CN104772752A - Mechanical arm - Google Patents

Mechanical arm Download PDF

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Publication number
CN104772752A
CN104772752A CN201510156063.0A CN201510156063A CN104772752A CN 104772752 A CN104772752 A CN 104772752A CN 201510156063 A CN201510156063 A CN 201510156063A CN 104772752 A CN104772752 A CN 104772752A
Authority
CN
China
Prior art keywords
linking arm
hinged
mechanical arm
support
mechanical
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
CN201510156063.0A
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Chinese (zh)
Inventor
张新宇
符国和
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.)
East China Normal University
Original Assignee
East China Normal University
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 East China Normal University filed Critical East China Normal University
Priority to CN201510156063.0A priority Critical patent/CN104772752A/en
Publication of CN104772752A publication Critical patent/CN104772752A/en
Pending legal-status Critical Current

Links

Abstract

The invention discloses a mechanical arm which comprises a supporting portion, a connecting portion and a grabbing hand portion. One end of the connecting portion is arranged on the supporting portion, connecting arms can slide along the supporting portion, the grabbing hand portion is connected to the other end of the connecting portion, and the grabbing hand portion can be driven by the connecting portion to move and clamp articles. The mechanical arm can drive the connecting arms to swing to the appointed position and move the articles through a power device, so that the automation degree is improved. The mechanical arm has the advantages of being simple in structure, low in cost and convenient to maintain.

