CN104476305A - Manipulator - Google Patents

Manipulator Download PDF

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Publication number
CN104476305A
CN104476305A CN201410632145.3A CN201410632145A CN104476305A CN 104476305 A CN104476305 A CN 104476305A CN 201410632145 A CN201410632145 A CN 201410632145A CN 104476305 A CN104476305 A CN 104476305A
Authority
CN
China
Prior art keywords
connecting rod
forearm
large arm
driving mechanism
manipulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201410632145.3A
Other languages
Chinese (zh)
Inventor
曲道奎
边弘晔
李学威
何伟全
马壮
陈雷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Siasun Robot and Automation Co Ltd
Original Assignee
Shenyang Siasun Robot and Automation Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Siasun Robot and Automation Co Ltd filed Critical Shenyang Siasun Robot and Automation Co Ltd
Priority to CN201410632145.3A priority Critical patent/CN104476305A/en
Publication of CN104476305A publication Critical patent/CN104476305A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/046—Handling workpieces or tools

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a manipulator. The manipulator comprises a mounting base, a first driving mechanism, a large arm, a second driving mechanism, a small arm, a triangular connecting rod, a connecting piece, a small arm connecting rod and a large arm connecting rod; the first driving mechanism is connected with one end of the large arm; the first driving mechanism is used for driving the large arm to rotate; the second driving mechanism is mounted on the large arm and at the end far away from the first driving mechanism; the second driving mechanism is connected with one end of the small arm; the second driving mechanism is used for driving the small arm to rotate. According to the manipulator, the large arm and the small arm rotatably connected with the large arm are arranged on the mounting base, and meanwhile, the rotatable large arm connecting rod, the triangular connecting rod rotatably connected with the large arm connecting rod, the small arm connecting rod rotatably connected with the triangular connecting rod and the connecting piece connected with the small arm connecting rod and the small arm are arranged on the mounting base, and therefore, the mechanical strength of the manipulator is effectively enhanced. The manipulator is few in parts, relatively simple in structure, and capable of realizing the function of shifting workpieces by driving the large arm and the small arm to rotate by use of the driving mechanisms.

