CN107214684A - A kind of industrial production mechanical arm of intelligent control - Google Patents
A kind of industrial production mechanical arm of intelligent control Download PDFInfo
- Publication number
- CN107214684A CN107214684A CN201710583863.XA CN201710583863A CN107214684A CN 107214684 A CN107214684 A CN 107214684A CN 201710583863 A CN201710583863 A CN 201710583863A CN 107214684 A CN107214684 A CN 107214684A
- Authority
- CN
- China
- Prior art keywords
- connecting seat
- mechanical arm
- industrial production
- driving device
- intelligent control
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Abstract
The invention discloses a kind of industrial production mechanical arm of intelligent control, including base, it is fastened in infrastructure；Parallel sliding track, the right side on base, the parallel sliding track is provided with retaining mechanism；By parallel sliding track slidable connection between slide, with the base, and it is locked at by retaining mechanism on parallel sliding track；Mechanical arm is fastened on the slide, automatic range unit, numerical control system, the left side on base, the system control function for providing the mechanical arm of the industrial production intelligent control.The mechanical arm that the present invention is constituted, stabilized structure, it is not easy to shake, and load-bearing is larger, is locked sledge position by the retaining mechanism on parallel sliding track, and position is stable, it is not easy to shift, accurate positioning.
Description
Technical field
The present invention relates to mechanical arm technical field, more particularly to a kind of industrial production mechanical arm of intelligent control.
Background technology
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, in industry system
Make, therapeutic treatment, entertainment service, military affairs, the field such as semiconductor manufacturing and space probation can see its figure.Although it
Form have nothing in common with each other, but they have one it is common the characteristics of, can exactly receive instruction, be precisely positioned to three-dimensional
（Or two dimension）Certain point spatially carries out operation.Existing mechanical arm is in clamping workpiece, due to the Action of Gravity Field of workpiece,
Also mechanical arm structure is excessively simple, and load capacity is smaller, easily shakes, and mechanical arm position can shift, and
And this skew is delivered on the slide of connection mechanical arm, causes position of the slide on slide rail to shift, and then influence
To the precision of mechanical arm, cause positioning to shift, influence being normally carried out for subsequent handling.
The content of the invention
It is an object of the invention to provide a kind of industrial production mechanical arm of intelligent control, possess stabilized structure, load-bearing
Greatly, position is stable, the advantage of accurate positioning, solves that existing machinery arm structure is easily rocked built on the sand, load-bearing is small, position holds
The problem of easily shifting, position inaccurate.
A kind of industrial production according to embodiments of the present invention mechanical arm of intelligent control, the industrial production intelligent control
Mechanical arm includes：
One base, is fastened in infrastructure；
One parallel sliding track, the right side on base, the parallel sliding track is provided with retaining mechanism；
By parallel sliding track slidable connection between one slide, with the base, and parallel sliding track is locked at by retaining mechanism
On；
One mechanical arm, is fastened on the slide, including the first connecting seat, the second connecting seat, the 3rd connecting seat, the 4th connection
Seat, the 5th connecting seat, the first retractable driving device, the second retractable driving device, the 3rd retractable driving device, the 4th telescopic drive
Device, the 5th retractable driving device, first connecting rod mechanism, second connecting rod mechanism, third connecting rod mechanism and clamping device；Described
A connecting seat is connected with slide by axis of rotation, and one end and the first connecting seat of the first connecting rod mechanism are fastenedly connected, separately
One end is connected with the lower-left end of the second connecting seat by axis of rotation, and the left end of the slide passes through rotating shaft and the first telescopic drive
Device rotates connection, and the output end of first retractable driving device is connected with the left end of the second connecting seat by axis of rotation,
The two ends of second retractable driving device are rotatably connected on the right-hand member and the second connecting seat of the first connecting seat by rotating shaft respectively
Middle lower end, one end of the second connecting rod mechanism and the right-hand member of the second connecting seat be fastenedly connected, the other end and the 3rd connecting seat
Connected by axis of rotation, the two ends of the 3rd retractable driving device are rotatably connected on the second connecting seat by rotating shaft respectively
The lower end of bottom righthand side and the 3rd connecting seat, one end of the third connecting rod mechanism and the bottom righthand side of the 3rd connecting seat are fastenedly connected,
The other end is connected with the 4th connecting seat by axis of rotation, and the two ends of the 4th retractable driving device are rotated respectively by rotating shaft
It is connected to the upper end of the 3rd connecting seat and the middle upper end of the 4th connecting seat, the left upper end and the 4th connecting seat of the 5th connecting seat
Right-hand member connected by axis of rotation, the two ends of four retractable driving device are rotatably connected on the 4th connection by rotating shaft respectively
The right-hand member of seat and the right-hand member of the 5th connecting seat, the lower end of the 5th connecting seat are installed by clamping device；
One automatic range unit, on the clamping device, for being accurately positioned machine components to be held automatically；
One numerical control system, the left side on base, for providing the mechanical arm of the industrial production intelligent control
System control function.
