CN106142053A - A kind of multiple degrees of freedom automatic control manipulator - Google Patents
A kind of multiple degrees of freedom automatic control manipulator Download PDFInfo
- Publication number
- CN106142053A CN106142053A CN201610625297.XA CN201610625297A CN106142053A CN 106142053 A CN106142053 A CN 106142053A CN 201610625297 A CN201610625297 A CN 201610625297A CN 106142053 A CN106142053 A CN 106142053A
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- rotating disk
- cylinder
- fixedly installed
- manipulator
- mechanical hand
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- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 230000006870 function Effects 0.000 claims description 4
- 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 2
- 230000004899 motility Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 206010067197 Tinea manuum Diseases 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 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
-
- 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
- B25J13/085—Force or torque sensors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- 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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
nullThe invention discloses a kind of multiple degrees of freedom automatic control manipulator，It includes installing plate、U-shaped support、Horizontal dividing rotating disk、Telescopic cylinder、Latching device、Support arm、Vertically rotating disk、Angular adjustment dish、Mechanical arm、Fixed plate、Manipulator cylinder、Mechanical hand and PLC，The present invention uses PLC to be controlled，Improve motility and the rapidity of manipulator control，By Horizontal dividing rotating disk and vertical rotating disk，Achieve the rotation of multiple angles of mechanical hand，Simultaneously，It is provided with angular adjustment dish，Achieve the mechanical hand crawl in any angle，Simultaneously，The present invention is provided with the latching device of Horizontal dividing rotating disk，Ensure that indexing demand under special circumstances，In addition，Use extension spring and place kick that workpiece is promptly positioned on the mechanical hand of the present invention，Improve the positioning precision of workpiece，By arranging pressure transducer，Can effectively prevent the excessive situation causing damage product of grasp.
Description
Technical field
The present invention relates to a kind of multiple degrees of freedom automatic control manipulator, belong to technical field of electromechanical control.
Background technology
Along with making rapid progress of science and technology, automaticity requires more and more higher, in Market competition, cost of labor
Rising, conventional manually-operated carrying and fixed conveyer belt are main traditional Articles transfer mode, not only take up room and also do not allow
The most more becoming production line structure, add and need manpower monitor operation, further increasing production cost, original production feeding device is the most remote
Far from the needs meeting present level automatization.Based on this, how to reduce labor intensity, ensure reliability, the safety produced
Property, reduce production cost, reduce environmental pollution, improve the quality of product and economic benefit is that enterprise generates the weight that must face
Big problem.
PLC is to introduce microelectric technique, computer technology on the basis of traditional sequence controller, automatically control skill
Art and mechanics of communication and the generation infant industry that formed controls device, it is therefore an objective to be used for replacing relay, perform logic, clock,
The sequential control functions such as counting, set up flexible stored program controlled.It uses programmable memory, is used for storing therein
Perform logical operations, sequential control, regularly, counting and the instruction of the operation such as arithmetical operation, and by numeral, the input of simulation
And output, control various types of machinery or production process.Programmable controller and relevant equipment thereof, all should be by being prone to and work
Industry control system forms an entirety, it is easy to expand the principle design of its function.
PLC have highly versatile, easy to use, adapt to the spies such as wide, reliability is high, capacity of resisting disturbance is strong, programming is simple
Point.It is contemplated that in industrial control field, the application of PLC control technology will form world trends.
Therefore, how to design a kind of multivariant mechanical hand, and utilize PLC control technology that it is controlled flexibly,
Carrying and crawl for product have extremely important effect.
Summary of the invention
The present invention is directed to existing technical problem, it is provided that a kind of multiple degrees of freedom automatic control manipulator, it is therefore an objective to improve machine
The motility of tool hands operation, intends to solve the problem that prior art exists.
