CN108032294A - A kind of manipulator - Google Patents

A kind of manipulator Download PDF

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Publication number
CN108032294A
CN108032294A CN201711349888.XA CN201711349888A CN108032294A CN 108032294 A CN108032294 A CN 108032294A CN 201711349888 A CN201711349888 A CN 201711349888A CN 108032294 A CN108032294 A CN 108032294A
Authority
CN
China
Prior art keywords
lever arm
installation cavity
base
knucle
offer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711349888.XA
Other languages
Chinese (zh)
Inventor
沈升好
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Fanchang Wannan Valve Casting Co Ltd
Original Assignee
Anhui Fanchang Wannan Valve Casting Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui Fanchang Wannan Valve Casting Co Ltd filed Critical Anhui Fanchang Wannan Valve Casting Co Ltd
Priority to CN201711349888.XA priority Critical patent/CN108032294A/en
Publication of CN108032294A publication Critical patent/CN108032294A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Abstract

The invention discloses a kind of manipulator, including base, the inside of the base offers the first installation cavity, the inside of first installation cavity is provided with the first electric rotating machine, the first motor shaft is installed on the drive end of first electric rotating machine, and first roof of the motor shaft inside the first installation cavity and extends to the upside of base, the upside of the base is equipped with mounting base, and the bottom wall of mounting base is fixedly connected with the first motor shaft, multiple rollers are symmetrically installed with the bottom wall of the mounting base, the roof of the mounting base is equipped with the first fixed arm, the top of first fixed arm offers the first mounting hole.The configuration of the present invention is simple, it is easily achieved, each orientation for realizing manipulator by a variety of different type of drive is adjusted, diverse location is using most suitable type of drive, occupied space and manufacture cost are dramatically saves on, can meet the needs of daily production completely, at the same it is easy to operation, safety coefficient is high, improves enterprise competitiveness.