Being provided with the basis of such scheme, on the base positioned at the left side of parallel sliding track is used to drive the slide to slide
Servo electric jar, the output end of the servo electric jar and the left end of slide are fastenedly connected.
On the basis of such scheme, the locking device includes friction bar, two guide rods and locking drive device, two
Guide rod is arranged between parallel sliding track, and the locking drive device is arranged on the madial wall of parallel sliding track side, and it is exported
End connection friction bar, the two ends of the friction bar are set on two guide rods and can slided along two guide rod directions, described
Another wood side-guide of parallel sliding track is provided with the strip open-work passed through for the lateral surface of the friction bar.
Further, the friction bar is in convex structure, and when locking drive device driving friction bar movement, its two ends is with putting down
When row slide rail offsets, the one side of the friction bar protrusion passes through strip open-work, is tightly offseted with slide.
Further, the locking drive device is cylinder or hydraulic cylinder.
On the basis of such scheme, the clamping device includes motor, mounting seat, clamping claw drive unit, first
Gripper jaw and the second gripper jaw, the mounting seat can under the driving of motor forward or reverse, gripper jaw driving
Device is arranged on the bottom of mounting seat, and the clamping claw drive unit is used to drive the first gripper jaw and the second gripper jaw to realize folder
Hold action.
On the basis of such scheme, the automatic range unit is infrared distance measurement module, laser ranging module or SMC measurements
Device.Infrared distance measurement module precision is high, and the present invention carries out ranging localization using infrared distance measurement module.
On the basis of such scheme, first retractable driving device, the second retractable driving device, the 3rd telescopic drive dress
Put, the 4th retractable driving device, the 5th retractable driving device are cylinder or hydraulic cylinder.
First connecting rod mechanism, second connecting rod mechanism, third connecting rod mechanism are double-rod structure.
The present invention has an advantageous effect in that compared with prior art：Connected by the first connecting seat, the second connecting seat, the 3rd
Joint chair, the 4th connecting seat, the 5th connecting seat, the first retractable driving device, the second retractable driving device, the 3rd telescopic drive dress
Put, the 4th retractable driving device, the 5th retractable driving device, first connecting rod mechanism, second connecting rod mechanism, third connecting rod mechanism and
The mechanical arm of clamping device composition, stabilized structure, it is not easy to shake, and also load-bearing is larger, by parallel sliding track
Retaining mechanism locks sledge position, and position is stable, it is not easy to shift, accurate positioning.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for specification, the reality with the present invention
Applying example is used to explain the present invention together, is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of structural representation of industrial production intelligent control machinery arm proposed by the present invention；
Fig. 2 is retaining mechanism mounting structure schematic diagram.