For achieving the above object, the present invention provides following technical scheme: a kind of multiple degrees of freedom automatic control manipulator, it wraps
Include installing plate, U-shaped support, Horizontal dividing rotating disk, telescopic cylinder, latching device, support arm, vertical rotating disk, angular adjustment dish,
Mechanical arm, fixed plate, manipulator cylinder, mechanical hand and PLC, it is characterised in that be fixedly installed on described installing plate
There is U-shaped support, described U-shaped support is fixedly installed described Horizontal dividing rotating disk, described Horizontal dividing rotating disk is fixedly installed
There is described telescopic cylinder, the piston rod of described telescopic cylinder is fixedly installed described support arm, on described support arm
It is fixedly installed described vertical rotating disk, described vertical rotating disk is provided with described angular adjustment dish, described angular adjustment dish sets
Being equipped with mechanical arm, the end of described mechanical arm is fixedly installed described fixed plate, by described machinery tinea manus in described fixed plate
Cylinder is connected with described mechanical hand, described Horizontal dividing rotating disk, telescopic cylinder, vertical rotating disk, angular adjustment dish, machinery tinea manus
The action of cylinder and mechanical hand is controlled by described PLC.
Further, as preferably, described mechanical hand includes base plate, promptly cylinder, gripper, location spring, place kick, determines
Position compressor arm and pressure transducer, wherein, one end of described base plate is fixedly installed a described gripper, described base plate
The other end is slidably provided with another described gripper, adopts between the gripper of the gripper being fixedly installed and setting of sliding
Connect with described promptly cylinder and arrange, each described gripper is provided with multiple detent, can in described detent
That slides is provided with described positioning compression bar, is provided with between bottom and the bottom of described detent of described positioning compression bar
Described location spring, the outer end of described positioning compression bar is fixedly installed described place kick, described place kick is provided with described
Pressure transducer, described pressure transducer, promptly cylinder are all connected with described PLC, in order to make described mechanical hand by described PLC
It is controlled；Described latching device includes locking cylinder, the plate that is locked, extension spring, lock ball and locking positioning block, wherein, institute
Stating the plate that is locked to be fixedly installed on described U-shaped pedestal upper end face, the piston rod of described locking cylinder is solid through described locking
Determining plate to arrange, the end of the piston rod of described locking cylinder is fixedly installed described lock ball, described lock ball is arranged
Stating locking positioning block, described lock ball and described being locked between plate and be provided with described extension spring, described locking cylinder is fixing to be set
Putting on the upper surface of described U-shaped support, in the circumferential wall of described Horizontal dividing rotating disk, array is provided with multiple described lock ball
Groove, described lock ball groove is provided with locking positioning groove, described lock ball and described lock ball groove fit, described locking
Locating piece is arranged with described locking positioning slot fit.
Further, as preferably, described locking positioning groove be shaped as isosceles trapezoidal structure.
Further, as preferably, the front end of described gripper is cone point.
Further, as preferably, described Horizontal dividing rotating disk, vertical rotating disk and angular adjustment dish all use gear regulation knot
Structure, and gear adjustment structure is by step motor drive, described motor is connected with described PLC.
Further, as preferably, described PLC is arranged in the U-shaped frame of described U-shaped support.