Description

A kind of manipulator
Technical field
The present invention relates to mechanical device technical field, more particularly to a kind of manipulator.
Background technology
At present, welding, assembling, die casting etc. be machined production process in, be typically necessary to workpiece carry out feeding and The operation of blowing, but be all using the operation for manually implementing feeding and blowing, operation in much mechanical processing production processes Inconvenience, low production efficiency, and be so easy to defective work piece and make workpiece dirty, and the production automated can ensure product High accuracy, high quality, high efficiency requirement, therefore automatic mechanical hand is researched and developed and applied to forming machine, lathe, assembling extensively On the device such as assembly line and die casting machine, for performing mobile object, drawing the operation such as workpiece, but the prior art is big Workpiece is clamped using clamp, clamping jaw device more, so causes manipulator volume larger and heavy, is unfavorable for gripping unskilled labourer Part.
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object Or the automatic pilot of operation instrument, feature is that various expected operations can be completed by programming, on construction and performance The advantages of having people and robotics concurrently each.Manipulator is the industrial robot occurred earliest, and the modern times occurred earliest Robot, it can replace the heavy labor of people to be operated to realize the mechanization of production and automation under hostile environment to protect Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Existing manipulator is big Depending on from external import, its cost is higher, is unfavorable for the development of enterprise, and enterprise competitiveness is relatively low, though while these manipulators Right skill level is very high, but needing to expend more manpower and materials is maintained, virtually improve cost again, it is necessary to This is made improvements.
The content of the invention
It is expensive and be not easy to crawl work the purpose of the present invention is to solve robot manipulator structure in the prior art is complicated The problem of part, and a kind of manipulator proposed.
To achieve these goals, present invention employs following technical solution:
A kind of manipulator, including base, the inside of the base offer the first installation cavity, the inside peace of first installation cavity Equipped with the first electric rotating machine, the first motor shaft is installed, and the first motor shaft runs through on the drive end of first electric rotating machine Roof inside first installation cavity simultaneously extends to the upside of base, and the upside of the base is equipped with mounting base, and the bottom of mounting base Wall is fixedly connected with the first motor shaft, and multiple rollers, the roof of the mounting base are symmetrically installed with the bottom wall of the mounting base The first fixed arm is equipped with, the top of first fixed arm offers the first mounting hole, and the inside of first mounting hole is set There is the first lever arm, the inside of the mounting base offers the second installation cavity, and the inside of second installation cavity is provided with lifting Motor, is provided with drive rod on the drive end of the lifting motor, and roof of the drive rod inside the second installation cavity and prolongs The inside of the first mounting hole is extended, matching hole corresponding with drive rod position, institute are offered on the bottom wall of first lever arm State that drive rod was last to offer screw thread, offered on the madial wall of the matching hole with the intermeshing screw thread of drive rod, it is described Two slide bars are symmetrically installed with the lateral wall of first lever arm, two are symmetrically offered on the madial wall of first mounting hole The slide to cooperate with slide bar, is symmetrically installed with two spacing slide bars on the two side of two slide bar opposite ends, The limit sliding chutes to cooperate with spacing slide bar, the first lever arm side are offered on the madial wall of two slides Roof on offer movable mouth, the inner horizontal of the activity mouth is provided with installation axle, and second is arranged with the installation axle Fixed arm, the inside of first lever arm offers the 3rd installation cavity, and the 3rd installation cavity is located at the top of the first lever arm, The inside of 3rd installation cavity is provided with the second electric rotating machine, and the second electricity is provided with the drive end of second electric rotating machine Arbor, offers the first installing port on the side wall of the activity mouth interior side, second motor shaft runs through the 3rd installation cavity Madial wall and extend to the inside of the first installing port, the described one end of second motor shaft away from the second electric rotating machine is provided with One Knucle-gear, and the first Knucle-gear is located at the inside of the first installing port, second fixed arm is close to the first Knucle-gear side Offered on lateral wall with the intermeshing teeth groove of the first Knucle-gear, and the second fixed arm and the first Knucle-gear are intermeshed, institute State the one end of the first fixed arm away from installation axle and offer the second mounting hole, the inside of second mounting hole is provided with the second work Swing arm, is provided with plate on the roof of second lever arm, is offered on the roof inside second mounting hole and plate The loose slot of mutual cooperation, is symmetrically installed with two platform slings, the madial wall of the loose slot on the two side on the plate top On offer and hang groove with what platform sling cooperated, the inside of second lever arm offers the 4th installation cavity, and the 4th installation Chamber is located at the one end of the second lever arm away from installation axle, and the inside of the 4th installation cavity is provided with the first translation motor, described Sprocket wheel is installed, the sprocket wheel runs through the inner wall of the 4th installation cavity and extends to the second activity on the drive end of the first translation motor The outside of arm, is symmetrically installed with two mounting rods on the lateral wall of second lever arm, two mounting rods it is opposite one End is mounted on wheel shaft, is equally provided with sprocket on two wheel shafts, described together about equipped with chain belt on three sprockets The bottom of chain belt is provided with fixed link, and the bottom of the fixed link is provided with electromagnet.
Preferably, multiple roller grooves are symmetrically offered on the bottom wall of the mounting base, the inside of each roller groove is same Sample is provided with wheel shaft, and each roller is installed on wheel shaft.
Preferably, multiple ball grooves are offered on the bottom wall of two platform slings, the inside of each ball grooves is equal It is embedded with ball.
