WO2002004177A1 - Dispositif de connexion d'outil pour prehenseur - Google Patents
Dispositif de connexion d'outil pour prehenseur Download PDFInfo
- Publication number
- WO2002004177A1 WO2002004177A1 PCT/JP2000/004563 JP0004563W WO0204177A1 WO 2002004177 A1 WO2002004177 A1 WO 2002004177A1 JP 0004563 W JP0004563 W JP 0004563W WO 0204177 A1 WO0204177 A1 WO 0204177A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- arc
- robot hand
- shaped
- operating shaft
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/107—Retention by laterally-acting detents, e.g. pins, screws, wedges; Retention by loose elements, e.g. balls
- B23B31/1078—Retention by wedges
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/59—Manually releaseable latch type
- Y10T403/591—Manually releaseable latch type having operating mechanism
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Definitions
- the present invention relates to a tool connecting device for a robot hand, and more particularly, to a tool connecting device for a robot hand having a plurality of rod members radially provided as engaging members of a hook mechanism for connecting a master plate and a tool plate.
- an inner assembly ( 2. Description of the Related Art
- a robot hand tool coupling device having a master plate), an outer assembly (tool plate) on which a tool is mounted, and a lock mechanism for locking the inner assembly and the outer assembly is known.
- a tool connecting device capable of quickly connecting and disconnecting an inner assembly and an outer assembly is disclosed in, for example, U.S. Pat. It is described in No. 4.
- the lock mechanism of the robot hand tool connecting device includes a piston member, a plurality of ball members as engaging members, and a ball receiver as a locked portion.
- the biston member is supported by the inner assembly and is slidable over a locked position and an unlocked position.
- the ball member is connected to the inner assembly and is connected to an outer peripheral side of an output portion of the biston member. It is housed and held in the housing of a substantially cylindrical ball retainer surrounding the piston, and is held so as to be movable in a direction perpendicular to the slide direction of the piston member (hereinafter simply referred to as an orthogonal direction). That is, the inner diameter side and the outer diameter side of the accommodation hole of the ball retainer are communicated in the orthogonal direction, and the ball member is held in the accommodation hole so as to be movable in the orthogonal direction.
- Ball receiver, Auta Assen The inner assembly and outer assembly are connected to the ball member in cooperation with the ball member when the piston member moves to the lock position. Hold.
- the ball retainer is provided with a plurality of panel panels along the outer peripheral surface of the ball retainer excluding the accommodation hole, and ends of adjacent panel panels are connected to each other particularly when the connection between the inner assembly and the auta assembly is released. And a function of preventing the ball member from falling off and biasing the ball member toward the inner diameter side of the ball retainer.
- a plurality of panel panels provided on the outer peripheral surface of the ball retainer are also described in a tool connecting device for a robot hand disclosed in Japanese Patent Application Laid-Open No. 4-63688, These leaf springs prevent the ball member from falling off from the ball retainer.
- the tool connecting device for a robot hand a large number of panel panels must be provided in order to urge the ball member toward the inner diameter side of the ball retainer and to prevent the ball member from falling off. Due to the complexity, the production cost increases, which is disadvantageous. Further, since the ball member is used as the engagement member, at least the contact area between the spherical surface of the ball member and the flat surface of the ball receiver becomes point contact or line contact, and the contact area is reduced. The contact surface pressure of is increased. Since the structure is such that a plurality of ball members are arranged on the entire circumference, the contact portion between the ball member and the ball receiver exists only intermittently on the entire circumference, and the contact surface pressure of the entire lock mechanism increases. Therefore, there is a problem that the life of the lock mechanism is shortened.
- An object of the present invention is to provide a robot hand that can reliably prevent the engagement member from falling off, reduce the number of parts, simplify the structure, reduce manufacturing costs, and increase the durability of the device.
- a tool coupling device is provided. Disclosure of the invention
- the present invention relates to a robot hand including a master plate connected to an output portion of a hand of a robot, a tool plate connected to a tool, and a lock mechanism that locks the master plate and the tool plate as much as possible.
- the lock mechanism includes: an operating shaft supported by the master plate and driven to a lock position and a release position by an air cylinder in the master plate; An annular retainer fixed to the outer periphery of the output part of the operating shaft, and a plurality of rods formed in the inner peripheral side wall of the retainer so as to penetrate in a radial direction orthogonal to the sliding direction of the operating shaft.
- a plurality of arc-shaped locks mounted in the annular groove so as to be slidable in the radial direction and abutted or connected to the end of the push rod. It is characterized in that a wood.