In figure：1- bases, 2- parallel sliding tracks, 3- slides, the connecting seats of 4- first, the connecting seats of 5- second, the connecting seats of 6- the 3rd,
The connecting seats of 7- the 4th, the connecting seats of 8- the 5th, the retractable driving devices of 9- first, the retractable driving devices of 10- second, 11- the 3rd stretch
Drive device, the retractable driving devices of 12- the 4th, the retractable driving devices of 13- the 5th, 14- first connecting rods mechanism, 15- second connecting rods
Mechanism, 16- third connecting rods mechanism, 17- numerical control systems, 18- servo electric jars, 19- frictions bar, 20- guide rods, 21- locks
Tight drive device, 22- strips open-work, 23- motors, 24- mounting seats, 25- clampings claw drive unit, 26- first are clamped
Pawl, the gripper jaws of 27- second.
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 is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicate or imply that the device or element of meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying relatively important
Property or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Person implicitly includes one or more this feature.In the description of the invention, " multiple " be meant that two or two with
On, unless otherwise specifically defined.
Reference picture 1-2, a kind of industrial production mechanical arm of intelligent control, the industrial production mechanical arm of intelligent control
Including：Base 1, is fastened in infrastructure；Parallel sliding track 2, the right side on base 1, parallel sliding track 2 is provided with locking
Mechanism；By the slidable connection of parallel sliding track 2 between slide 3, with base 1, and parallel sliding track 2 is locked at by retaining mechanism
On；Mechanical arm, is fastened on slide, including the first connecting seat 4, the second connecting seat 5, the 3rd connecting seat 6, the 4th connecting seat 7,
5th connecting seat 8, the first retractable driving device 9, the second retractable driving device 10, the 3rd retractable driving device the 11, the 4th are stretched
Drive device 12, the 5th retractable driving device 13, first connecting rod mechanism 14, second connecting rod mechanism 15, the and of third connecting rod mechanism 16
Clamping device；First connecting seat 4 is connected with slide 3 by axis of rotation, one end of first connecting rod mechanism 14 and the first connecting seat 4
It is fastenedly connected, the other end is connected with the lower-left end of the second connecting seat 5 by axis of rotation, the left end of slide 3 passes through rotating shaft and the
One retractable driving device 9 rotates connection, and the output end of the first retractable driving device 9 and the left end of the second connecting seat 5 pass through rotating shaft
Rotate connection, the two ends of the second retractable driving device 10 are rotatably connected on the right-hand member and the of the first connecting seat 4 by rotating shaft respectively
The middle lower end of two connecting seats 5, one end of second connecting rod mechanism 15 and the right-hand member of the second connecting seat 5 are fastenedly connected, the other end and
Three connecting seats 6 are connected by axis of rotation, and the two ends of the 3rd retractable driving device 11 are rotatably connected on second respectively by rotating shaft
The lower end of the bottom righthand side of connecting seat 5 and the 3rd connecting seat 6, one end of third connecting rod mechanism 16 and the bottom righthand side of the 3rd connecting seat 6
It is fastenedly connected, the other end is connected with the 4th connecting seat 7 by axis of rotation, the two ends of the 4th retractable driving device 12 pass through rotating shaft
The upper end of the 3rd connecting seat 6 and the middle upper end of the 4th connecting seat 7, the left upper end of the 5th connecting seat 8 and are rotatably connected on respectively
The right-hand member of four connecting seats 7 is connected by axis of rotation, and the two ends of four retractable driving devices 12 are rotatably connected on respectively by rotating shaft
The right-hand member of 4th connecting seat 7 and the right-hand member of the 5th connecting seat 8, the lower end of the 5th connecting seat 8 are installed by clamping device；Automatic range
Device（Not shown in figure）, on clamping device, for being accurately positioned machine components to be held automatically；Numerical control system
17, the left side on base 1, the system control function for providing the mechanical arm of the industrial production intelligent control.
The servo-electric for being used for driving slide 3 to slide is provided with the present embodiment, on base 1 positioned at the left side of parallel sliding track 2
Cylinder 18, the output end and the left end of slide 3 of servo electric jar 18 are fastenedly connected.