Description

A kind of mechanical arm
Technical field
The invention belongs to automated machine equipment technical field, relate to a kind of mechanical arm.
Background technology
When nowadays labor cost sustainable growth; the use of industrial robot is extremely urgent; industrial robot is for enhancing productivity and reducing the instrument of workman's labour cost and intensity in production environment; the automation that it can replace the work of the heavy repeatability of people to realize producing and mechanization; can carry out operating the life security protecting people under the environment be detrimental to health, thus be widely used in the departments such as machine-building, metallurgy, electronics, logistics carrying.Such as, in logistics carrying, it is intolerable that the work of such repetition continuous strength needs people to go in person to complete, so need industrial robot can substitute manpower go uninterrupted work, workman can be freed from this dull routine work like this; Robot can also require to be used for bomb according to program, whitewashes room etc., exercises the function under a lot of application scenarios of society.
Mechanical arm is the executive component of robot, is the important component part of robot.Carrying, welding, machine encapsulation, the task such as dismounting and assembly work all needs mechanical arm complete, its maximum advantage recursively does same action, do not think tired forever, its application is more and more extensive, and this will ascribe accuracy and the continuation of mechanical arm operation to.Along with the progress of science and technology, mechanical arm is towards lightness, and intelligent and diversified future development, completes corresponding action in the scene that the demand that better application is different is different.
Current industry mechanical arm to involve great expense, volume excessive heaviness, complicated operation, versatility and poor mobility.
Summary of the invention
The present invention seeks to the problems referred to above existed for existing technology, provide a kind of mechanical arm, technical problem to be solved by this invention how to provide a kind of cost low, and flexibility is good, and mobility is good, mechanical arm simple to operate.
The object of the invention realizes by following technical proposal:
A kind of mechanical arm, comprising:
Support portion;
Connecting portion, its one end is located on described support portion, and described linking arm can slide along described support portion;
Grip, it is connected to the other end of described connecting portion, and described grip can be moved under the drive of described connecting portion, and holding articles.
Described support portion comprises:
Two supporting seats;
Up-right support, its two ends are located on supporting seat described in respectively, and described up-right support can slide along described supporting seat;
Tooth bar, it is located on supporting seat described in any;
Gear, it is located on described up-right support, and described gear is meshed with described tooth bar;
Motor, it is located on described up-right support, and described motor can drive described pinion rotation.
Described supporting seat comprises:
Base;
Guide rail, it is fixedly arranged on described base;
Slide block, it is sheathed on described guide rail, and described slip can along described slide.
Described connecting portion comprises:
First linking arm;
Second linking arm, its one end and described first linking arm are hinged;
3rd linking arm, its one end and described second linking arm are hinged, and its other end and described grip are hinged.
Also comprise connector, described second linking arm all by described connector and described first linking arm and described 3rd linking arm hinged.
Described connector comprises:
Turning cylinder;
Expansion sleeve, it is sheathed on the outside of described turning cylinder.
Described grip comprises:
Mechanical paw, itself and described 3rd linking arm are hinged;
Two support members, its one end is fixedly connected with described mechanical paw;
Two first joints, one end and described support member hinged;
Two second joints, its one end and described first joint hinged;
Two chucks, its one end is fixed on described second joint;
Steering wheel, it is fixedly arranged on described support member, and described steering wheel can drive described first joint relative to described support movements, and drives the distance described in two between chuck become large or diminish.
Also comprise pressure sensor, it is located on described chuck, and can respond to the pressure of the article clamped by chuck and chuck.
Operation principle of the present invention is: this robot base is played a supporting role, the end face of base sets firmly two line slideways, and inside a base, set firmly straight line tooth bar, article two, guide rail has two pieces of slide blocks respectively, slide block sets firmly mutually with whole mechanical arm, mechanical arm adopts up-right support to support, up-right support lower end is provided with motor, motor output shaft is provided with gear, wheel and rack is stung tightly mutually, rotated by motor driven gear, thus realize whole mechanical arm straight line and move around; It is hinged that first linking arm of mechanical arm and up-right support pass through turning cylinder, decelerator is installed in turning cylinder one end, decelerator and motor output shaft are to being fixedly connected with, turning cylinder and the first linking arm adopt expansion sleeve to be mutually permanently connected integrally, motor output shaft rotates at drive decelerator, decelerator drive turning cylinder rotate, turning cylinder thus also driven first linking arm rotate.The second linking arm principle hinged with the first linking arm catches up with that to state principle the same, turning cylinder is fixedly connected with one with the second linking arm by same employing expansion sleeve, turning cylinder one end is fixedly connected with decelerator, decelerator is fixedly connected with motor output shaft, under the rotation of motor, drive turning cylinder to rotate, thus also drive the second linking arm to rotate, in like manner, the 3rd linking arm is also the same principle.Mechanical paw is under the drive of two steering wheels, and multi-joint links thus makes two chucks can mutually open conjunction and closes.Arrive assigned address by the swing of control connection arm capture again or discharge object, thus reach the object of transfer material or production and processing, improve automaticity; This mechanical arm has that structure is simple, cost ground.The advantage such as easy to maintenance, convenient mobile, installation and removal, control simple, can greatly economization workman, raise the efficiency, reduce production cost.
Accompanying drawing explanation
Below in conjunction with embodiment and accompanying drawing, the present invention is described in detail, wherein:
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation of the support portion in Fig. 1.
Fig. 3 is the structural representation of the supporting seat in Fig. 2.
Fig. 4 is the structural representation of the linking arm in the present invention.
Fig. 5 is the second structural representation of the linking arm in the present invention.
Fig. 6 is the structural representation of the grip in the present invention.
Detailed description of the invention
The specific embodiment of the present invention is set forth further below in conjunction with accompanying drawing:
Be below specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention be further described, but the present invention is not restricted to these enforcement.
As shown in Figure 1, a kind of mechanical arm of the present invention, comprises support portion 1, connecting portion 2 and grip 3, and connecting portion 2 one end is located on support portion 1, and arm portions 2 can be slided along support portion 1; Grip 3 is connected to the other end of connecting portion 2.