- FIG. 1 is a longitudinal sectional view of a tool connecting device according to an embodiment of the present invention
- FIG. 2 is a diagram corresponding to FIG. 1 showing an operation state of a lock mechanism
- FIG. 3 is a vertical sectional view of another phase of the tool connecting device.
- Fig. 4 is a vertical cross-sectional view of another phase of the tool connection device
- Fig. 5 is the release of the operating shaft.
- FIG. 6 is a cross-sectional view of the locked position of the operating shaft
- FIG. 7 ′ is a plan view of the push port
- FIG. 8 is a front view of the push port.
- FIG. 9 is a partially enlarged plan view of the arc-shaped hook member
- FIG. 10 is a cross-sectional view taken along the line XX of FIG. 9, and
- FIG. 11 is a cross-sectional view taken along the line XI—XI of FIG. .
- FIG. 12 is a longitudinal sectional view of a tool connecting device according to a modified embodiment
- FIG. 13 is a diagram corresponding to FIG. 12 showing an operating state of a lock mechanism
- FIG. 14 is a cross-sectional view of a released state of an operating shaft.
- FIG. 15 is a cross-sectional view of the operating shaft in a locked position state.
- the robot hand tool coupling device 1 is composed of a master plate 2, a tool plate 3, and a master plate 2 and a tool plate 3 connected to the output section H of the robot hand. It has a lock mechanism 4 for releasably locking 3 and an air cylinder 7. One of various tools (not shown) is connected to the tool plate 3.
- the master plate 2 is composed of a substantially cylindrical master plate body 5 and a lid 6 fixed to the upper end of the master plate body 5.
- the master plate body 5 has a cylinder hole 8 in the upper half of the air cylinder 7, and the lower half of the master plate body 5 has a retainer engagement hole 9 larger in diameter than the cylinder hole 8.
- a connector 10 is also provided for electrical wiring to energize sensor switches on the tool side.
- the master plate 2 is provided with the air cylinder 7, and the piston member 13 is mounted in the cylinder hole 8 so as to be airtightly slidable.
- the sealing members 11, 12, and 13a are also provided.
- An operating shaft 14 extending downward is fixed to the lower end of the piston member 13, and the operating shaft 14 is configured to be driven up and down by an air cylinder 7 between a lock position shown in FIG. 1 and a release position shown in FIG. ing.
- the master plate body 5 has two piston holes 13
- a connection bracket 16A for supplying and discharging pressurized air through the communication hole 15 is attached to the working chamber 8a formed between the lid 6 and the working chamber 8a.
- a connection fitting 16B for supplying and discharging pressurized air through the communication hole 18 is attached to the working chamber 8b composed of the concave portion 17a.
- it is configured so that pressurized air from the air pressure supply source is supplied to and discharged from the air cylinder 7 through the air hose, the connection fittings 16A and 16B, and the communication holes 15 and 18. I have.
- the tool plate 3 Describing the tool plate 3, the tool plate 3 includes a substantially cylindrical tool plate body 3a, an engagement ring 21 and the like.
- the ring-shaped engagement ring 21 is disposed in a step formed on the inner peripheral portion of the upper half of the tool plate body 3a, and is fixed to the tool plate body 3a by a plurality of bolts 22. I have.
- the engaging ring 21 also has a plurality of pin holes 21c (see FIG. 3) into which a plurality of tapered pins 28 can be fitted.
- the tool plate main body 3a is also provided with a connector 23 for electrical wiring for supplying electricity to the sensor-side switches on the tool side, and a connector 13 connected to the connector 10 described above.
- connection fittings 24 A to 24 D are provided, and four connection fittings 5 A to 2 corresponding to these four connection fittings 24 A to 24 D near the outer surface of the handle plate body 3 a.
- 5 D (however, only 25 B and 25 C are shown) is provided, and when the tool plate 3 is connected to the master plate 2, the upper and lower fluid passages are communicated via the communication passage 26. ing.
- the lock mechanism 4 will be described. As shown in FIGS. 1, 2, and 5 to 11, the lock mechanism 4 includes an operating shaft 14 driven up and down by an air cylinder 7, an annular retainer 17 , Four rod insertion holes 18, an annular groove 31, four push rods 19, and four arc-shaped lock members 20.
- the retainer 17 will be described.
- the upper half of the retainer 17 is fitted into the mating hole 9 and is fixed to the master plate main body 5 with a plurality of bolts 27.
- the retainer 17 is provided with a plurality of tapered pins 28 that can be respectively fitted into the plurality of pin holes 21c of the engagement ring 21.
