CN106426181A - Control system of lifting type mechanical arm - Google Patents
Control system of lifting type mechanical arm Download PDFInfo
- Publication number
- CN106426181A CN106426181A CN201611052355.0A CN201611052355A CN106426181A CN 106426181 A CN106426181 A CN 106426181A CN 201611052355 A CN201611052355 A CN 201611052355A CN 106426181 A CN106426181 A CN 106426181A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- electrically connected
- fix bar
- mcu module
- control system
- 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.)
- Withdrawn
Links
Classifications
-
- 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
-
- 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
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control system of a lifting type mechanical arm. The control system of the lifting type mechanical arm comprises a controller and a mounting seat, wherein the controller is fixed on the mounting seat and comprises a shell; a circuit board is arranged inside the shell; the controller further comprises an MCU module, an automatic pulse signal identifying module and a counting device which are arranged on the circuit board; a first output end of the MCU module is electrically connected with a display device; the display device is a display screen and is fixedly mounted on one side of the shell; a second output end of the MCU module is electrically connected with an alarming device; and the alarming device is an audible and visual alarm, and is fixedly mounted on one side, which is close to the display device, of the shell. The control system of the lifting type mechanical arm is simple in structure, economical and practical, high in safety and low in labor cost, and is automatically controlled, working efficiency is greatly improved, and workers can conveniently know the workload of the mechanical arm.
Description
Technical field
The present invention relates to mechanical arm technical field, more particularly, to a kind of control system of lifting mechanical arm.
Background technology
In brickmaking industry, often need a large amount of fragments of brick to be carried out collective's movement, by adobe from base such as in production line
Machine moves to fires kiln, or finished product fragment of brick is moved on means of transport.Particularly when needing for fragment of brick to carry out layering stacking,
As carried using manpower, it is disadvantageous in that：High labor intensive leads to efficiency to reduce, and increased human cost and safety wind
Danger, and the workload of each staff can not be got information about, in order to solve problem above, present specification proposes one
Plant the control system of lifting mechanical arm.
Content of the invention
The invention aims to shortcoming present in solution prior art, and a kind of lifting mechanical arm proposing
Control system.
To achieve these goals, present invention employs following technical scheme：
A kind of control system of lifting mechanical arm, including controller and mounting seat, and controller is fixed in mounting seat, described
Controller includes housing, and the inside of housing is provided with circuit board, and described controller also includes arranging MCU mould on circuit boards
Block, pulse signal automatic identification module and counting device, the first output end of described MCU module is electrically connected with display device,
And display device is display screen, described display device is fixedly mounted on the side of housing, the second output end electricity of described MCU module
Property be connected with warning device, and warning device be audible-visual annunciator, described warning device be fixedly mounted on housing near display dress
The side put, and warning device is located at the lower section of display device, the 3rd output end of described MCU module is electrically connected with the first electricity
Machine, the 4th output end of described MCU module is electrically connected with the first cylinder, and the 5th output end of described MCU module is electrically connected with
There is the second cylinder, the 6th output end of described MCU module is electrically connected with gripper, the 7th output end electricity of described MCU module
Property be connected with the first input end of pulse signal automatic identification module, and the second input electricity of pulse signal automatic identification module
Property be connected with pressure sensor, the input of described pulse signal automatic identification module is electrically connected with counting device, and count
The output end of device is electrically connected with display device, and the first input end of described MCU module is electrically connected with the first infrared sensing
Device, the second input of described MCU module is electrically connected with the first inductive switch, and the 3rd input of described MCU module is electrical
It is connected with distance measuring sensor.