Description

Manipulator
Technical field
The present invention relates to and belong to material automatic grabbing device, be specifically related to a kind of manipulator.
Background technology
At present, on very factoried production line, Digit Control Machine Tool workpiece loading and unloading is still by manually completing, and labour intensity is large, and production efficiency is low.Due to the development in an all-round way of industrial automation, extremely urgent to the raising of operating efficiency.The loading and unloading work of lathe due to repeatability very high, simple craft work is can not meet industrial automation requirement, machine tool and manipulator coupling are formed a flexible manufacturing system (FMS) jointly, compact conformation and adaptability are very strong, huge workpiece transport device can be saved, save a large amount of manpower and materials, improve working (machining) efficiency, reduce production cost.
Common handling equipment mainly contains that pneumatic, hydraulic pressure, motor driving etc. are several, and wherein the captured load of pneumatic means is generally smaller, and the control system of hydraulic means is comparatively complicated, and then comparatively flexibly and efficiency is high, versatility is good for motor driver.But traditional motor drive machinery hand structure is comparatively complicated.
Summary of the invention
Given this, be necessary to provide the comparatively simple manipulator of a kind of structure.
A kind of manipulator, comprise mount pad, first driving mechanism, large arm, second driving mechanism, forearm, triangular coupling rod, connector, forearm connecting rod and large arm connecting rod, described first driving mechanism is arranged on described mount pad, described first driving mechanism is connected with one end of described large arm, described first driving mechanism rotates for driving described large arm, described second driving mechanism is arranged on described large arm and away from one end of described first driving mechanism, described second driving mechanism is connected with one end of described forearm, described second driving mechanism rotates for driving described forearm, one end that described forearm connects described second driving mechanism is also rotationally connected with the first end of described triangular coupling rod, described triangular coupling rod and described second driving mechanism lay respectively at the both sides of described forearm, described connector comprises base plate, lug and linking arm, described lug is located on described base plate, one end of described linking arm is located on described base plate, described forearm is arranged between described lug and described linking arm away from one end of described second driving mechanism rotationally, described linking arm is rotationally connected away from one end of described base plate and one end of described forearm connecting rod, described forearm connecting rod is rotationally connected away from one end of described linking arm and the second end of described triangular coupling rod, the two ends of described large arm connecting rod are rotationally connected with the 3rd end of described triangular coupling rod and described mount pad respectively.
Wherein in an embodiment, described large arm is parallel with described large arm connecting rod, distance between two centers of rotation at described large arm two ends is equal with the distance between two centers of rotation at described large arm connecting rod two ends, and two centers of rotation at described large arm two ends form a parallelogram with the line of two centers of rotation at described large arm connecting rod two ends respectively.
Wherein in an embodiment, described forearm is parallel with described forearm connecting rod, distance between two centers of rotation at described forearm two ends is equal with the distance between two centers of rotation at described forearm connecting rod two ends, and two centers of rotation at described forearm two ends form a parallelogram with the line of two centers of rotation at described forearm connecting rod two ends respectively.
Wherein in an embodiment, described first driving mechanism comprises the first motor and the first decelerator, and one end of described first decelerator is connected with the driving shaft of described first motor, and the other end of described first decelerator is fixedly connected with one end of described large arm.
Wherein in an embodiment, described second driving mechanism comprises the second motor and the second decelerator, and one end of described second decelerator is connected with the driving shaft of described second motor, and the other end of described second decelerator is fixedly connected with one end of described forearm.
Wherein in an embodiment, described large arm offers the first groove.
Wherein in an embodiment, described forearm offers the second groove.
Wherein in an embodiment, described forearm connecting rod offers the 3rd groove.
Wherein in an embodiment, described large arm connecting rod offers the 4th groove.
Wherein in an embodiment, the base plate of described connector is fixedly connected with cleft hand.
The forearm that above-mentioned manipulator arranges large arm and is rotationally connected with large arm on mount pad, simultaneously, mount pad arranges rotating large arm connecting rod, the triangular coupling rod be connected with large arm link rotatable, the forearm connecting rod be rotationally connected with triangular coupling rod and the connector be connected with forearm connecting rod and forearm, effectively increase the mechanical strength of manipulator.Above-mentioned manipulator, parts are less, and structure is comparatively simple, drive large arm and forearm to rotate, can realize the function shifting workpiece by driving mechanism.
Accompanying drawing explanation
Fig. 1 is the structural representation of the manipulator of an embodiment;
Fig. 2 is the structural representation of the mount pad of the manipulator shown in Fig. 1;
Fig. 3 is the structural representation after mount pad and the first driving mechanism are assembled;