Further, as preferably, described Horizontal dividing rotating disk, telescopic cylinder, vertical rotating disk, angular adjustment dish, mechanical hand
Cylinder and mechanical hand all can self contained functions.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention uses PLC to be controlled, and improves motility and the rapidity of manipulator control, passes through Horizontal dividing
Rotating disk and vertical rotating disk, it is achieved that the rotation of multiple angles of mechanical hand, meanwhile, be provided with angular adjustment dish, it is achieved that machinery
Hands is in the crawl of any angle, and meanwhile, the present invention is provided with the latching device of Horizontal dividing rotating disk, it is ensured that under special circumstances
Indexing demand, additionally, use extension spring and place kick that workpiece is promptly positioned on the mechanical hand of the present invention, improve workpiece
Positioning precision, by arranging pressure transducer, it is possible to effectively prevent the excessive situation causing damage product of grasp.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of multiple degrees of freedom automatic control manipulator of the present invention；
Fig. 2 is the structural representation of the mechanical hand of a kind of multiple degrees of freedom automatic control manipulator of the present invention；
Fig. 3 is the structural representation of the latching device of a kind of multiple degrees of freedom automatic control manipulator of the present invention；
Wherein, 1, installing plate, 2, U-shaped support, 3, Horizontal dividing rotating disk, 4, telescopic cylinder, 5, latching device, 6, support arm,
7, vertical rotating disk, 8, angular adjustment dish, 9, mechanical arm, 10, fixed plate, 11, manipulator cylinder, 12, mechanical hand, 13, base plate,
14, cylinder is firmly grasped, 15, gripper, 16, location spring, 17, place kick, 18, positioning compression bar, 19, pressure transducer, 20, lock
Tight cylinder, 21, be locked plate, 22, extension spring, 23, lock ball, 24, locking positioning block, 25, lock ball groove, 26, locking fixed
Position groove.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to Fig. 1-3, the present invention provides a kind of technical scheme: a kind of multiple degrees of freedom automatic control manipulator, it includes
Installing plate 1, U-shaped support 2, Horizontal dividing rotating disk 3, telescopic cylinder 4, latching device 5, support arm 6, vertical rotating disk 7, angle are adjusted
Joint dish 8, mechanical arm 9, fixed plate 10, manipulator cylinder 11, mechanical hand 12 and PLC, it is characterised in that described installation
Being fixedly installed U-shaped support 2 on plate 1, described U-shaped support 2 is fixedly installed described Horizontal dividing rotating disk 3, described level is divided
It is fixedly installed described telescopic cylinder 4 on degree rotating disk 3, the piston rod of described telescopic cylinder 4 is fixedly installed described support
Armed lever 6, described support arm 6 is fixedly installed described vertical rotating disk 7, described vertical rotating disk 7 is provided with described angle and adjusts
Joint dish 8, described angular adjustment dish 8 is provided with mechanical arm 9, and the end of described mechanical arm 9 is fixedly installed described fixed plate 10,
It is connected with described mechanical hand 12 by described manipulator cylinder 11 in described fixed plate 10, described Horizontal dividing rotating disk, stretches
The action of contracting cylinder, vertical rotating disk, angular adjustment dish, manipulator cylinder and mechanical hand is controlled by described PLC.
In the present embodiment, described mechanical hand includes base plate 13, promptly cylinder 14, gripper 15, location spring 16, location
Ball 17, positioning compression bar 18 and pressure transducer 19, wherein, one end of described base plate 13 is fixedly installed a described machinery
Pawl 15, the other end of described base plate 13 is slidably provided with another described gripper, the gripper being fixedly installed and slip
Use described promptly cylinder 14 to connect between the gripper arranged to arrange, each described gripper is provided with multiple location recessed
Groove, is slidably provided with described positioning compression bar 18 in described detent, the bottom of described positioning compression bar 18 is with described
Being provided with described location spring 16 between the bottom of detent, the outer end of described positioning compression bar is fixedly installed described location
Ball 17, described place kick is provided with described pressure transducer 19, and described pressure transducer, promptly cylinder are all with described PLC even
Connect, in order to described mechanical hand is controlled by described PLC；Described latching device includes locking cylinder 20, be locked plate
21, extension spring 22, lock ball 23 and locking positioning block 24, wherein, described in the plate 21 that is locked be fixedly installed on described U-shaped support 2
On upper surface, the piston rod of described locking cylinder 20 pass described in be locked plate arrange, the piston rod of described locking cylinder 20
End be fixedly installed described lock ball 23, described lock ball 23 is provided with described locking positioning block 24, described lock ball
And described being locked between plate is provided with described extension spring 22, and described locking cylinder is fixedly installed on the upper end of described U-shaped support
On face, in the circumferential wall of described Horizontal dividing rotating disk, array is provided with multiple described lock ball groove 26, described lock ball groove
On be provided with locking positioning groove 25, described lock ball and described lock ball groove fit, described locking positioning block and described locking
Locating slot is equipped with.
