CN107471211A - A kind of robot mechanical arm - Google Patents
A kind of robot mechanical arm Download PDFInfo
- Publication number
- CN107471211A CN107471211A CN201710583772.6A CN201710583772A CN107471211A CN 107471211 A CN107471211 A CN 107471211A CN 201710583772 A CN201710583772 A CN 201710583772A CN 107471211 A CN107471211 A CN 107471211A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- mechanical arm
- telescopic
- robot mechanical
- tumble cylinder
- 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- Withdrawn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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to automatic producing technology field, more particularly to a kind of robot mechanical arm.The tumble cylinder of the manipulator vertically can be slidably mounted in fixed seat, the output end of tumble cylinder horizontally rotates; rocking arm be fixedly mounted on the output end of tumble cylinder and with the output end synchronous axial system of tumble cylinder; the second grippers and the second grippers are separately positioned on the both sides of rocking arm; telescopic cylinder is arranged in the surface of tumble cylinder; the fixing end of telescopic cylinder is arranged in fixed seat; the telescopic end of telescopic cylinder is vertically stretched, and the telescopic end of telescopic cylinder is fixedly connected on the cylinder body of tumble cylinder.The present invention can have the characteristics of simple in construction, manipulation facilitates, to improve the processing efficiency of part by the crawl of two parts of a manipulator control.
Description
Technical field
The invention belongs to automatic producing technology field, more particularly to a kind of robot mechanical arm.
Background technology
In industrial automation production technical field, in order to mitigate the labor intensity of worker and improve production efficiency, part
Processing generally completed by manipulator.
During the present invention is realized, it is found by the applicant that at least having the following disadvantages in the prior art：
Manipulator of the prior art, for the part of different weight, generally use and the corresponding machinery of weight part
Hand captures, for example, using sucker for lightweight part, and is then completed for heavy part using handgrip.Component parts
Various parts have a variety of weight, when producing a part, if corresponding different part corresponding to manipulator come complete
If, it is desirable to the manipulator consistent with number of parts, cause it is complicated, manipulation it is cumbersome, influence the processing of part
Efficiency.
The content of the invention
Problem be present for above-mentioned prior art, the present invention provides a kind of robot mechanical arm, can pass through a machinery
Hand controls the crawl of two parts.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of robot mechanical arm, the manipulator include fixed seat, tumble cylinder, telescopic cylinder, rocking arm, the first crawl
Part and the second grippers, the tumble cylinder can be vertically slidably mounted in the fixed seat, the output of the tumble cylinder
End horizontally rotate, the rocking arm be fixedly mounted on the output end of the tumble cylinder and with the output end of the tumble cylinder
Synchronous axial system, second grippers and second grippers are separately positioned on the both sides of the rocking arm, the telescopic cylinder
The surface of the tumble cylinder is arranged in, the fixing end of the telescopic cylinder is arranged in the fixed seat, the flexible gas
The telescopic end of cylinder is vertically stretched, and the telescopic end of the telescopic cylinder is fixedly connected on the cylinder body of the tumble cylinder.
Further, the fixed seat has top plate, bottom plate and the supporting plate for connecting the top plate with the bottom plate, institute
The sidepiece that tumble cylinder is arranged on the supporting plate is stated, the fixing end of the telescopic cylinder is arranged on the bottom of the top plate.
Further, the sidepiece of the supporting plate is vertically set fluted, and the tumble cylinder is backwards to the rocking arm
One end be provided with sliding block, the sliding block is slided and is embedded in the groove, with realize tumble cylinder can in fixed seat it is vertical
Slide.
Further, multiple elastic components are provided with the bottom plate, multiple elastic components are in the telescopic cylinder
The equiangularly spaced setting of mandrel, the both ends of each elastic component are fixed with the cylinder body of the tumble cylinder and the bottom plate respectively
Connection.
Further, the manipulator also includes and the one-to-one extensible member of the elastic component, the extensible member bag
Outer sleeve and inner sleeve are included, the elastic component is arranged in the outer sleeve and the inner sleeve, and the top of the outer sleeve is consolidated
Surely it is arranged on the cylinder body of the tumble cylinder, the bottom slip cap of the outer sleeve is on the top of the inner sleeve, institute
State and baffle plate is provided with the outer wall of inner sleeve, the inner sleeve is fixedly mounted on the bottom plate.