- the guide cylinder 29 is also provided with a seal member 30.
- An annular groove 31 whose outer peripheral side is open is formed in the lower half of the retainer 17.
- the lower annular wall 17 b and the inner side of the annular groove 31 are formed.
- a peripheral side wall portion 17c is also formed.
- the inner peripheral side wall portion 17 c is integrally connected to the guide cylinder portion 29.
- Four rod insertion holes 18 are formed in the inner peripheral side wall portion 17 c so as to penetrate in the radial direction orthogonal to the sliding direction of the operating shaft 14 and at intervals of 90 degrees in the circumferential direction.
- the outer peripheral end of the annular wall portion 17 b is formed to have a slightly smaller diameter than the inner peripheral surface of the engagement ring 11.
- a push rod 19 is mounted in each rod insertion hole 18 so as to be movable in the radial direction and transmits the output of the operating shaft 14 to the outside in the radial direction.
- the push rod ⁇ 9 has a partially spherical inner end 19a for receiving the output of the operating shaft 14, and an outer circumferential surface formed with four axially extending strips.
- the grease grooves 19b are formed at intervals of 90 degrees in the circumferential direction.
- each arc-shaped lock member 20 is provided in the annular groove 31 in the radial direction. It is mounted so that it can slide.
- a concave portion 20 e is formed in the inner peripheral portion of each arc-shaped lock member 20 near the center of the circular arc, and the outer end side portion of the push rod 19 is loosely fitted into the concave portion 20 e so as to fit outside. The ends are abutted.
- An arc groove 20a is formed in the outer peripheral portion of each of the four arc-shaped lock members 20, and a C-ring-shaped panel member 32 is mounted in these arc grooves 20a.
- the panel members 32 are configured to elastically urge the four arc-shaped lock members 20 toward the diameter reduction side.
- One of the four arc-shaped lock members 20 has a fixing hole for fixing the panel member 32 to the outer peripheral portion thereof. 20 b is formed.
- each arc-shaped hook member 10 In the vicinity of the outer periphery of each arc-shaped hook member 10, there is an arc-shaped engagement surface 20 c that can be engaged with the tapered engagement surface 21 a of the engagement ring 11, and the smaller the diameter, the smaller the diameter.
- An arcuate engagement surface 2 Oc is formed.
- the four arc-shaped hook members 20 When the operating shaft 14 is in the lock position shown in Fig. 2, the four arc-shaped hook members 20 are engaged with the tape-shaped engagement surfaces 21a of the tape-shaped engagement surfaces 20c. You. When the operating shaft 14 is at the release position shown in FIG. 1, the arcuate engagement surface 10c becomes smaller in diameter than the tapered engagement surface 1a and separates from the tapered engagement surface 21a.
- a plurality of grease grooves 20d are formed on the upper and lower surfaces of each arc-shaped lock member 20 at regular intervals and radially extend from the inner end to the outer end by a predetermined length.
- the master plate 2 is connected to the output portion H of the robot hand in advance, and the tool plate 3 is connected to a desired tool in advance.
- the master plate 1 is brought close to the tool plate 3 side through the robot hand so that their axes and phases match, and the master plate 2 side is connected.
- a plurality of taper pins 28 are fitted into a plurality of pin holes 21c on the tool plate 3 side, respectively, and the master plate 2 and the tool plate 3 are positioned and temporarily connected.
- pressurized air is introduced into the working chamber 8a while discharging air from the working chamber 8b, and the piston member 13 and the working shaft 14 are brought into the locked position.
- each push rod 19 is pushed outward in the radial direction by the operating shaft 14, and the four arc-shaped lock members 20 slide outward in the radial direction, and each arc-shaped engagement surface 20 c Engage with the taper engagement surface 21 a of the engagement ring 21.
- the tool plate 3 is firmly locked to the master plate 2.
- a plurality of push rods 19 are movably mounted in a plurality of rod insertion holes 18, a plurality of arc-shaped hook members 20 are arranged in the annular groove 31, and a diameter is formed by a C-ring-shaped panel member 32. Since the push rod 19 and the arc-shaped lock member 20 are elastically urged toward the reduction side, it is possible to reliably prevent the push rod 19 and the arc-shaped lock member 20 from falling off the retainer 17. This eliminates the need for a large number of panel panels and the like used in the prior art for preventing falling off, reducing the number of parts and simplifying the structure.
- the contact area of the arcuate engagement surface 21c is the ball member of the prior art.