Additionally, described locking positioning groove be shaped as isosceles trapezoidal structure.The front end of described gripper is cone point.Institute
State Horizontal dividing rotating disk, vertical rotating disk and angular adjustment dish and all use gear adjustment structure, and gear adjustment structure is by stepping
Motor drives, and described motor is connected with described PLC.Described PLC is arranged on the U-shaped of described U-shaped support
In frame, described Horizontal dividing rotating disk, telescopic cylinder, vertical rotating disk, angular adjustment dish, manipulator cylinder and mechanical hand all can be independent
Action.
The present invention uses PLC to be controlled, and improves motility and the rapidity of manipulator control, by level
Indexing rotary table and vertical rotating disk, it is achieved that the rotation of multiple angles of mechanical hand, meanwhile, be provided with angular adjustment dish, it is achieved that
Mechanical hand is in the crawl of any angle, and meanwhile, the present invention is provided with the latching device of Horizontal dividing rotating disk, it is ensured that in special feelings
Indexing demand under condition, additionally, use extension spring and place kick promptly to position workpiece on the mechanical hand of the present invention, improves
The positioning precision of workpiece, by arranging pressure transducer, it is possible to effectively prevents the excessive situation causing damage product of grasp.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand and these embodiments can be carried out multiple change without departing from the principles and spirit of the present invention, revise, replace
And modification, the scope of the present invention be defined by the appended.
Claims (7)
1. a multiple degrees of freedom automatic control manipulator, it include installing plate, U-shaped support, Horizontal dividing rotating disk, telescopic cylinder,
Latching device, support arm, vertical rotating disk, angular adjustment dish, mechanical arm, fixed plate, manipulator cylinder, mechanical hand and PLC control
Device processed, it is characterised in that:
It is fixedly installed U-shaped support on described installing plate, described U-shaped support is fixedly installed described Horizontal dividing rotating disk,
The side of described Horizontal dividing dish is provided with described latching device, and described Horizontal dividing rotating disk is fixedly installed described flexible gas
Cylinder, the piston rod of described telescopic cylinder is fixedly installed described support arm, described support arm is fixedly installed
State vertical rotating disk, described vertical rotating disk is provided with described angular adjustment dish, described angular adjustment dish is provided with mechanical arm, institute
The end stating mechanical arm is fixedly installed described fixed plate, and described fixed plate is connected with institute by described manipulator cylinder
State mechanical hand, moving of described Horizontal dividing rotating disk, telescopic cylinder, vertical rotating disk, angular adjustment dish, manipulator cylinder and mechanical hand
Make to be controlled by described PLC.
A kind of multiple degrees of freedom automatic control manipulator the most according to claim 1, it is characterised in that: described mechanical hand includes
Base plate, promptly cylinder, gripper, location spring, place kick, positioning compression bar and pressure transducer, wherein, described base plate
One end is fixedly installed a described gripper, and the other end of described base plate is slidably provided with another described gripper,
The gripper being fixedly installed uses described promptly cylinder to be connected setting, each described gripper with sliding between the gripper arranged
On be provided with multiple detent, be slidably provided with described positioning compression bar in described detent, described location is pressed
Being provided with described location spring between bottom and the bottom of described detent of tight bar, the outer end of described positioning compression bar is fixed
Be provided with described place kick, described place kick be provided with described pressure transducer, described pressure transducer, promptly cylinder all with
Described PLC connects, in order to described mechanical hand is controlled by described PLC；Described latching device includes locking cylinder, locking
Fixed plate, extension spring, lock ball and locking positioning block, wherein, described in the plate that is locked be fixedly installed on described U-shaped pedestal upper end face
On, the piston rod of described locking cylinder pass described in be locked plate arrange, the end of the piston rod of described locking cylinder is fixed
It is provided with described lock ball, described lock ball is provided with described locking positioning block, described lock ball and the described plate that is locked
Between be provided with described extension spring, described locking cylinder is fixedly installed on the upper surface of described U-shaped support, and described Horizontal dividing turns
In the circumferential wall of dish, array is provided with multiple described lock ball groove, and described lock ball groove is provided with locking positioning groove, institute
Stating lock ball and described lock ball groove fit, described locking positioning block is arranged with described locking positioning slot fit.