In the present embodiment, locking device includes friction bar 19, two guide rods 20 and locking drive device 21, two guiding
Bar 20 is arranged between parallel sliding track 2, and locking drive device 21 is arranged on the madial wall of the side of parallel sliding track 2, its output end
Connection friction bar 19, the two ends of friction bar 19 are set on two guide rods 20 and can slided along two directions of guide rod 20, put down
Another wood side-guide of row slide rail 2 is provided with the strip open-work 22 passed through for the lateral surface of friction bar 19.
Further, friction bar 19 be in convex structure, when locking drive device 21 driving friction bar 19 move, its two ends with
When parallel sliding track 2 offsets, the one side that friction bar 19 protrudes tightly offsets through strip open-work with slide.Slide 3, which is reached, specifies
It is locked behind position.
Further, locking drive device 21 is cylinder or hydraulic cylinder.
In the present embodiment, clamping device includes motor 23, mounting seat 24, clamping claw drive unit 25, first and clamped
The gripper jaw 27 of pawl 26 and second, mounting seat 24 can under the driving of motor forward or reverse, clamping claw drive unit peace
Mounted in the bottom of mounting seat, clamping claw drive unit 25 is used to drive the first gripper jaw 26 and the second gripper jaw 27 to realize that clamping is dynamic
Make.
In the present embodiment, automatic range unit is infrared distance measurement module, laser ranging module or SMC measurement apparatus.It is infrared
Range finder module precision is high, and the present invention carries out ranging localization using infrared distance measurement module.
In the present embodiment, the first retractable driving device 9, the second retractable driving device 10, the 3rd retractable driving device 11,
Four retractable driving devices 12, the 5th retractable driving device 13 are cylinder or hydraulic cylinder.
Further, first connecting rod mechanism 14, second connecting rod mechanism 15, third connecting rod mechanism 16 are double-rod structure, are increased
Strong mechanical arm connective stability, fault rate is low.
Operation principle：, it is necessary to use whole industrial production before using the industrial production with the mechanical arm of intelligent control
Intelligent control machinery arm carries out simple structure understanding, and numerical control system is first passed through before the use and sets relevant parameter,
It can be good at ensureing the accuracy of gripping part by the positioning of infrared distance measurement module, connected by the first connecting seat 4, second
Seat the 5, the 3rd connecting seat 6, the 4th connecting seat 7, the 5th connecting seat 8, the first retractable driving device 9, the second retractable driving device 10,
3rd retractable driving device 11, the 4th retractable driving device 12, the 5th retractable driving device 13, first connecting rod mechanism 14, second
The mechanical arm of linkage 15, third connecting rod mechanism 16 and clamping device composition, stabilized structure, it is not easy to shake, and
And load-bearing is larger, sledge position is locked by the retaining mechanism on parallel sliding track 2, position is stable, it is not easy to shift, it is fixed
Level is true.
Part is not described in detail by the present invention, is the known technology of those skilled in the art.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of industrial production mechanical arm of intelligent control, it is characterised in that：The industrial production mechanical arm of intelligent control
Including：
One base, is fastened in infrastructure；
One parallel sliding track, the right side on base, the parallel sliding track is provided with retaining mechanism；
By parallel sliding track slidable connection between one slide, with the base, and parallel sliding track is locked at by retaining mechanism
On；
One mechanical arm, is fastened on the slide, including the first connecting seat, the second connecting seat, the 3rd connecting seat, the 4th connection
Seat, the 5th connecting seat, the first retractable driving device, the second retractable driving device, the 3rd retractable driving device, the 4th telescopic drive
Device, the 5th retractable driving device, first connecting rod mechanism, second connecting rod mechanism, third connecting rod mechanism and clamping device；Described
A connecting seat is connected with slide by axis of rotation, and one end and the first connecting seat of the first connecting rod mechanism are fastenedly connected, separately
One end is connected with the lower-left end of the second connecting seat by axis of rotation, and the left end of the slide passes through rotating shaft and the first telescopic drive
Device rotates connection, and the output end of first retractable driving device is connected with the left end of the second connecting seat by axis of rotation,
The two ends of second retractable driving device are rotatably connected on the right-hand member and the second connecting seat of the first connecting seat by rotating shaft respectively
Middle lower end, one end of the second connecting rod mechanism and the right-hand member of the second connecting seat be fastenedly connected, the other end and the 3rd connecting seat
Connected by axis of rotation, the two ends of the 3rd retractable driving device are rotatably connected on the second connecting seat by rotating shaft respectively
The lower end of bottom righthand side and the 3rd connecting seat, one end of the third connecting rod mechanism and the bottom righthand side of the 3rd connecting seat are fastenedly connected,
The other end is connected with the 4th connecting seat by axis of rotation, and the two ends of the 4th retractable driving device are rotated respectively by rotating shaft
It is connected to the upper end of the 3rd connecting seat and the middle upper end of the 4th connecting seat, the left upper end and the 4th connecting seat of the 5th connecting seat
Right-hand member connected by axis of rotation, the two ends of four retractable driving device are rotatably connected on the 4th connection by rotating shaft respectively
The right-hand member of seat and the right-hand member of the 5th connecting seat, the lower end of the 5th connecting seat are installed by clamping device；
One automatic range unit, on the clamping device, for being accurately positioned machine components to be held automatically；
One numerical control system, the left side on base, for providing the mechanical arm of the industrial production intelligent control
System control function.