As shown in Figure 2, support portion of the present invention comprises: two supporting seats 11, up-right support 12, tooth bar 13, gear 14 and motor 15.Up-right support 12 two ends are located on a supporting seat 11 respectively, and up-right support 12 can slide along supporting seat 11; Tooth bar 13 is located on any supporting seat 11; Gear 14 is located on up-right support 12, and gear 14 is meshed with tooth bar 13; Motor 15 is located on up-right support 12, and motor 15 can rotate by driven gear 14.
As shown in Figure 3, supporting seat 11 comprises: base 111, guide rail 112 and slide block 113.Guide rail 112 is fixedly arranged on base 111; Slide block 112 is sheathed on guide rail 112, and slides and can slide along non-irrigated rail 112.
As shown in Figure 4, connecting portion 2 of the present invention comprises the first linking arm 21, second linking arm 22, second linking arm 23, connector 24 and power set 25.Second linking arm 22 one end and the first linking arm 21 are hinged; 3rd linking arm 23 one end and the second linking arm 22 are hinged, and its other end and grip 3 are hinged.Second linking arm 22 all by connector 24 and the first linking arm 21 and the 3rd linking arm 23 hinged.Connector 24 comprises: turning cylinder 241 and expansion sleeve 242; Expansion sleeve 242 is sheathed on the outside of turning cylinder 241.Power set 25 comprise motor 251 and decelerator 252, power set 25 are fixedly arranged on the hinged place of the second linking arm 22 and the first linking arm 21 and the 3rd linking arm 23, and power set 25 drive the motion of the first linking arm 21, second linking arm 22 and the 3rd linking arm 23.
As shown in Figure 6, the grip 3 in the present invention comprises: mechanical paw 31, support member 32, steering wheel 33, first joint 34, second joint 35, auxiliary member 36, chuck 37 and pressure sensor 38.Mechanical paw 31 and the 3rd linking arm 23 hinged; Support member 32 one end is fixedly connected with mechanical paw 31; First one end, joint 34 and support member 32 hinged; Second joint 35 one end and the first joint 34 hinged; Chuck 37 one end is fixed on second joint 35; Steering wheel 33 is fixedly arranged on support member 32, and steering wheel 33 can drive the first joint 34 to move relative to support member 32, and drives the distance between chuck 37 motion become large or diminish.Pressure sensor 38 is located on described chuck 37, and can respond to the pressure of the article clamped by chuck and chuck.The two ends of auxiliary member 36 are individually fixed on second joint 35 and support member 32, play further fixation to the first joint 34 and second joint 35.
In the present embodiment, support member is provided with four pieces, and two pieces is one group, and support member 32 one end is all fixed on one end of a support member 32 up and down, and the other end of support member 32 is connected with second joint by a rotating shaft 39, convenient rotation.Defeated assistant piece is also connected by rotating shaft with second joint and support member, convenient rotation.
In the present invention, base is played a supporting role, and base is provided with guide rail, guide rail can move linearly along base, and slide block set is located on guide rail, and can along slide, the top of slide block is installed with up-right support, and up-right support lower end sets firmly motor, motor output shaft and gear hinged, wheel and rack is meshed, like this, electric machine rotation driven gear, thus whole manipulator can move linearly along guide rail, maximum sliding distance is 6 meters, can expand lengthening.
In the present embodiment, up-right support upper end and turning cylinder hinged, turning cylinder one end and decelerator are fixedly connected and place rolling bearing units at rolling bearing units groove, in addition one end and the first linking arm hinged, first linking arm is held tightly mutually by expansion sleeve and turning cylinder, and in up-right support upper end, have thrust ball bearing groove for embedded thrust ball bearing, first linking arm upper end and the second linking arm hinged, held tightly mutually with the second linking arm by turning cylinder by expansion sleeve equally, in like manner the 3rd linking arm adopts expansion sleeve itself and turning cylinder to be held tightly equally.Like this, obtained drive turning cylinder to rotate more energetically under the rotation of motor by decelerator, thus also driven the first linking arm 7 second linking arm the 3rd linking arm to swing, full swing is 180 °.3rd linking arm by motor output shaft and mechanical paw hinged, motor and the 3rd linking arm are fixedly connected, and motor output shaft and mechanical paw are fixedly connected, during such electric machine rotation, driving mechanical paw rotates, thus reaches the material that can capture or discharge different directions angle.Mechanical paw adopts multi-joint linked manner, mechanical paw sets firmly two steering wheels, the output shaft of steering wheel is fixedly connected with the first joint, first joint is hinged with second joint by rotating shaft, and second joint is fixedly connected, under the drive of the rotation of such steering wheel with chuck, chuck can be driven to open conjunction close, chuck is maximum to be opened for 0.2m, chuck embedded pressure strain transducer block, can prevent capturing material and come off.Motor in the present invention is all adopt stepper motor, and reach accurate operation, accuracy rate is high.
Operation principle of the present invention is: this robot base is played a supporting role, the end face of base sets firmly two line slideways, and inside a base, set firmly straight line tooth bar, article two, guide rail has two pieces of slide blocks respectively, slide block sets firmly mutually with whole mechanical arm, mechanical arm adopts up-right support to support, up-right support lower end is provided with motor, motor output shaft is provided with gear, wheel and rack is stung tightly mutually, rotated by motor driven gear, thus realize whole mechanical arm straight line and move around; It is hinged that first linking arm of mechanical arm and up-right support pass through turning cylinder, decelerator is installed in turning cylinder one end, decelerator and motor output shaft are to being fixedly connected with, turning cylinder and the first linking arm adopt expansion sleeve to be mutually permanently connected integrally, motor output shaft rotates at drive decelerator, reductor drive turning cylinder rotate, turning cylinder thus also driven first linking arm rotate.The second linking arm principle hinged with the first linking arm catches up with that to state principle the same, turning cylinder is fixedly connected with one with the second linking arm by same employing expansion sleeve, turning cylinder one end is fixedly connected with decelerator, decelerator is fixedly connected with motor output shaft, under the rotation of motor, drive turning cylinder to rotate, thus also drive the second linking arm to rotate, in like manner, the 3rd linking arm is also the same principle.Mechanical paw is under the drive of two steering wheels, and multi-joint links thus makes two chucks can mutually open conjunction and closes.Arrive assigned address by the swing of control connection arm capture again or discharge object, thus reach the object of transfer material or production and processing, improve automaticity; This mechanical arm has that structure is simple, cost ground.The advantage such as easy to maintenance, convenient mobile, installation and removal, control simple, can greatly economization workman, raise the efficiency, reduce production cost.
Specific embodiment described herein is not only to the explanation for example of the present invention's spirit.Those skilled in the art can have embodiment and make various amendment or supplement or adopt similar mode to substitute described, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.

