-07 | 2018-02-06 | 山东大学 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
| CN107775634A (en) * | 2017-11-29 | 2018-03-09 | 北京圣世信通科技发展有限公司 | A kind of biomimetic manipulator underwater units for imitating mankind's paw |
| CN108748273A (en) * | 2018-08-28 | 2018-11-06 | 埃夫特智能装备股份有限公司 | A kind of robot interior humidity control system |
| CN112728341A (en) * | 2020-12-18 | 2021-04-30 | 东南大学 | Mechanical structure of intelligent remote monitoring holder equipment |
| CN112728341B (en) * | 2020-12-18 | 2022-05-10 | 东南大学 | Mechanical structure of intelligent remote monitoring holder equipment |
| CN114317265A (en) * | 2021-12-23 | 2022-04-12 | 苏州大学 | Dynamic embryo culture device and method based on liquid drop self-driving technology |
| WO2023116174A1 (en) * | 2021-12-23 | 2023-06-29 | 苏州大学 | Embryo dynamic culture device and method based on liquid drop self-driving technology |
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Application publication date: 20170503 |