Further, first grippers are handgrip, and the handgrip is provided with two, and second grippers are suction
Disk, the sucker are provided with one, and a sucker can so distinguish weight capacity positioned at the centre of two handgrips
Two different parts.
Further, the sucker is provided with two the first air inlets for stopping supply successively in one end towards the rocking arm
Mouth and the second air inlet, the sucker are provided with multiple first gas outlets and multiple second outlets in one end backwards to the rocking arm
Mouthful, multiple first gas outlets are connected with first air inlet, multiple second gas outlets and second air inlet
Mouth is connected, by during placement part, can successively stop successively to the first air inlet and the second air inlet after sucker crawl part
Confession gas, absorption affinity of the sucker to part can be so gradually decreased, be buffered the speed that part is placed, ensure that part is put
The qualification rate postponed.
Further, the sucker includes suction disc and connecting pole, and the both ends of the connecting pole are connected to the suction disc
And on the rocking arm.
Further, first air inlet and second air inlet are opened in the connecting pole and shaken described in
In the side wall of one end of arm, multiple first gas outlets and multiple second gas outlets are arranged on the suction disc backwards to described
On the end face of rocking arm, each first gas outlet is by being arranged on the first transfer passage and described first of the suction cup interior
Air inlet is connected, and first transfer passage is corresponded with first gas outlet and set, each second gas outlet
Be connected by the second transfer passage for being arranged on the suction cup interior with second air inlet, second transfer passage with
Second gas outlet, which corresponds, to be set.
Further, first gas outlet and second gas outlet in a row alternate setting.
The beneficial effects of the invention are as follows：
A kind of robot mechanical arm of the present invention, when in use, the telescopic end driving tumble cylinder of telescopic cylinder is vertically
Moving down, the first grippers capture a part, and the telescopic end driving tumble cylinder of subsequent telescopic cylinder vertically moves up return, and
Promote fixed seat to be moved to the machining area of part, the part is placed on correct position, that is, completes the crawl of the part；With
Afterwards, fixed seat is promoted to be moved to second part present position, the telescopic end upset of tumble cylinder, the telescopic end of telescopic cylinder is again
Secondary driving tumble cylinder moves down along perpendicular, and the two the first grippers capture another part, and the telescopic end of telescopic cylinder drives again
Tumble cylinder vertically moves up return, and promotes fixed seat to be moved to the machining area of part, and second part is placed on into conjunction
Right position is put, that is, completes the crawl of another part.
In summary, a kind of robot mechanical arm of the invention, can grabbing by two part of manipulator control
Take, there is the characteristics of simple in construction, manipulation facilitates, to improve the processing efficiency of part.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of structural representation of robot mechanical arm of the embodiment of the present invention；
Fig. 2 is the structural representation of supporting plate in the embodiment of the present invention；
Fig. 3 is the structural representation of tumble cylinder in the embodiment of the present invention；
Fig. 4 is the structural representation of extensible member in the embodiment of the present invention；
Fig. 5 is that the gas circuit of sucker in the embodiment of the present invention arranges schematic diagram；
Fig. 6 is the schematic top plan view of sucker in the embodiment of the present invention.
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 describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The embodiment of the invention discloses a kind of robot mechanical arm, to realize that a manipulator is grabbed two parts
Take.
Fig. 1 is a kind of structural representation of robot mechanical arm of the embodiment of the present invention, with reference to Fig. 1, the embodiment of the present invention
A kind of robot mechanical arm, including fixed seat 1, tumble cylinder 2, telescopic cylinder 3, Rocker arm 4, the first grippers 5 and second grab
Pickup 6, tumble cylinder 2 can be vertically slidably mounted in fixed seat 1, and the output end of tumble cylinder 2 horizontally rotates, rocking arm
4 are fixedly mounted on the output end of tumble cylinder 2 and are grabbed with the output end synchronous axial system of tumble cylinder 2, the second grippers 5 and second
Pickup 6 is separately positioned on the both sides of Rocker arm 4, and telescopic cylinder 3 is arranged in the surface of tumble cylinder 2, the fixing end of telescopic cylinder 3
In fixed seat 1, the telescopic end of telescopic cylinder 3 vertically stretches, and the telescopic end of telescopic cylinder 3 is fixedly connected on upset gas
On the cylinder body of cylinder 2.