Claims (9)

1. a mechanical arm, is characterized in that, comprising:
Support portion;
Connecting portion, its one end is located on described support portion, and described linking arm can slide along described support portion;
Grip, it is connected to the other end of described connecting portion, and described grip can be moved under the drive of described connecting portion, and presss from both sides
Hold article.
2. mechanical arm according to claim 1, is characterized in that, described support portion comprises:
Two supporting seats;
Up-right support, its two ends are located on supporting seat described in respectively, and described up-right support can slide along described supporting seat;
Tooth bar, it is located on supporting seat described in any;
Gear, it is located on described up-right support, and described gear is meshed with described tooth bar;
Motor, it is located on described up-right support, and described motor can drive described pinion rotation.
3. mechanical arm according to claim 2, is characterized in that, described supporting seat comprises:
Base;
Guide rail, it is fixedly arranged on described base;
Slide block, it is sheathed on described guide rail, and described slip can along described slide.
4. require the mechanical arm described in 1 according to profit, it is characterized in that, described connecting portion comprises:
First linking arm;
Second linking arm, its one end and described first linking arm are hinged;
3rd linking arm, its one end and described second linking arm are hinged, and its other end and described grip are hinged.
5. mechanical arm according to claim 4, is characterized in that, also comprises connector, described second linking arm all by described connector and described first linking arm and described 3rd linking arm hinged.
6. mechanical arm according to claim 5, is characterized in that, described connector comprises:
Turning cylinder;
Expansion sleeve, it is sheathed on the outside of described turning cylinder.
7. mechanical arm according to claim 1, is characterized in that, described grip comprises:
Mechanical paw, itself and described 3rd linking arm are hinged;
Two support members, its one end is fixedly connected with described mechanical paw;
Two first joints, one end and described support member hinged;
Two second joints, its one end and described first joint hinged;
Two chucks, its one end is fixed on described second joint;
Steering wheel, it is fixedly arranged on described support member, and described steering wheel can drive described first joint relative to described support movements, and drives the distance described in two between chuck become large or diminish.
8. mechanical arm according to claim 7, is characterized in that, also comprises pressure sensor, and it is located on described chuck, and can respond to the pressure of the article clamped by chuck and chuck.
9. mechanical arm according to claim 8, it is characterized in that, described up-right support is provided with a thrust ball bearing groove, and be embedded with a thrust ball bearing in described thrust ball bearing groove, described turning cylinder is located in described thrust ball bearing groove, described first linking arm lateral surface overlaps with the groove face of described thrust ball bearing groove, thus compresses described thrust ball bearing.
CN201510156063.0A 2015-04-03 2015-04-03 Mechanical arm Pending CN104772752A (en)