Preferably, described first motor is fixedly mounted in the bottom interior wall of mounting seat, and mounting seat is hollow structure, institute
First gear is arranged with the output shaft stating the first motor, and the top of the first motor is provided with the second fix bar, described second is solid
The two ends of fixed pole are rotated with the inwall of mounting seat respectively and are connected, and described second fix bar is arranged with two fixed pulleys, and fixed cunning
Wheel is located at the two ends of the second fix bar, is provided with second gear between two fixed pulleys, and it is fixing that described second gear is set in second
The medium position of bar, and second gear and first gear match, the top of described second fix bar is provided with two mounting rods, and
Two mounting rods are oppositely arranged on the both sides inwall of mounting seat, and the top of described mounting rod is rotatably connected to movable pulley, described
Connecting rope is slidably connected on the outer wall of movable pulley, one end of described connecting rope is fixed on fixed pulley, and connecting rope is another
End is connected with first mechanical arm, and the top of described first mechanical arm is provided with mounting post, and mounting post is located at the top of mounting seat, institute
The side stating mounting post is provided with slide rail, and the lower section of slide rail is provided with the second cylinder, and the piston rod of described second cylinder is connected with cunning
Dynamic seat, and sliding seat slide rail basal sliding connect, the bottom of described sliding seat is provided with the first cylinder, and the work of the first cylinder
Stopper rod is connected with gripper installing plate, and the bottom corner of described gripper installing plate is equipped with the first infrared sensor, and machinery
The bottom of pawl installing plate is provided with two grippers relatively.
Preferably, the both sides inwall of described mounting seat is equipped with the first chute, and the first chute and the second fix bar are in
90 degree of settings, the inwall of described first chute slidably connect the first fix bar, and the first fix bar are away from the first chute
One end be fixedly mounted on the bottom of first mechanical arm, described first fix bar is metal fix bar, the bottom of described first chute
Portion's inwall is provided with the first inductive switch, and the first inductive switch and the first fix bar match.
Preferably, described distance measuring sensor is located at the bottom of mounting post, and distance measuring sensor is close positioned at first mechanical arm
The side of slide rail, described distance measuring sensor and the first motor match.
Preferably, two gripper sides close to each other are equipped with and fix on the first groove, and the inwall of the first groove
There is pressure sensor, two pressure sensors are oppositely arranged.
Preferably, described second fix bar is located at the lower section of the first chute, and the first chute is located at the lower section of mounting rod.
Preferably, the top of described mounting seat is provided with the first fixing circular hole, and the inwall of the first fixing circular hole and the first machine
Tool arm is slidably connected.
Beneficial effects of the present invention：
1st, matched by distance measuring sensor, MCU module and the first motor, distance measuring sensor can to mounting post and mounting seat it
Between distance detected, and then distance measuring sensor by MCU module, the first motor is controlled so that lifting mechanical
The control system of arm achieves Automated condtrol；
2nd, pass through moving on the first gear on the first motor, the second gear in the second fix bar and fixed pulley, mounting rod
Pulley and connecting rope match, and the first motor can drive the inwall of the fixing circular hole of first mechanical arm in mounting seat first to enter
Row slides up and down, and then the material on gripper is carried out with upper-lower position regulation, the control system of lifting mechanical arm be easy to by
Finished product fragment of brick moves on means of transport, greatly reduces human cost, and security performance is high；
3rd, matched by pressure sensor, pulse signal automatic identification module, MCU module and counting device, gripper often presss from both sides
Take a material, pressure sensor will send a pulse signal to pulse signal automatic identification module, and pulse signal is automatic
Identification module carries out automatic identification to the pulse signal that pressure sensor sends, and pulse signal automatic identification module will identify
To on counting device, counting device is once counted signal transmission, and the control system of lifting mechanical arm can be to gripper
Within a period of time, picked up material is counted, and is shown on the display apparatus, is easy to staff and is checked；
4th, matched by the second cylinder, slide rail, sliding seat and gripper installing plate, the second cylinder can drive sliding seat sliding
The enterprising line slip of rail, and then the gripper changing on gripper installing plate carries out horizontal level movement, is easy to move finished product fragment of brick
Move on means of transport, greatly reduce human cost, and security performance is high；
5th, pass through the first cylinder, the distance between gripper installing plate and sliding seat can be adjusted so that staff
Just the distance between gripper installing plate and sliding seat can be adjusted before mechanical arm work according to the actual requirements；
The structure of the present invention is simple, and economical and practical, safe, human cost is low, and the control system of lifting mechanical arm adopts
Automated condtrol, greatly improves operating efficiency, and is easy to staff the workload of mechanical arm is understood.
Brief description
Fig. 1 is a kind of structural representation of the control system of lifting mechanical arm proposed by the present invention；
Fig. 2 is a kind of partial structural diagram of the control system of lifting mechanical arm proposed by the present invention；
Fig. 3 is a kind of fundamental diagram of the control system of lifting mechanical arm proposed by the present invention.