With reference to Fig. 1, the fixed seat 1 of the embodiment of the present invention can have top plate 1.1, bottom plate 1.2 and by top plate 1.1 and bottom plate
The supporting plate 1.3 of 1.2 connections, tumble cylinder 2 are arranged on the sidepiece of supporting plate 1.3, and the fixing end of telescopic cylinder 3 is arranged on top plate
1.1 bottom.
Fig. 2 is the structural representation of supporting plate in the embodiment of the present invention, and Fig. 3 is the knot of tumble cylinder in the embodiment of the present invention
Structure schematic diagram, with reference to Fig. 1, Fig. 2 and Fig. 3, the sidepiece of the supporting plate 1.3 of the embodiment of the present invention vertically sets fluted 1.4, turns over
Rotaring cylinder 2 is provided with sliding block 7 backwards to one end of Rocker arm 4, and sliding block 7 is slided and is embedded in groove 1.4, in the driving of telescopic cylinder 2
Under, sliding block 7 can be vertically movable in groove 1.4, then realizes the sliding vertically in fixed seat 1 of tumble cylinder 2.
Fig. 4 is the structural representation of extensible member in the embodiment of the present invention, with reference to Fig. 1 and Fig. 4, in the embodiment of the present invention, and bottom
Can be provided with multiple elastic components 8 on plate 1.2, multiple elastic components 8 around telescopic cylinder 3 the equiangularly spaced setting of central shaft, often
The both ends of individual elastic component 8 are fixedly connected with the cylinder body of tumble cylinder 2 with bottom plate 1.1 respectively.Under telescopic cylinder driving tumble cylinder
During shifting, elastic component is compressed, and when telescopic cylinder driving tumble cylinder moves up return, elastic component resets, and can more rapidly promote
Tumble cylinder moves up return.
The elastic component of the embodiment of the present invention generally selects spring, the bullet that multiple central shafts around telescopic cylinder are angularly set
Property part more can guarantee that it is balanced to the active force of tumble cylinder.
With reference to Fig. 1 and Fig. 4, the manipulator of the embodiment of the present invention also includes extensible member 9 one-to-one with elastic component 8, this
The extensible member 9 of inventive embodiments includes outer sleeve 9.1 and inner sleeve 9.2, and elastic component 8 is arranged on outer sleeve 9.1 and inner sleeve 9.2
In, the top of outer sleeve 9.1 is fixedly installed on the cylinder body of tumble cylinder 2, and the bottom slip cap of outer sleeve 9.1 is mounted in inner sleeve
On 9.2 top, baffle plate 9.3 is provided with the outer wall of inner sleeve 9.2, inner sleeve 9.2 is fixedly mounted on bottom plate 1.1.Upset
When cylinder 2 moves up and down, outer sleeve 9.1 can be driven to be moved on inner sleeve 9.2, and then can be to the movement of telescopic cylinder 2
It is oriented to；In addition, due also to elastic component 8 is arranged in outer sleeve 9.1 and inner sleeve 9.2, can also be to the compression of elastic component 8
Return is supported, and prevents elastic component 8 from deforming, finally, due also to baffle plate 9.3 is provided with the outer wall of inner sleeve 9.2, and can be right
The mobile carry out of outer sleeve is spacing, prevents tumble cylinder 2 from exceeding the specific stroke moved down, unnecessary damage is caused to processing site
Lose.
First grippers 5 of the embodiment of the present invention can be handgrip, and handgrip 5 can be provided with two, with weight capacity compared with
Weigh and with the larger part of volume, and the second grippers 6 can be sucker, sucker can be provided with one, and sucker is located at two
The centre of handgrip 5, so that weight capacity is relatively light and the part of small volume, can thus realize weight capacity respectively it is different two
Individual part.
Handgrip and sucker in the embodiment of the present invention can use pneumatic type adsorption structure, and simple in construction, cost is relatively low.
Fig. 5 is that the gas circuit of sucker in the embodiment of the present invention arranges schematic diagram, with reference to Fig. 5, the sucker in the embodiment of the present invention
Two the first air inlets 6.1 and the second air inlet 6.2 for stopping supply successively can be provided with one end towards Rocker arm 4, are inhaled
Disk can be provided with multiple first gas outlets 6.3 and multiple second gas outlets 6.4 in one end backwards to Rocker arm 4, and multiple first go out
Gas port 6.3 is connected with the first air inlet 6.1, and multiple second gas outlets 6.4 are connected with the second air inlet 6.2, pass through sucker
When placing part after crawl part, it can successively stop supplying to the first air inlet 6.1 and the second air inlet 6.2 successively, so
Absorption affinity of the sucker to part can be gradually decreased, is buffered the speed that part is placed, it is qualified after part placement to ensure
Rate, prevent part from incurring loss.