Fig. 4 is the structural representation after large arm and the second driving mechanism are assembled;
Fig. 5 is the structural representation of the connector of the manipulator shown in Fig. 1;
Fig. 6 is the cross-sectional view after forearm and connector are assembled;
Fig. 7 is the cross-sectional view after large arm connecting rod and mount pad and triangular coupling rod are assembled.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage more clear, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, the manipulator 100 of an embodiment, comprise mount pad 10, first driving mechanism 20, large arm 30, second driving mechanism 40, forearm 50, triangular coupling rod 60, connector 70, forearm connecting rod 80 and large arm connecting rod 90.
Please also refer to Fig. 2, mount pad 10 comprises installing plate 12 and the fixed head 14 perpendicular to installing plate 12.Installing plate 12 offers the first installing hole 122, be convenient to the lifting of manipulator 100.Certain lifting form is not limited thereto, and can change installation form according to site environment.Mount pad 10 can be fixedly mounted on crossbeam or on slide rail, can design the mount pad 10 of different structure according to installation form difference, is not limited to a kind of installation.Fixed head 14 both sides offer the first notch 142 respectively.Fixed head 14 also offers the through hole 144 for installing the first position-limit mechanism and the second notch 146 for being connected with large arm connecting rod 90.First position-limit mechanism 145 is fixed on fixed head 14 by through hole 144.First position-limit mechanism 145 may be used for limiting the rotational angle of large arm 30, prevents that large arm 30 rotational angle is too large to cause damage to miscellaneous part.
Please also refer to Fig. 3, the first driving mechanism 20 is arranged on mount pad 10.First driving mechanism 20 is connected with one end of large arm 30, and the first driving mechanism 20 rotates for driving large arm 30.Concrete, the first driving mechanism 20 comprises the first motor 22 and the first decelerator 24.First motor 22 and the first decelerator 24 are arranged on the first notch 142 of fixed head 14 both sides respectively.One end of first decelerator 24 is connected with the driving shaft of the first motor 22.
Please also refer to Fig. 4, one end of large arm 30 offers the 3rd notch 32, and large arm 30 is fixedly connected with the first decelerator 24 one end away from the first motor 22 by the 3rd notch 32.Large arm 30 can be provided with boss 34, for installing the second position-limit mechanism.Second position-limit mechanism may be used for limiting the rotational angle of forearm 50, prevents that forearm 50 rotational angle is too large to cause damage to miscellaneous part.
Please also refer to Fig. 4, the second driving mechanism 40 is arranged on large arm 30 and away from one end of the first driving mechanism 20.Second driving mechanism 40 is connected with one end of forearm 50, and the second driving mechanism 40 rotates for driving forearm 50.Concrete, the second driving mechanism 40 comprises the second motor 42 and the second decelerator 44.One end of second decelerator 44 is connected with the driving shaft of the second motor 42.The other end of the second decelerator 44 is fixedly connected with one end of forearm 50.Second decelerator 44 is arranged on large arm 30 one end away from the first driving mechanism 20.
Please refer again to Fig. 1, large arm 30 and forearm 50 all adopt plank frame, can save installing space.In addition, under the prerequisite not affecting intensity, the both sides of large arm 30 offer multiple first groove 35.Forearm 50 both sides offer multiple second groove 55.First groove 35 and the second groove 55 all can be used for the overall weight alleviating manipulator 100.
Please refer again to Fig. 1, triangular coupling rod 60 is in triangle mount structure, and three angles of triangular coupling rod 60 are respectively first end (not shown), the second end 62 and the 3rd end 64.One end that forearm 50 connects the second driving mechanism 40 is also rotationally connected with the first end of triangular coupling rod 60.Second driving mechanism 40 is rotationally connected around the first end of triangular coupling rod 60 for driving forearm 50.Triangular coupling rod 60 and the second driving mechanism 40 lay respectively at the both sides of forearm 50.Concrete, the first end of one end and triangular coupling rod 60 that forearm 50 connects the second decelerator 44 is rotationally connected.Triangular coupling rod 60 and the second decelerator 44 lay respectively at the both sides of forearm 50.
Please also refer to Fig. 5, connector 70 comprises base plate 72, lug 74 and linking arm 76.Base plate 72 offers the second installing hole 722.Second installing hole 722 is for installing handgrip 95.Lug 74 is located on base plate 72.One end of linking arm 76 is located on base plate 72.Forearm 50 is arranged between lug 74 and linking arm 76 rotationally away from one end of the second driving mechanism 40.Concrete, please also refer to Fig. 6, forearm 50 is rotationally connected with between lug 74 and linking arm 76 by assemblies such as end connecting axle 52, end bearing 54, end seal circle 56 and end bearing (ball) covers 58.Please also refer to Fig. 1 and Fig. 5, linking arm 76 offers the 4th notch 762 away from one end of base plate 72.One end of forearm connecting rod 80 is arranged on the 4th notch 762.Forearm connecting rod 80 and linking arm 76 are rotationally connected.Forearm connecting rod 80 is rotationally connected away from one end of linking arm 76 and the second end 62 of triangular coupling rod 60.
The two ends of large arm connecting rod 90 are rotationally connected with the 3rd end 64 of triangular coupling rod 60 and mount pad 10 respectively.Concrete, large arm connecting rod 90 is arranged on the second notch 146 of fixed head 14 away from one end of triangular coupling rod 60.