A kind of multiple degrees of freedom automatic control manipulator the most according to claim 2, it is characterised in that: described locking positioning groove
Be shaped as isosceles trapezoidal structure.
A kind of multiple degrees of freedom automatic control manipulator the most according to claim 2, it is characterised in that: before described gripper
End is cone point.
A kind of multiple degrees of freedom automatic control manipulator the most according to claim 1, it is characterised in that: described Horizontal dividing turns
Dish, vertical rotating disk and angular adjustment dish all use gear adjustment structure, and gear adjustment structure is by step motor drive, described
Motor is connected with described PLC.
A kind of multiple degrees of freedom automatic control manipulator the most according to claim 1, it is characterised in that: described PLC
It is arranged in the U-shaped frame of described U-shaped support.
A kind of multiple degrees of freedom automatic control manipulator the most according to claim 1, it is characterised in that: described Horizontal dividing turns
Dish, telescopic cylinder, vertical rotating disk, angular adjustment dish, manipulator cylinder and mechanical hand all can self contained functions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610625297.XA CN106142053B (en) | 2016-08-03 | 2016-08-03 | A kind of multiple degrees of freedom automatic control manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610625297.XA CN106142053B (en) | 2016-08-03 | 2016-08-03 | A kind of multiple degrees of freedom automatic control manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN106142053A true CN106142053A (en) | 2016-11-23 |
| CN106142053B CN106142053B (en) | 2018-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610625297.XA Expired - Fee Related CN106142053B (en) | 2016-08-03 | 2016-08-03 | A kind of multiple degrees of freedom automatic control manipulator |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106475482A (en) * | 2016-11-25 | 2017-03-08 | 南陵县生产力促进中心有限公司 | A kind of transmission mechanical arm of accurate positioning |
| CN106865225A (en) * | 2017-02-15 | 2017-06-20 | 蓝思智能机器人(长沙)有限公司 | A kind of workpiece pick device |
| CN107677868A (en) * | 2017-09-12 | 2018-02-09 | 国网浙江义乌市供电公司 | One plants case carries multimeter |
| CN108466237A (en) * | 2018-06-26 | 2018-08-31 | 广东广航科技有限公司 | The carrying apparatus of adjustable-angle |
| CN108466071A (en) * | 2018-06-26 | 2018-08-31 | 广东广航科技有限公司 | A kind of carrying apparatus of adjustable-angle |
| CN108526935A (en) * | 2018-06-26 | 2018-09-14 | 广东广航科技有限公司 | A kind of carrying apparatus of adjustable-angle |
| CN108544438A (en) * | 2018-06-26 | 2018-09-18 | 广东广航科技有限公司 | A kind of carrying apparatus of adjustable-angle |
| CN108687728A (en) * | 2018-06-26 | 2018-10-23 | 广东广航科技有限公司 | The carrying apparatus of adjustable-angle |
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| CN108748022A (en) * | 2018-06-26 | 2018-11-06 | 广东广航科技有限公司 | A kind of carrying apparatus of adjustable-angle |
| CN108789312A (en) * | 2018-06-26 | 2018-11-13 | 广东广航科技有限公司 | The carrying apparatus of adjustable-angle |