In the embodiment of the present invention, the supply of stopping successively of the first air inlet 6.1 and the second air inlet 6.2 can pass through electromagnetism
Valve is realized.
With reference to Fig. 5, the sucker of the embodiment of the present invention includes suction disc 6a and connecting pole 6b, and connecting pole 6b both ends are fixed respectively
It is connected on suction disc 6a and Rocker arm 4.
Further, with reference to Fig. 5, in the embodiment of the present invention, the first air inlet 6.1 and the second air inlet 6.2 are opened in
For connecting pole 6b towards in the side wall of one end of Rocker arm 4, multiple first gas outlets 6.3 and multiple second gas outlets 6.4 are arranged on suction
Plate 6a on the end face of Rocker arm 4, each first gas outlet 6.3 by be arranged on the first transfer passage 6.5 of suction cup interior with
First air inlet 6.1 is connected, and the first transfer passage 6.5 and the first gas outlet 6.3 correspond and set, and each second outlet
Mouth 6.4 is connected by being arranged on the second transfer passage 6.6 of suction cup interior with the second air inlet 6.2, and second conveying is logical
The gas outlet of road 6.6 and first, which corresponds, to be set.
Fig. 6 is the schematic top plan view of sucker in the embodiment of the present invention, with reference to Fig. 6, the first outlet in the embodiment of the present invention
The in a row alternate setting of the gas outlet 6.4 of mouth 6.3 and second, so can be to the absorption affinity equilibrium of the part of absorption.
A kind of robot mechanical arm of the embodiment of the present invention, when in use, the telescopic end driving tumble cylinder of telescopic cylinder
Vertically move down, the first grippers capture a part, and the telescopic end driving tumble cylinder of subsequent telescopic cylinder vertically moves up
Return, and promote fixed seat to be moved to the machining area of part, the part is placed on correct position, that is, completes grabbing for the part
Take；Then, fixed seat is promoted to be moved to second part present position, the telescopic end upset of tumble cylinder, telescopic cylinder is stretched
Contracting end drives tumble cylinder to be moved down along perpendicular again, and the two the first grippers capture another part, and the telescopic end of telescopic cylinder is again
Secondary driving tumble cylinder vertically moves up return, and promotes fixed seat to be moved to the machining area of part, and second part is put
Put in correct position, that is, complete the crawl of another part.
In the embodiment of the present invention, the mechanism for promoting fixed seat movement can be the structures such as motor, cylinder, the embodiment of the present invention
It is without limitation.
In summary, a kind of robot mechanical arm of the embodiment of the present invention, a manipulator control two zero can be passed through
The crawl of part, there is the characteristics of simple in construction, manipulation facilitates, to improve the processing efficiency of part.
Embodiment provided above is the better embodiment of the present invention, is only used for the convenient explanation present invention, not to this hair
It is bright to make any formal limitation, any those of ordinary skill in the art, if putting forward skill not departing from the present invention
In the range of art feature, using the equivalent embodiment for locally changing or modifying made by disclosed technology contents, and
Without departing from the technical feature content of the present invention, in the range of still falling within the technology of the present invention feature.
Claims (10)
1. a kind of robot mechanical arm, it is characterised in that the manipulator includes fixed seat, tumble cylinder, telescopic cylinder, shaken
Arm, the first grippers and the second grippers, the tumble cylinder can be vertically slidably mounted in the fixed seat, the upset
The output end of cylinder horizontally rotates, the rocking arm be fixedly mounted on the output end of the tumble cylinder and with the upset gas
The output end synchronous axial system of cylinder, second grippers and second grippers are separately positioned on the both sides of the rocking arm, institute
The surface that telescopic cylinder is arranged in the tumble cylinder is stated, the fixing end of the telescopic cylinder is arranged in the fixed seat,
The telescopic end of the telescopic cylinder vertically stretches, and the telescopic end of the telescopic cylinder is fixedly connected on the cylinder of the tumble cylinder
On body.