- the contact area pressure can be reduced because the contact area is much larger than the contact area of the lock mechanism 4, and the durability of the lock mechanism 4 is significantly improved. Therefore, the durability of the tool connecting device 1 for a robot hand can be significantly improved.
- the outer end portion of the push rod 19 may be fitted to the concave portion 20e of the arc-shaped hook member 20 by a tight fit or welded and connected to the concave portion 20e.
- the connection may be made using screws or the like.
- the tool connecting device 1A has a part of the push rod 19A that touches the output part of the operating shaft 14 on the peripheral surface of the operating shaft 14.
- a surface contact portion 35 that makes surface contact with a part is formed.
- a pair of flat portions 36 is formed on the outer end portion of the outer peripheral surface of each push rod 19 A, and the outer end portion of the push rod 19 a is arc-locked using these flat portions 36. It is internally screwed into the member 20. That is, the surface contact portion 35 of the push rod 19 A is configured to stably contact a part of the peripheral surface of the operating shaft 14.
- Other configurations are the same as those of the above embodiment.
- the contact area becomes larger than that of the above embodiment, so that the contact surface pressure is further reduced. Therefore, the durability of the tool connecting device 1A can be further improved.
- Each push rod and the arc-shaped lock member may be integrally formed.
- the push rod 19 A may be formed as a rod having a square cross section.
- the piston member 13 and the operating shaft 14 may be integrally formed.
- the engagement ring 21 and the tool plate body 3a may be integrally formed.
- the fixing hole 2 O b for fixing the panel member of the arc-shaped lock member 20 may be omitted.
- the number of push rods and their insertion holes is not limited to four, and may be, for example, three or four or more.
- the shape of the push rod, the shape of the grease groove of the arc-shaped lock member, and the location of the grease groove can be appropriately changed. A configuration may be adopted in which a lubricant other than grease is applied in advance or supplied as needed.
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020027001317A KR20020059349A (ko) | 2000-07-06 | 2000-07-06 | 로봇 핸드용 툴 연결장치 |
PCT/JP2000/004563 WO2002004177A1 (fr) | 2000-07-06 | 2000-07-06 | Dispositif de connexion d'outil pour prehenseur |
CN00811999A CN1371316A (zh) | 2000-07-06 | 2000-07-06 | 机械手用工具连接装置 |
EP00944348A EP1308249A4 (en) | 2000-07-06 | 2000-07-06 | DEVICE FOR CONNECTING A TOOL TO A ROBOT HAND |
US10/088,068 US6752037B1 (en) | 2000-07-06 | 2000-07-06 | Tool connecting device for robot hand |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2000/004563 WO2002004177A1 (fr) | 2000-07-06 | 2000-07-06 | Dispositif de connexion d'outil pour prehenseur |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2002004177A1 true WO2002004177A1 (fr) | 2002-01-17 |
Family
ID=11736240
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2000/004563 WO2002004177A1 (fr) | 2000-07-06 | 2000-07-06 | Dispositif de connexion d'outil pour prehenseur |
Country Status (5)
Country | Link |
---|---|
US (1) | US6752037B1 (ja) |
EP (1) | EP1308249A4 (ja) |
KR (1) | KR20020059349A (ja) |
CN (1) | CN1371316A (ja) |
WO (1) | WO2002004177A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6752037B1 (en) | 2000-07-06 | 2004-06-22 | Pascal Engineering Corporation | Tool connecting device for robot hand |
WO2005102616A1 (ja) * | 2004-04-23 | 2005-11-03 | Koganei Corporation | ロッドの保持装置 |