2. a kind of industrial production according to claim 1 mechanical arm of intelligent control, it is characterised in that：On the base
The servo electric jar for being used for driving the slide to slide, the output end of the servo electric jar are provided with positioned at the left side of parallel sliding track
It is fastenedly connected with the left end of slide.
3. a kind of industrial production according to claim 1 mechanical arm of intelligent control, it is characterised in that：The locking dress
Put including friction bar, two guide rods and locking drive device, two guide rods are arranged between parallel sliding track, and the locking is driven
Dynamic device is arranged on the madial wall of parallel sliding track side, its output end connection friction bar, and the two ends of the friction bar are set in
It can slide on two guide rods and along two guide rod directions, another wood side-guide of the parallel sliding track, which is provided with, supplies the friction
The strip open-work that the lateral surface of bar is passed through.
4. a kind of industrial production according to claim 3 mechanical arm of intelligent control, it is characterised in that：The friction bar
In convex structure, when locking drive device driving friction bar movement, when its two ends offsets with parallel sliding track, the friction bar protrusion
One side tightly offseted with slide through strip open-work.
5. a kind of industrial production according to claim 3 mechanical arm of intelligent control, it is characterised in that：The locking is driven
Dynamic device is cylinder or hydraulic cylinder.
6. a kind of industrial production according to claim 1 mechanical arm of intelligent control, it is characterised in that：The clamping machine
Structure includes motor, mounting seat, clamping claw drive unit, the first gripper jaw and the second gripper jaw, and the mounting seat can be
Forward or reverse under the driving of motor, the clamping claw drive unit is arranged on the bottom of mounting seat, and the gripper jaw drives
Dynamic device is used to drive the first gripper jaw and the second gripper jaw to realize holding action.
7. a kind of industrial production according to claim 1 mechanical arm of intelligent control, it is characterised in that：The automatic survey
It is infrared distance measurement module, laser ranging module or SMC measurement apparatus away from device.
8. a kind of industrial production according to claim 1 mechanical arm of intelligent control, it is characterised in that：Described first stretches
Contracting drive device, the second retractable driving device, the 3rd retractable driving device, the 4th retractable driving device, the 5th telescopic drive dress
Put is cylinder or hydraulic cylinder.