In figure：1 slide rail, 2 sliding seats, 3 first cylinders, 4 gripper installing plates, 5 first infrared sensors, 6 grippers, 7
Second cylinder, 8 mounting posts, 9 first chutes, 10 first mechanical arms, 11 movable pulleys, 12 mounting rods, 13 first fix bars, 14 installations
Seat, 15 connecting ropes, 16 fixed pulleys, 17 first motors, 18 first gears, 19 second gears, 20 second fix bars, 21 range finding sensings
Device, 22 pressure sensors, 23 first inductive switches.
Specific embodiment
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
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.
Reference picture 1-3, a kind of control system of lifting mechanical arm, including controller and mounting seat 14, and controller is solid
It is scheduled in mounting seat 14, controller includes housing, and the inside of housing is provided with circuit board, controller also includes being arranged on circuit board
On MCU module, pulse signal automatic identification module and counting device, the first output end of MCU module is electrically connected with display
Device, and display device is display screen, display device is fixedly mounted on the side of housing, and the second output end of MCU module is electrical
It is connected with warning device, and warning device is audible-visual annunciator, warning device is fixedly mounted on housing near the one of display device
Side, and warning device is located at the lower section of display device, warning device is used for reminding staff, the 3rd output end of MCU module
It is electrically connected with the first motor 17, the 4th output end of MCU module is electrically connected with the first cylinder 3, the 5th output of MCU module
End is electrically connected with the second cylinder 7, and the 6th output end of MCU module is electrically connected with gripper 6, the 7th output of MCU module
End is electrically connected with the first input end of pulse signal automatic identification module, and the second input of pulse signal automatic identification module
End is electrically connected with pressure sensor 22, and the input of pulse signal automatic identification module is electrically connected with counting device, pulse
The pulse signal that signal automatic identification module sends to pressure sensor 22 carries out automatic identification, and pulse signal automatic identification mould
By the signal transmission identifying on counting device, the output end of counting device is electrically connected with display device to block, and the of MCU module
One input is electrically connected with the first infrared sensor 5, and the second input of MCU module is electrically connected with the first inductive switch
23, the 3rd input of MCU module is electrically connected with distance measuring sensor 21, and the first motor 17 is fixedly mounted on the bottom of mounting seat 14
On portion's inwall, and mounting seat 14 is hollow structure, and the output shaft of the first motor 17 is arranged with first gear 18, and the first motor
17 top is provided with the second fix bar 20, and the two ends of the second fix bar 20 are rotated with the inwall of mounting seat 14 respectively and are connected, and second
Two fixed pulleys 16 are arranged with fix bar 20, and fixed pulley 16 are located at the two ends of the second fix bar 20, two fixed pulleys 16 it
Between be provided with second gear 19, second gear 19 is set in the medium position of the second fix bar 20, and second gear 19 and the first tooth
Wheel 18 matches, and the top of the second fix bar 20 is provided with two mounting rods 12, and two mounting rods 12 are oppositely arranged on mounting seat
On 14 both sides inwall, the top of mounting rod 12 is rotatably connected to movable pulley 11, the company of slidably connecting on the outer wall of movable pulley 11
Splicing 15, one end of connecting rope 15 is fixed on fixed pulley 16, and the other end of connecting rope 15 is connected with first mechanical arm 10, the
The top of one mechanical arm 10 is provided with mounting post 8, and mounting post 8 is located at the top of mounting seat 14, and the side of mounting post 8 is provided with slide rail
1, and the lower section of slide rail 1 is provided with the second cylinder 7, the second cylinder 7 can be to the distance between gripper installing plate 4 and sliding seat 2
It is adjusted so that staff can just to gripper installing plate 4 and can be slided according to the actual requirements before mechanical arm work
The distance between dynamic seat 2 is adjusted, and the piston rod of the second cylinder 7 is connected with sliding seat 2, and sliding seat 2 is in the bottom of slide rail 1
It is slidably connected, the bottom of sliding seat 2 is provided with the first cylinder 3, and the piston rod of the first cylinder 3 is connected with gripper installing plate 4, machine
The bottom corner of machinery claw installing plate 4 is equipped with the first infrared sensor 5, and the bottom of gripper installing plate 4 is provided with two relatively
Gripper 6, the both sides inwall of mounting seat 14 is equipped with the first chute 9, and the first chute 9 and the second fix bar 20 are in 90 degree
Setting, the inwall of the first chute 9 slidably connects the first fix bar 13, and the first fix bar 13 is away from the one of the first chute 9
End is fixedly mounted on the bottom of first mechanical arm 10, and the first fix bar 13 is metal fix bar, in the bottom interior wall of the first chute 9
It is provided with the first inductive switch 23, and the first inductive switch 23 and the first fix bar 13 match, distance measuring sensor 21 is located to be installed
The bottom of post 8, and distance measuring sensor 21 is located at first mechanical arm 10 near the side of slide rail 1, distance measuring sensor 21 and the first electricity
Machine 17 matches, and two gripper 6 sides close to each other are equipped with and are fixed with pressure on the first groove, and the inwall of the first groove
Force snesor 22, two pressure sensors 22 are oppositely arranged, and the second fix bar 20 is located at the lower section of the first chute 9, and first is sliding
Groove 9 is located at the lower section of mounting rod 12, and the top of mounting seat 14 is provided with the first fixing circular hole, and the inwall of the first fixing circular hole and the
One mechanical arm 10 is slidably connected.