JP2008012667A (ja) * | 2006-07-04 | 2008-01-24 | Korea Atomic Energy Research Inst | サーボマニピュレータの着脱装置 |
AU2007308132B2 (en) * | 2006-10-11 | 2011-12-15 | Exxonmobil Research And Engineering Company | Hydroprocessing methods for bulk group VIII/VIB metal catalysts |
JP2015171756A (ja) * | 2014-03-11 | 2015-10-01 | エロワ アーゲーErowa Ag | マニピュレータ用の連結装置 |
CN116038770A (zh) * | 2023-01-10 | 2023-05-02 | 佛山市南海区质量技术监督检测所 | 一种基于动捕相机的工业移动机器人性能检测装置 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT411241B (de) * | 2001-08-02 | 2003-11-25 | Vae Eisenbahnsysteme Gmbh | Einrichtung zum verriegeln der endlagen von beweglichen weichenteilen |
US8005570B2 (en) * | 2006-03-14 | 2011-08-23 | Ati Industrial Automation | Robotic tool changer |
CN100563992C (zh) * | 2006-12-20 | 2009-12-02 | 宝德强科技(苏州)有限公司 | 用于注塑机取件的连接装置 |
CH716410B1 (de) * | 2007-01-30 | 2021-01-29 | Erowa Ag | Spanneinrichtung mit einem Spannfutter und einem lösbar daran fixierbaren Werkstückträger. |
CN101607398B (zh) * | 2008-06-18 | 2012-06-20 | 鸿富锦精密工业(深圳)有限公司 | 夹具更换装置 |
US9724830B2 (en) * | 2008-09-05 | 2017-08-08 | Ati Industrial Automation, Inc. | Manual robotic tool changer with rolling members |
CN101722509B (zh) * | 2009-11-30 | 2011-01-26 | 哈尔滨工业大学 | 空间锁定电气连接一体化机构 |
CN102059709B (zh) * | 2010-12-15 | 2012-09-05 | 上海交通大学 | 机器人机械对接装置 |
CN102744433B (zh) * | 2012-07-23 | 2014-06-11 | 山东省宇捷轴承制造有限公司 | 一种夹具 |
JP6075991B2 (ja) * | 2012-07-31 | 2017-02-08 | オリンパス株式会社 | 医療用マニピュレータおよび処置具交換方法 |
CN103978497B (zh) * | 2014-05-09 | 2016-06-29 | 哈尔滨工程大学 | 液压驱动式水下应急解脱装置 |
CN106426244A (zh) * | 2016-12-02 | 2017-02-22 | 江苏尚诚精密模具科技有限公司 | 一种机械手夹具快换机构 |
JP7217946B2 (ja) * | 2019-05-08 | 2023-02-06 | 株式会社コスメック | 部材交換装置 |
KR102454740B1 (ko) * | 2021-01-11 | 2022-10-13 | 최석진 | 트랜스퍼 피더의 센터빔 연결 장치 |
CN114951475B (zh) * | 2022-05-23 | 2023-09-05 | 无锡维凯科技有限公司 | 一种满足前后冲床节拍的移载分料机构 |
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2000
- 2000-07-06 CN CN00811999A patent/CN1371316A/zh active Pending
- 2000-07-06 EP EP00944348A patent/EP1308249A4/en not_active Withdrawn
- 2000-07-06 US US10/088,068 patent/US6752037B1/en not_active Expired - Fee Related
- 2000-07-06 KR KR1020027001317A patent/KR20020059349A/ko not_active Application Discontinuation
- 2000-07-06 WO PCT/JP2000/004563 patent/WO2002004177A1/ja not_active Application Discontinuation
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JPS59188184U (ja) * | 1983-06-01 | 1984-12-13 | 本田技研工業株式会社 | ロボツトハンドの交換装置 |
JPS61117087A (ja) * | 1984-11-09 | 1986-06-04 | 株式会社東芝 | 着脱装置 |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6752037B1 (en) | 2000-07-06 | 2004-06-22 | Pascal Engineering Corporation | Tool connecting device for robot hand |
WO2005102616A1 (ja) * | 2004-04-23 | 2005-11-03 | Koganei Corporation | ロッドの保持装置 |
JP2008012667A (ja) * | 2006-07-04 | 2008-01-24 | Korea Atomic Energy Research Inst | サーボマニピュレータの着脱装置 |
JP4565195B2 (ja) * | 2006-07-04 | 2010-10-20 | コリア アトミック エナジー リサーチ インスティチュート | サーボマニピュレータの着脱装置 |
AU2007308132B2 (en) * | 2006-10-11 | 2011-12-15 | Exxonmobil Research And Engineering Company | Hydroprocessing methods for bulk group VIII/VIB metal catalysts |
JP2015171756A (ja) * | 2014-03-11 | 2015-10-01 | エロワ アーゲーErowa Ag | マニピュレータ用の連結装置 |
CN116038770A (zh) * | 2023-01-10 | 2023-05-02 | 佛山市南海区质量技术监督检测所 | 一种基于动捕相机的工业移动机器人性能检测装置 |
CN116038770B (zh) * | 2023-01-10 | 2023-12-05 | 佛山市南海区质量技术监督检测所 | 一种基于动捕相机的工业移动机器人性能检测装置 |
Also Published As
Publication number | Publication date |
---|---|
US6752037B1 (en) | 2004-06-22 |
KR20020059349A (ko) | 2002-07-12 |
EP1308249A1 (en) | 2003-05-07 |
EP1308249A4 (en) | 2005-04-06 |
CN1371316A (zh) | 2002-09-25 |
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