9. a kind of industrial production according to claim 1 mechanical arm of intelligent control, it is characterised in that：Described first connects
Linkage, second connecting rod mechanism, third connecting rod mechanism are double-rod structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710583863.XA CN107214684A (en) | 2017-07-18 | 2017-07-18 | A kind of industrial production mechanical arm of intelligent control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710583863.XA CN107214684A (en) | 2017-07-18 | 2017-07-18 | A kind of industrial production mechanical arm of intelligent control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107214684A true CN107214684A (en) | 2017-09-29 |
Family
ID=59952462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710583863.XA Pending CN107214684A (en) | 2017-07-18 | 2017-07-18 | A kind of industrial production mechanical arm of intelligent control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107214684A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803818A (en) * | 2017-11-19 | 2018-03-16 | 蔡大宇 | A kind of mechanical arm device of intelligent control on lathe |
| CN107856029A (en) * | 2017-11-29 | 2018-03-30 | 长春工业大学 | A kind of electro-hydraulic combination drive industrial machinery arm configuration and control system |
| CN108068106A (en) * | 2017-12-25 | 2018-05-25 | 上海交通职业技术学院 | It is a kind of based on the robotic gripping device for having ordered-socs |
| CN109940632A (en) * | 2019-03-15 | 2019-06-28 | 杭州有容智控科技有限公司 | A kind of hydraulic manipulator for the replacement of full face tunnel boring machine list hobboing cutter |
| CN110640786A (en) * | 2019-09-02 | 2020-01-03 | 镇江市宏业科技有限公司 | Special sleeve clamping mechanical arm for aluminum foil rolling mill |
| CN112428907A (en) * | 2020-12-14 | 2021-03-02 | 赵佳资 | Rock self-loading vehicle |
| CN112497190A (en) * | 2020-11-25 | 2021-03-16 | 海安铭吉电子科技有限公司 | Manipulator is used in electronic component production |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19536147A1 (en) * | 1995-09-28 | 1997-04-03 | Ruthmann Anton Gmbh & Co | Hand-operated apparatus for use in dismantling old vehicles |
| CN2491429Y (en) * | 2001-07-20 | 2002-05-15 | 上海市第八建筑有限公司 | Safety device of spirally supporting brake type material hoister |
| CN105904435A (en) * | 2015-12-09 | 2016-08-31 | 广东科利亚现代农业装备有限公司 | Sugarcane unloading manipulator |
-
2017
- 2017-07-18 CN CN201710583863.XA patent/CN107214684A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19536147A1 (en) * | 1995-09-28 | 1997-04-03 | Ruthmann Anton Gmbh & Co | Hand-operated apparatus for use in dismantling old vehicles |
| CN2491429Y (en) * | 2001-07-20 | 2002-05-15 | 上海市第八建筑有限公司 | Safety device of spirally supporting brake type material hoister |
| CN105904435A (en) * | 2015-12-09 | 2016-08-31 | 广东科利亚现代农业装备有限公司 | Sugarcane unloading manipulator |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803818A (en) * | 2017-11-19 | 2018-03-16 | 蔡大宇 | A kind of mechanical arm device of intelligent control on lathe |
| CN107856029A (en) * | 2017-11-29 | 2018-03-30 | 长春工业大学 | A kind of electro-hydraulic combination drive industrial machinery arm configuration and control system |
| CN107856029B (en) * | 2017-11-29 | 2021-08-10 | 长春工业大学 | Electro-hydraulic hybrid driving industrial mechanical arm structure and control system |
| CN108068106A (en) * | 2017-12-25 | 2018-05-25 | 上海交通职业技术学院 | It is a kind of based on the robotic gripping device for having ordered-socs |
| CN109940632A (en) * | 2019-03-15 | 2019-06-28 | 杭州有容智控科技有限公司 | A kind of hydraulic manipulator for the replacement of full face tunnel boring machine list hobboing cutter |
| CN109940632B (en) * | 2019-03-15 | 2020-12-29 | 杭州有容智控科技有限公司 | Hydraulic mechanical arm for replacing single rolling cutter of full-face tunneling machine |
| CN110640786A (en) * | 2019-09-02 | 2020-01-03 | 镇江市宏业科技有限公司 | Special sleeve clamping mechanical arm for aluminum foil rolling mill |
| CN112497190A (en) * | 2020-11-25 | 2021-03-16 | 海安铭吉电子科技有限公司 | Manipulator is used in electronic component production |
| CN112428907A (en) * | 2020-12-14 | 2021-03-02 | 赵佳资 | Rock self-loading vehicle |
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Application publication date: 20170929 |
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