Application process：Distance measuring sensor 21 can detect to the distance between mounting post 8 and mounting seat 14, and then surveys
By MCU module, the first motor 17 is carried out rotating forward control, the first tooth on the first motor 17 output shaft away from sensor 21
Under the cooperation of second gear 19 on wheel 18 and the second fix bar 20, the first motor 17 can drive the second fix bar 20 installing
Rotated on the inwall of seat 14, the second fix bar 20 can drive fixed pulley 16 to be rotated, fixed pulley 16 can be to connecting rope
15 are wound, and connecting rope 15, in the enterprising line slip of movable pulley 11, is simultaneously connected with line 15 and first mechanical arm 10 can be driven to install
Carry out upward sliding, until first mechanical arm 10 reaches set by distance measuring sensor 21 on seat 14 first fixing circular-hole internal-wall
Height, MCU module controls the first motor 17 to stop rotating forward, and then MCU module starts the second cylinder 7, and the second cylinder 7 can carry
Dynamic sliding seat 2 is in the enterprising line slip of slide rail 1, and then the gripper 6 changing on gripper installing plate 4 carries out horizontal level movement,
When the first infrared sensor 5 detects material, MCU module control machine machinery claw 6 grips to material, simultaneously on gripper 6
Pressure sensor 22 receives pressure, and pressure sensor 22 will send a pulse signal to pulse signal automatic identification module,
The pulse signal that pulse signal automatic identification module sends to pressure sensor 22 carries out automatic identification, and pulse signal is known automatically
By the signal transmission identifying on counting device, counting device is once counted other module, and the number that counting device is counted
Value is shown on the display apparatus, is easy to staff and is checked, after gripping material, the second cylinder 7 drives gripper 6
Sliding seat 2 returns to initial position, and then MCU module the first motor 17 to be carried out invert control, exports in the first motor 17
Under the cooperation of second gear 19 in first gear 18 on axle and the second fix bar 20, the first motor 17 can drive second
Fix bar 20 is rotated on the inwall of mounting seat 14, and the second fix bar 20 can drive fixed pulley 16 to be rotated, fixed cunning
Wheel 16 can discharge to connecting rope 15, and, in the enterprising line slip of movable pulley 11, first mechanical arm 10 is due to weight simultaneously for connecting rope 15
Power carries out slide downward on the fixing circular-hole internal-wall of first in mounting seat 14, the first fix bar in first mechanical arm 10
13 and the first chute 9 bottom interior wall on the first inductive switch 23 contact, the first inductive switch 23 is controlled by MCU module
First motor 17 stops reversion, then passes through the second cylinder 7 and slide rail 1 matches, the second cylinder 7 can be by gripper 6
Material is transported to specified location.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept equivalent or change in addition, all should be included within the scope of the present invention.