2. a kind of robot mechanical arm according to claim 1, it is characterised in that the fixed seat has top plate, bottom plate
And the supporting plate for connecting the top plate with the bottom plate, the tumble cylinder is arranged on the sidepiece of the supporting plate, described to stretch
The fixing end of contracting cylinder is arranged on the bottom of the top plate.
3. a kind of robot mechanical arm according to claim 2, it is characterised in that the sidepiece of the supporting plate is vertically set
Groove is equipped with, the tumble cylinder is provided with sliding block backwards to one end of the rocking arm, and the sliding block is slided and is embedded in the groove
In.
4. a kind of robot mechanical arm according to claim 2, it is characterised in that multiple elasticity are provided with the bottom plate
Part, multiple elastic components are around the equiangularly spaced setting of central shaft of the telescopic cylinder, the both ends point of each elastic component
Not be fixedly connected with the cylinder body of the tumble cylinder with the bottom plate.
5. a kind of robot mechanical arm according to claim 4, it is characterised in that the manipulator also includes and the bullet
The property one-to-one extensible member of part, the extensible member include outer sleeve and inner sleeve, and the elastic component is arranged on the outer sleeve
In the inner sleeve, the top of the outer sleeve is fixedly installed on the cylinder body of the tumble cylinder, the bottom of the outer sleeve
Slip cap is held on the top of the inner sleeve, baffle plate is provided with the outer wall of the inner sleeve, the inner sleeve fixes peace
On the bottom plate.
6. according to a kind of robot mechanical arm described in claim any one of 1-5, it is characterised in that first grippers are
Handgrip, the handgrip are provided with two, and second grippers are sucker, and the sucker is provided with one, a sucker
Positioned at the centre of two handgrips.
7. a kind of robot mechanical arm according to claim 6, it is characterised in that the sucker is towards the rocking arm
One end is provided with two the first air inlets and the second air inlet for stopping supply successively, and the sucker is backwards to the one of the rocking arm
End is provided with multiple first gas outlets and multiple second gas outlets, and multiple first gas outlets are connected with first air inlet
Logical, multiple second gas outlets are connected with second air inlet.
8. a kind of robot mechanical arm according to claim 7, it is characterised in that the sucker includes suction disc and connection
Post, the both ends of the connecting pole are connected on the suction disc and the rocking arm.
9. a kind of robot mechanical arm according to claim 8, it is characterised in that first air inlet and described second
Air inlet is opened in the connecting pole towards in the side wall of one end of the rocking arm, multiple first gas outlets and multiple institutes
State the second gas outlet and be arranged on the suction disc on the end face of the rocking arm, each first gas outlet is by being arranged on
The first transfer passage for stating suction cup interior is connected with first air inlet, first transfer passage and first outlet
Mouthful correspond and to set, each second gas outlet is by being arranged on the second transfer passage of the suction cup interior and described the
Two air inlets are connected, and second transfer passage is corresponded with second gas outlet and set,.
10. a kind of robot mechanical arm according to claim 9, it is characterised in that first gas outlet and described
The in a row alternate setting of two gas outlets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710583772.6A CN107471211A (en) | 2017-07-18 | 2017-07-18 | A kind of robot mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710583772.6A CN107471211A (en) | 2017-07-18 | 2017-07-18 | A kind of robot mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107471211A true CN107471211A (en) | 2017-12-15 |
Family
ID=60596267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710583772.6A Withdrawn CN107471211A (en) | 2017-07-18 | 2017-07-18 | A kind of robot mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107471211A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108799239A (en) * | 2018-06-29 | 2018-11-13 | 苏州舍勒智能科技有限公司 | A kind of Linear telescopic vertical rotary cylinder |
| CN109093642A (en) * | 2018-05-18 | 2018-12-28 | 深圳市瓦力自动化有限公司 | A kind of manipulator swivel head and control method |