Please also refer to Fig. 1 and Fig. 5, the both sides of forearm connecting rod 80 offer the 3rd groove 82.The both sides of large arm connecting rod 90 offer the 4th groove 92.Connector 70 offers the 5th groove 78.Offer the 3rd groove 82, the 4th groove 92 and the 5th groove 78 in order to alleviate the overall weight of manipulator 100.And triangular coupling rod 60, type of attachment between forearm connecting rod 80 and large arm connecting rod 90 are all identical, improve interchangeability and the versatility of the parts of manipulator 100.
Please also refer to Fig. 7, be all rotationally connected by assemblies such as the connecting-rod bearing 94, connecting rod sealing ring 96 and connecting-rod bearing end caps 98 between triangular coupling rod 60, large arm connecting rod 90 and forearm connecting rod 80.
Please refer again to Fig. 1, large arm 30 is parallel with large arm connecting rod 90.Distance between two centers of rotation at large arm 30 two ends is equal with the distance between two centers of rotation at large arm connecting rod 90 two ends.Two centers of rotation at large arm 30 two ends form a parallelogram with the line of two centers of rotation at large arm connecting rod 90 two ends respectively.Two centers of rotation at large arm 30 two ends, one is the center of the junction of large arm 30 and the first decelerator 24, and another is the center of the junction of large arm 30 and the second decelerator 44.Two centers of rotation at large arm connecting rod 90 two ends, one is the center of rotation of large arm connecting rod 90 when rotating on mount pad 10, and another is the center of rotation of large arm connecting rod 90 when rotating on triangular coupling rod 60.Forearm 50 is parallel with forearm connecting rod 80.Distance between two centers of rotation at forearm 50 two ends is equal with the distance between two centers of rotation at forearm connecting rod 80 two ends.Two centers of rotation at forearm 50 two ends form a parallelogram with the line of two centers of rotation at forearm connecting rod 80 two ends respectively.Two centers of rotation at forearm 50 two ends, one is the center of rotation of forearm 50 when rotating relative to large arm 30, and another is the center of rotation of forearm 50 opposite joints 70 when rotating.Two centers of rotation at forearm connecting rod 80 two ends, one is the center of rotation of forearm connecting rod 80 when rotating relative to triangular coupling rod 60, and another is the center of rotation of forearm connecting rod 80 when rotating relative to connector 70.In the embodiment shown in fig. 1, forearm connecting rod 80 comprises first connecting rod 84 and second connecting rod 86.An obtuse angle is formed between first connecting rod 84 and second connecting rod 86.One end of first connecting rod 84 is rotationally connected with the second end 62 of triangular coupling rod 60 respectively, and the other end of first connecting rod 84 is fixedly connected with one end of second connecting rod 86.The other end of second connecting rod 86 and one end of linking arm 76 are rotationally connected.A limit of forearm connecting rod 80, linking arm 76, forearm 50 and triangular coupling rod 60 forms a parallelogram.
By configuring the triangular coupling rod 60 of suitable dimension, make large arm 30 and large arm connecting rod 90 form parallelogram, and forearm 50 forearm connecting rod 80 form parallelogram to ensure the position level all the time of handgrip 95.Thus to further ensure when handgrip 95 pairs of disk-like accessories capture be horizontal level.
Manipulator 100 as shown in Figure 1 also comprises cleft hand 95.Handgrip 95 is arranged on base plate 72.Handgrip 95 is directly connected by screw with manipulator 100 end, convenient adjustment.Specifically in the present embodiment, cleft hand 95 is the pneumatic tong of three fingers.Base plate 72 is provided with two three and refers to pneumatic tong, two disk-like accessories can be captured at every turn, substantially increase operating efficiency.Be appreciated that the kind of cleft hand is not limited thereto, can change handgrip form to capture the part of other construction profile according to practical work piece demand, certainly, the object that cleft hand captures also is not limited to disc type work.
Above-mentioned manipulator 100 comprises large arm 30, forearm 50 two joint shafts, and drive by motor, motor is connected by decelerator with between large arm and forearm.Large arm connecting rod 90, forearm connecting rod 80 and triangular coupling rod 60 are installed as auxiliary connecting rod between joint to ensure that joint Manipulator 100 end remains horizontal level.Can realize mating with the Digit Control Machine Tool of different size by the length of the length with auxiliary connecting rod that configure different large arm 30 and forearm 50.The end of manipulator 100 can connect handgrip 95, carries out loading and unloading supply to disk-like accessory.Go slick convenient and reliable, substantially increase operating efficiency, avoid unnecessary human resources and people for loss.
Connected by bearing between above-mentioned auxiliary connecting rod and ensure flexibility, optimize shape and the version of auxiliary connecting rod simultaneously, alleviate quality.In addition, this manipulator 100 can be used for varying environment, strong adaptability, can realize required range of movement by the dimensional parameters changing large arm 30, forearm 50, triangular coupling rod 60, forearm connecting rod 80 and large arm connecting rod 90.
Above-mentioned manipulator 100 adopts connecting rod form, structure is simple, cost is low, and versatility is better, can carry out automatic loading/unloading specially, also can exchange according to workpiece shapes the handling that corresponding handgrip carries out workpiece for for disk-like accessory, expand practicality and the scope of application of manipulator, increase work efficiency, minimizing human resources and people are loss, simultaneously in order to strengthen flexibility and the versatility of manipulator 100.The parts of this manipulator 100 are few, are convenient to install, and be obtained for great improvement, can be used for various environment compared with traditional mechanism in energy consumption with in practicality, applied widely.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (10)