Claims (7)
1. a kind of control system of lifting mechanical arm, including controller and mounting seat（14）, and controller is fixed on mounting seat
（14）Above it is characterised in that described controller includes housing, and the inside of housing is provided with circuit board, and described controller also includes
Setting MCU module on circuit boards, pulse signal automatic identification module and counting device, the first output of described MCU module
End is electrically connected with display device, and display device is display screen, and described display device is fixedly mounted on the side of housing, described
Second output end of MCU module is electrically connected with warning device, and warning device is audible-visual annunciator, and described warning device is fixed
It is arranged on the side near display device for the housing, and warning device is located at the lower section of display device, the 3rd of described MCU module is defeated
Go out end and be electrically connected with the first motor（17）, the 4th output end of described MCU module is electrically connected with the first cylinder（3）, described
5th output end of MCU module is electrically connected with the second cylinder（7）, described MCU module the 6th output end be electrically connected with organic
Machinery claw（6）, the 7th output end of described MCU module is electrically connected with the first input end of pulse signal automatic identification module, and
Second input of pulse signal automatic identification module is electrically connected with pressure sensor（22）, described pulse signal automatic identification
The input of module is electrically connected with counting device, and the output end of counting device is electrically connected with display device, described MCU mould
The first input end of block is electrically connected with the first infrared sensor（5）, the second input of described MCU module is electrically connected with
One inductive switch（23）, the 3rd input of described MCU module is electrically connected with distance measuring sensor（21）.
2. a kind of control system of lifting mechanical arm according to claim 1 is it is characterised in that described first motor
（17）It is fixedly mounted on mounting seat（14）Bottom interior wall on, and mounting seat（14）For hollow structure, described first motor（17）
Output shaft on be arranged with first gear（18）, and the first motor（17）Top be provided with the second fix bar（20）, described second
Fix bar（20）Two ends respectively with mounting seat（14）Inwall rotate connect, described second fix bar（20）On be arranged with two
Fixed pulley（16）, and fixed pulley（16）Positioned at the second fix bar（20）Two ends, two fixed pulleys（16）Between be provided with the second tooth
Wheel（19）, described second gear（19）It is set in the second fix bar（20）Medium position, and second gear（19）With the first tooth
Wheel（18）Match, described second fix bar（20）Top be provided with two mounting rods（12）, and two mounting rods（12）Relatively
It is arranged on mounting seat（14）Both sides inwall on, described mounting rod（12）Top be rotatably connected to movable pulley（11）, described dynamic
Pulley（11）Outer wall on slidably connect connecting rope（15）, described connecting rope（15）One end be fixed on fixed pulley（16）On,
And connecting rope（15）The other end be connected with first mechanical arm（10）, described first mechanical arm（10）Top be provided with mounting post
（8）, and mounting post（8）Positioned at mounting seat（14）Top, described mounting post（8）Side be provided with slide rail（1）, and slide rail（1）
Lower section be provided with the second cylinder（7）, described second cylinder（7）Piston rod be connected with sliding seat（2）, and sliding seat（2）Sliding
Rail（1）Basal sliding connect, described sliding seat（2）Bottom be provided with the first cylinder（3）, and the first cylinder（3）Piston rod
It is connected with gripper installing plate（4）, described gripper installing plate（4）Bottom corner be equipped with the first infrared sensor（5）, and
Gripper installing plate（4）Bottom be relatively provided with two grippers（6）.
3. a kind of control system of lifting mechanical arm according to claim 2 is it is characterised in that described mounting seat（14）
Both sides inwall on be equipped with the first chute（9）, and the first chute（9）With the second fix bar（20）Arrange in 90 degree, described
First chute（9）Inwall on slidably connect the first fix bar（13）, and the first fix bar（13）Away from the first chute（9）'s
One end is fixedly mounted on first mechanical arm（10）Bottom, described first fix bar（13）For metal fix bar, described first is sliding
Groove（9）Bottom interior wall be provided with the first inductive switch（23）, and the first inductive switch（23）With the first fix bar（13）Match
Close.
4. a kind of control system of lifting mechanical arm according to claim 2 is it is characterised in that described distance measuring sensor
（21）Positioned at mounting post（8）Bottom, and distance measuring sensor（21）Positioned at first mechanical arm（10）Near slide rail（1）Side,
Described distance measuring sensor（21）With the first motor（17）Match.