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| CN109048849A (en) * | 2018-10-18 | 2018-12-21 | 周桂林 | Manipulator is used in a kind of handling |
| CN110340919A (en) * | 2019-07-22 | 2019-10-18 | 西安外事学院 | Material transmission robotic arm grabber |
| CN110900637A (en) * | 2018-09-14 | 2020-03-24 | 清远海帆智能科技有限公司 | Intelligent mechanical manufacturing grabbing equipment |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106475482A (en) * | 2016-11-25 | 2017-03-08 | 南陵县生产力促进中心有限公司 | A kind of transmission mechanical arm of accurate positioning |
| CN106865225A (en) * | 2017-02-15 | 2017-06-20 | 蓝思智能机器人(长沙)有限公司 | A kind of workpiece pick device |
| CN107677868A (en) * | 2017-09-12 | 2018-02-09 | 国网浙江义乌市供电公司 | One plants case carries multimeter |
| CN107677868B (en) * | 2017-09-12 | 2019-08-20 | 国网浙江义乌市供电公司 | One plants case carries multimeter |
| CN108818434A (en) * | 2018-06-26 | 2018-11-16 | 广东广航科技有限公司 | A kind of carrying apparatus of adjustable-angle |
| CN108544438A (en) * | 2018-06-26 | 2018-09-18 | 广东广航科技有限公司 | A kind of carrying apparatus of adjustable-angle |
| CN108687728A (en) * | 2018-06-26 | 2018-10-23 | 广东广航科技有限公司 | The carrying apparatus of adjustable-angle |
| CN108687729A (en) * | 2018-06-26 | 2018-10-23 | 广东广航科技有限公司 | The carrying apparatus of adjustable-angle |
| CN108748022A (en) * | 2018-06-26 | 2018-11-06 | 广东广航科技有限公司 | A kind of carrying apparatus of adjustable-angle |
| CN108789312A (en) * | 2018-06-26 | 2018-11-13 | 广东广航科技有限公司 | The carrying apparatus of adjustable-angle |
| CN108466071A (en) * | 2018-06-26 | 2018-08-31 | 广东广航科技有限公司 | A kind of carrying apparatus of adjustable-angle |
| CN108466237A (en) * | 2018-06-26 | 2018-08-31 | 广东广航科技有限公司 | The carrying apparatus of adjustable-angle |
| CN108526935A (en) * | 2018-06-26 | 2018-09-14 | 广东广航科技有限公司 | A kind of carrying apparatus of adjustable-angle |
| CN108748164A (en) * | 2018-07-19 | 2018-11-06 | 深圳市慧传科技有限公司 | The control method of manipulator automatic clamping dynamics and gripping state |
| CN110900637A (en) * | 2018-09-14 | 2020-03-24 | 清远海帆智能科技有限公司 | Intelligent mechanical manufacturing grabbing equipment |
| CN109048849B (en) * | 2018-10-18 | 2021-11-23 | 义乌市旻具五金工具有限公司 | Manipulator for loading and unloading |
| CN109048849A (en) * | 2018-10-18 | 2018-12-21 | 周桂林 | Manipulator is used in a kind of handling |
| CN110340919A (en) * | 2019-07-22 | 2019-10-18 | 西安外事学院 | Material transmission robotic arm grabber |
| CN110340919B (en) * | 2019-07-22 | 2022-03-04 | 西安外事学院 | Material conveying robot arm grabber |
| CN111153008B (en) * | 2019-12-31 | 2021-09-28 | 苏州得尔达国际物流有限公司 | Labeling system with automatic calibration function |
| CN111153008A (en) * | 2019-12-31 | 2020-05-15 | 苏州得尔达国际物流有限公司 | Labeling system with automatic calibration function |
| CN112140107A (en) * | 2020-08-27 | 2020-12-29 | 南京驭逡通信科技有限公司 | Meal delivery robot is with end meal arm |
| CN111958440A (en) * | 2020-10-26 | 2020-11-20 | 烟台工程职业技术学院(烟台市技师学院) | Automobile body metal sheet processing grinding device |
| CN111958440B (en) * | 2020-10-26 | 2021-01-12 | 烟台工程职业技术学院(烟台市技师学院) | Automobile body metal sheet processing grinding device |
| CN113008112A (en) * | 2021-03-02 | 2021-06-22 | 广东职业技术学院 | Vertical cutting arm angle measuring device |
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