1. a manipulator, it is characterized in that, comprise mount pad, first driving mechanism, large arm, second driving mechanism, forearm, triangular coupling rod, connector, forearm connecting rod and large arm connecting rod, described first driving mechanism is arranged on described mount pad, described first driving mechanism is connected with one end of described large arm, described first driving mechanism rotates for driving described large arm, described second driving mechanism is arranged on described large arm and away from one end of described first driving mechanism, described second driving mechanism is connected with one end of described forearm, described second driving mechanism rotates for driving described forearm, one end that described forearm connects described second driving mechanism is also rotationally connected with the first end of described triangular coupling rod, described triangular coupling rod and described second driving mechanism lay respectively at the both sides of described forearm, described connector comprises base plate, lug and linking arm, described lug is located on described base plate, one end of described linking arm is located on described base plate, described forearm is arranged between described lug and described linking arm away from one end of described second driving mechanism rotationally, described linking arm is rotationally connected away from one end of described base plate and one end of described forearm connecting rod, described forearm connecting rod is rotationally connected away from one end of described linking arm and the second end of described triangular coupling rod, the two ends of described large arm connecting rod are rotationally connected with the 3rd end of described triangular coupling rod and described mount pad respectively.
2. manipulator as claimed in claim 1, it is characterized in that, described large arm is parallel with described large arm connecting rod, distance between two centers of rotation at described large arm two ends is equal with the distance between two centers of rotation at described large arm connecting rod two ends, and two centers of rotation at described large arm two ends form a parallelogram with the line of two centers of rotation at described large arm connecting rod two ends respectively.
3. manipulator as claimed in claim 2, it is characterized in that, described forearm is parallel with described forearm connecting rod, distance between two centers of rotation at described forearm two ends is equal with the distance between two centers of rotation at described forearm connecting rod two ends, and two centers of rotation at described forearm two ends form a parallelogram with the line of two centers of rotation at described forearm connecting rod two ends respectively.
4. manipulator as claimed in claim 1, it is characterized in that, described first driving mechanism comprises the first motor and the first decelerator, and one end of described first decelerator is connected with the driving shaft of described first motor, and the other end of described first decelerator is fixedly connected with one end of described large arm.
5. manipulator as claimed in claim 1, it is characterized in that, described second driving mechanism comprises the second motor and the second decelerator, and one end of described second decelerator is connected with the driving shaft of described second motor, and the other end of described second decelerator is fixedly connected with one end of described forearm.
6. manipulator as claimed in claim 1, is characterized in that, described large arm offers the first groove.
7. manipulator as claimed in claim 1, is characterized in that, described forearm offers the second groove.
8. manipulator as claimed in claim 1, is characterized in that, described forearm connecting rod offers the 3rd groove.
9. manipulator as claimed in claim 1, is characterized in that, described large arm connecting rod offers the 4th groove.
10. manipulator as claimed in claim 1, is characterized in that, the base plate of described connector is fixedly connected with cleft hand.
CN201410632145.3A 2014-11-11 2014-11-11 Manipulator Pending CN104476305A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106313035A (en) * 2016-10-10 2017-01-11 佛山市南海区广工大数控装备协同创新研究院 Mechanical arm

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CN103286793A (en) * 2013-05-21 2013-09-11 浙江万丰科技开发有限公司 Stacking robot
CN103921269A (en) * 2014-04-23 2014-07-16 重庆社平科技有限公司 Self-adaption mechanical arm

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201525027U (en) * 2009-09-15 2010-07-14 万向集团公司 Quick change robot
CN201579787U (en) * 2009-12-21 2010-09-15 厦门至工机电有限公司 Four-joint sighted robot
US20120067156A1 (en) * 2010-09-21 2012-03-22 Hon Hai Precision Industry Co., Ltd. Robot for handling object
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CN103921269A (en) * 2014-04-23 2014-07-16 重庆社平科技有限公司 Self-adaption mechanical arm

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106313035A (en) * 2016-10-10 2017-01-11 佛山市南海区广工大数控装备协同创新研究院 Mechanical arm

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Application publication date: 20150401