5. a kind of control system of lifting mechanical arm according to claim 1 and 2 is it is characterised in that two grippers
（6）Side close to each other is equipped with and is fixed with pressure sensor on the first groove, and the inwall of the first groove（22）, two pressures
Force snesor（22）It is oppositely arranged.
6. a kind of control system of lifting mechanical arm according to claim 2 is it is characterised in that described second fix bar
（20）Positioned at the first chute（9）Lower section, and the first chute（9）Positioned at mounting rod（12）Lower section.
7. a kind of control system of lifting mechanical arm according to claim 2 is it is characterised in that described mounting seat（14）
Top be provided with the first fixing circular hole, and the inwall of the first fixing circular hole and first mechanical arm（10）It is slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052355.0A CN106426181A (en) | 2016-11-25 | 2016-11-25 | Control system of lifting type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052355.0A CN106426181A (en) | 2016-11-25 | 2016-11-25 | Control system of lifting type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106426181A true CN106426181A (en) | 2017-02-22 |
Family
ID=58218475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611052355.0A Withdrawn CN106426181A (en) | 2016-11-25 | 2016-11-25 | Control system of lifting type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426181A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106743717A (en) * | 2017-03-17 | 2017-05-31 | 蔡惠芳 | A kind of industrial automatic stacking machine people |
| CN106904441A (en) * | 2017-03-17 | 2017-06-30 | 蔡惠芳 | A kind of special auxiliary robot of high-temperature forging stacking |
| WO2021017091A1 (en) * | 2019-07-28 | 2021-02-04 | 南京驭逡通信科技有限公司 | Product grasping device and system for industrial robot |
-
2016
- 2016-11-25 CN CN201611052355.0A patent/CN106426181A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106743717A (en) * | 2017-03-17 | 2017-05-31 | 蔡惠芳 | A kind of industrial automatic stacking machine people |
| CN106904441A (en) * | 2017-03-17 | 2017-06-30 | 蔡惠芳 | A kind of special auxiliary robot of high-temperature forging stacking |
| CN106904441B (en) * | 2017-03-17 | 2019-02-12 | 南京欧瑞机械锻造有限公司 | A kind of dedicated auxiliary robot of high-temperature forging stacking |
| CN106743717B (en) * | 2017-03-17 | 2019-04-16 | 北京华航唯实机器人科技股份有限公司 | A kind of industry automatic stacking machine people |
| WO2021017091A1 (en) * | 2019-07-28 | 2021-02-04 | 南京驭逡通信科技有限公司 | Product grasping device and system for industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206263962U (en) | A kind of control system of lifting mechanical arm | |
| CN101532805B (en) | Production line for automatically assembling basal detonator | |
| CN106426181A (en) | Control system of lifting type mechanical arm | |
| CN106064728A (en) | A kind of for yarn group automatic transferring equipment | |
| CN201385997Y (en) | Supporting plate device | |
| CN106976769A (en) | A kind of building hoist automatic leveling method | |
| CN207046594U (en) | A kind of feeding device of fixed length wire cutting machine | |
| CN108820855A (en) | A kind of mechanical automation grabbing device | |
| CN104624831A (en) | Cold extruding automatic production line | |
| CN105173815B (en) | A kind of control system and control method of automatic board tipper | |
| CN208008411U (en) | A kind of power construction lifting gear | |
| CN207139209U (en) | A kind of Novel rod class assembling product equipment | |
| CN206394955U (en) | Feed mechanism and its box packing machine | |
| CN203486557U (en) | Tire gripper | |
| CN202735258U (en) | Automatic detecting machine for ceramic core end surface | |
| CN204416974U (en) | A kind of ground observation control system of tower crane | |
| CN216406656U (en) | Intelligent and safe rolling electric door | |
| CN214824367U (en) | Full-automatic high-speed rocker arm winding packaging machine system | |
| CN104759893A (en) | Keel forming system and application method thereof | |
| CN108168416A (en) | A kind of wheel hub decision maker | |
| CN109332511A (en) | A kind of pressing robot with disk feeding device | |
| CN208509131U (en) | A kind of project delivery method safety long-distance monitoring device | |
| CN208516468U (en) | A kind of device of Automatic Code charging tray | |
| CN213326519U (en) | Lifting platform for electric power overhaul | |
| CN208467995U (en) | A kind of composite elevator accessory process equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170222 |