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105150213A (en) * 2015-08-03 2015-12-16 吉林大学 Multifunctional clamping mechanical hand
CN105197574A (en) * 2015-09-06 2015-12-30 江苏新光数控技术有限公司 Automation equipment for carrying workpieces in workshop
CN105271827A (en) * 2015-11-25 2016-01-27 苏州亨通智能精工装备有限公司 Easily positioned guide rail system
CN105460601A (en) * 2015-11-25 2016-04-06 苏州亨通智能精工装备有限公司 Automatic carrying system for coloring process
CN105479456A (en) * 2016-01-11 2016-04-13 安徽工业大学 Movable four-axis robot
CN105619419A (en) * 2016-03-17 2016-06-01 北京贝虎机器人技术有限公司 Robot
CN106429137A (en) * 2016-06-28 2017-02-22 武汉贝索医疗器械有限公司 Automatic storing and taking device for ultra-low temperature refrigeration house articles
CN108201809A (en) * 2017-11-25 2018-06-26 杨海才 A kind of modified automates charging equipment
CN108201816A (en) * 2017-11-25 2018-06-26 杨海才 A kind of novel automatic charging equipment
CN108213900A (en) * 2018-01-18 2018-06-29 北京卫星环境工程研究所 The method for dismounting of the lower spacecraft component robot components of heat-conducting silicone grease filling
CN108366840A (en) * 2015-12-10 2018-08-03 Cmr外科有限公司 Equipment is installed by robot
CN108481361A (en) * 2018-03-14 2018-09-04 中国石油大学(华东) A kind of rail mounted mechanical arm with repair function
WO2018165891A1 (en) * 2017-03-15 2018-09-20 深圳市源畅通科技有限公司 Robot apparatus being convenient to adjust and maintain
CN108705231A (en) * 2018-06-22 2018-10-26 广州徽电子科技有限公司 A kind of automatic welding make-up machinery arm
CN111185495A (en) * 2020-01-21 2020-05-22 太原科技大学 Backing plate placing device of rotary hydraulic cylinder type flattening machine

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CN102554921A (en) * 2012-02-06 2012-07-11 北京联合大学 Numerical-control manipulator with five degrees of freedom
CN102765085A (en) * 2012-07-13 2012-11-07 上海电力学院 Green automatic cigarette end extinguishing and collecting device
CN203409772U (en) * 2013-07-11 2014-01-29 北京三立车灯有限公司 Automatic mechanical arm transferring device

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Publication number Priority date Publication date Assignee Title
JPH08174449A (en) * 1994-12-26 1996-07-09 Mitsubishi Motors Corp Work carrying robot
CN1827501A (en) * 2005-03-01 2006-09-06 安东尼奥·皮阿扎 Apparatus for picking up and conveying sheet-like products accommodated in a storage unit
CN102189556A (en) * 2011-05-18 2011-09-21 中国计量学院 Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves
CN102248528A (en) * 2011-06-08 2011-11-23 大连四达高技术发展有限公司 Robot travelling mechanism
CN102554921A (en) * 2012-02-06 2012-07-11 北京联合大学 Numerical-control manipulator with five degrees of freedom
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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105150213A (en) * 2015-08-03 2015-12-16 吉林大学 Multifunctional clamping mechanical hand
CN105197574A (en) * 2015-09-06 2015-12-30 江苏新光数控技术有限公司 Automation equipment for carrying workpieces in workshop
CN105197574B (en) * 2015-09-06 2018-06-01 江苏新光数控技术有限公司 The workshop automation equipment for carrying workpiece
CN105271827A (en) * 2015-11-25 2016-01-27 苏州亨通智能精工装备有限公司 Easily positioned guide rail system
CN105460601A (en) * 2015-11-25 2016-04-06 苏州亨通智能精工装备有限公司 Automatic carrying system for coloring process
CN108366840A (en) * 2015-12-10 2018-08-03 Cmr外科有限公司 Equipment is installed by robot
CN105479456A (en) * 2016-01-11 2016-04-13 安徽工业大学 Movable four-axis robot
CN105619419A (en) * 2016-03-17 2016-06-01 北京贝虎机器人技术有限公司 Robot
CN106429137A (en) * 2016-06-28 2017-02-22 武汉贝索医疗器械有限公司 Automatic storing and taking device for ultra-low temperature refrigeration house articles
WO2018165891A1 (en) * 2017-03-15 2018-09-20 深圳市源畅通科技有限公司 Robot apparatus being convenient to adjust and maintain
CN108201809A (en) * 2017-11-25 2018-06-26 杨海才 A kind of modified automates charging equipment
CN108201816A (en) * 2017-11-25 2018-06-26 杨海才 A kind of novel automatic charging equipment
CN108213900A (en) * 2018-01-18 2018-06-29 北京卫星环境工程研究所 The method for dismounting of the lower spacecraft component robot components of heat-conducting silicone grease filling
CN108481361A (en) * 2018-03-14 2018-09-04 中国石油大学(华东) A kind of rail mounted mechanical arm with repair function
CN108705231A (en) * 2018-06-22 2018-10-26 广州徽电子科技有限公司 A kind of automatic welding make-up machinery arm
CN108705231B (en) * 2018-06-22 2019-12-13 姜堰经济开发区科创中心 Automatic change welding assembly arm
CN111185495A (en) * 2020-01-21 2020-05-22 太原科技大学 Backing plate placing device of rotary hydraulic cylinder type flattening machine

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Application publication date: 20150715