| CN109502341A (en) * | 2018-11-30 | 2019-03-22 | 无锡奥特维科技股份有限公司 | A kind of tooling and battery piece conveying device and method |
| CN109676586A (en) * | 2018-12-29 | 2019-04-26 | 镇江高等职业技术学校 | A kind of space that air pump is telescopic overturning crawl walking robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202726919U (en) * | 2012-05-30 | 2013-02-13 | 深圳大宇精雕科技有限公司 | Double-head manipulator |
| CN203367259U (en) * | 2013-07-11 | 2013-12-25 | 正恩科技有限公司 | Wafer partition adsorption structure |
| CN103624771A (en) * | 2013-11-19 | 2014-03-12 | 重庆风过旗扬科技发展有限公司 | Magnetic attracting type mechanical arm with adjustable positions |
| CN103846914A (en) * | 2013-08-12 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Novel part carrying device |
| CN205331311U (en) * | 2015-12-17 | 2016-06-22 | 浙江亚厦装饰股份有限公司 | Floor damping device |
-
2017
- 2017-07-18 CN CN201710583772.6A patent/CN107471211A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202726919U (en) * | 2012-05-30 | 2013-02-13 | 深圳大宇精雕科技有限公司 | Double-head manipulator |
| CN203367259U (en) * | 2013-07-11 | 2013-12-25 | 正恩科技有限公司 | Wafer partition adsorption structure |
| CN103846914A (en) * | 2013-08-12 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Novel part carrying device |
| CN103624771A (en) * | 2013-11-19 | 2014-03-12 | 重庆风过旗扬科技发展有限公司 | Magnetic attracting type mechanical arm with adjustable positions |
| CN205331311U (en) * | 2015-12-17 | 2016-06-22 | 浙江亚厦装饰股份有限公司 | Floor damping device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093642A (en) * | 2018-05-18 | 2018-12-28 | 深圳市瓦力自动化有限公司 | A kind of manipulator swivel head and control method |
| CN108799239A (en) * | 2018-06-29 | 2018-11-13 | 苏州舍勒智能科技有限公司 | A kind of Linear telescopic vertical rotary cylinder |
| CN109502341A (en) * | 2018-11-30 | 2019-03-22 | 无锡奥特维科技股份有限公司 | A kind of tooling and battery piece conveying device and method |
| CN109502341B (en) * | 2018-11-30 | 2024-03-22 | 无锡奥特维科技股份有限公司 | Tool and battery piece conveying device and method |
| CN109676586A (en) * | 2018-12-29 | 2019-04-26 | 镇江高等职业技术学校 | A kind of space that air pump is telescopic overturning crawl walking robot |
| CN109676586B (en) * | 2018-12-29 | 2023-09-22 | 镇江高等职业技术学校 | Air pump telescopic space overturning grabbing walking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107471211A (en) | A kind of robot mechanical arm | |
| CN104924318B (en) | A kind of vacuum cup machinery paw | |
| CN105835077B (en) | The flat folder adaptive robot finger apparatus of closed loop flexible piece guide rod | |
| CN105397831B (en) | A kind of multi-sucker mechanical hand of crawl irregularly shaped object | |
| CN107199573A (en) | A kind of production line clamping workpiece manipulator | |
| CN104772766B (en) | A kind of robot clamp handgrip | |
| CN105798938B (en) | Flat folder perception self-adaption robot finger apparatus and its control method | |
| CN105583830B (en) | The flat folder adaptive robot finger apparatus of link gear | |
| CN105583836B (en) | The parallel folding adaptive robot finger apparatus of bicyclic flexible piece | |
| CN109648589B (en) | Robot dexterous manipulator finger device based on cylinder driving | |
| CN208614785U (en) | A kind of multi-functional mechanical arm | |
| CN109318211A (en) | A kind of industrial robot with pickup function | |
| CN109605419A (en) | A kind of multiple dimensioned software grabbing device of multiple degrees of freedom | |
| CN106346499B (en) | The flat adaptive finger apparatus of folder of crank rocker dynamic gear train straight line | |
| CN110255183A (en) | A kind of new model sucker gripper | |
| CN118123881B (en) | Clamping mechanism of industrial robot | |
| CN206717889U (en) | A kind of robot clever hand finger of variation rigidity drive lacking | |
| CN106142118A (en) | Idle running transmission flat folder adaptive robot finger apparatus taken turns by four bars six | |
| CN109591038A (en) | A kind of humanoid dextrous hand and its operating method with passive rotary joint | |
| CN208841410U (en) | A kind of single arm type crankshaft catching robot | |
| CN208945568U (en) | Optical elements of large caliber automatic assembly system | |
| CN204772536U (en) | Modified sign indicating number brick manipulator | |
| CN113602803A (en) | Quick reason material robot based on many joints | |
| CN105619438B (en) | The flat folder adaptive robot finger apparatus of connecting rod fluid | |
| CN105773608B (en) | The flat folder adaptive robot finger apparatus of gear fluids |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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: 20171215 |