Preferably, offer the second installing port on the bottom wall inside second mounting hole, second installing port it is interior Portion is equipped with the second Knucle-gear, and the second translation motor is provided with the lateral wall of second lever arm away from installation axle one end, and Second Knucle-gear is fixedly connected with the drive end of the second translation motor, is offered on the bottom wall of second lever arm and the second circle The intermeshing teeth groove of gear, and the second lever arm and the second Knucle-gear are intermeshed.
Preferably, the inside of the base is provided with microcontroller and remote control module, first electric rotating machine, the second rotation Motor, lifting motor, the first translation motor and the second translation motor are servomotor, and its input terminal is defeated with microcontroller Outlet is electrically connected, and the input terminal of the microcontroller is electrically connected with the output terminal of remote control module, and the microcontroller is programmable 89S51 Microcontroller, the remote control module are PT2272 wireless remote control modules.
Preferably, the input terminal of the electromagnet is electrically connected by microcontroller with the output terminal of external power supply.
In the present invention, user opens power supply, and operation, the first electric rotating machine are remotely controlled to manipulator using remote control Electromagnet is controlled to rotate horizontally, lifting motor control electromagnet lifting, the second electric rotating machine control electromagnet rotates vertically, and second Translation motor control electromagnet moves horizontally, and the first translation motor control electromagnet moves horizontally in the other directions, works as electricity When magnet reaches the location of workpiece, electromagnet power supply is opened, electromagnet picks up workpiece, then workpiece is moved finger by control machinery hand Positioning is put, and workpiece can be put down by closing electromagnet.The configuration of the present invention is simple, it is easy to accomplish, pass through a variety of different type of drive Realize that each orientation of manipulator is adjusted, diverse location dramatically saves on occupied space and system using most suitable type of drive This is caused, can meet the needs of daily production completely, at the same it is easy to operation, and safety coefficient is high, improves enterprise competitiveness.
Brief description of the drawings
Fig. 1 is a kind of positive structure schematic of manipulator proposed by the present invention;
Fig. 2 is a kind of side structure schematic diagram of manipulator proposed by the present invention;
Fig. 3 is a kind of enlarged drawing of the part A structure of manipulator proposed by the present invention.
In figure:1 base, 2 first electric rotating machines, 3 first motor shafts, 4 mounting bases, 5 rollers, 6 lifting motors, 7 drive rods, 8 first fixed arms, 9 first lever arms, 10 movable slide bars, 11 spacing slide bars, 12 limit sliding chutes, 13 movable mouths, 14 installation axles, 15 Second fixed arm, 16 first installing ports, 17 first Knucle-gears, 18 second lever arms, 19 plates, 20 loose slots, 21 first translations Motor, 22 sprocket wheels, 23 fixed links, 24 second installing ports, 25 second Knucle-gears, 26 chain belts, 27 electromagnet.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution 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, instead of all the embodiments.
In the description of the present invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " top ", The orientation or position relationship of the instruction such as " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, merely to just In the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation, with Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
With reference to Fig. 1-3, a kind of manipulator, including base 1, the inside of base 1 offer the first installation cavity, the first installation cavity Inside the first electric rotating machine 2 is installed, the first motor shaft 3, and the first motor are installed on the drive end of the first electric rotating machine 2 Roof of the axis 3 inside the first installation cavity simultaneously extends to the upside of base 1, and the upside of base 1 is equipped with mounting base 4, and installation The bottom wall of seat 4 is fixedly connected with the first motor shaft 3, and multiple rollers 5, the bottom of mounting base 4 are symmetrically installed with the bottom wall of mounting base 4 Multiple roller grooves are symmetrically offered on wall, the inside of each roller groove is equally provided with wheel shaft, and each roller 5 is installed in wheel shaft On, the roof of mounting base 4 is equipped with the first fixed arm 8, and the top of the first fixed arm 8 offers the first mounting hole, the first installation Hole is internally provided with the first lever arm 9, and the inside of mounting base 4 offers the second installation cavity, and the inside of the second installation cavity is provided with Lifting motor 6, drive rod 7, and roof of the drive rod 7 inside the second installation cavity are provided with the drive end of lifting motor 6 And the inside of the first mounting hole is extended to, the matching hole with 7 position correspondence of drive rod is offered on the bottom wall of the first lever arm 9, Drive rod 7 was last to offer screw thread, is offered on the madial wall of matching hole and 7 intermeshing screw thread of drive rod, the first activity Two slide bars 10 are symmetrically installed with the lateral wall of arm 9, two and slide bar 10 are symmetrically offered on the madial wall of the first mounting hole The slide of mutual cooperation, is symmetrically installed with two spacing slide bars 11, two cunnings on the two side of two 10 opposite ends of slide bar The limit sliding chutes 12 to cooperate with spacing slide bar 11 are offered on the madial wall of rail, this structure causes the first lever arm 9 Rotatory power is limited, therefore when drive rod 7 rotates, the first lever arm 9 can only move up and down.
In the present invention, movable mouth 13, the inner horizontal installation of movable mouth 13 are offered on the roof of 9 side of the first lever arm There is installation axle 14, the second fixed arm 15 is arranged with installation axle 14, the inside of the first lever arm 9 offers the 3rd installation cavity, and 3rd installation cavity is located at the top of the first lever arm 9, and the inside of the 3rd installation cavity is provided with the second electric rotating machine, the second electric rotating Second motor shaft is installed on the drive end of machine, offers the first installing port 16 on the side wall of movable 13 interior side of mouth, second Motor shaft runs through the madial wall of the 3rd installation cavity and extends to the inside of the first installing port 16, and the second motor shaft is away from the second rotation One end of motor is provided with the first Knucle-gear 17, and the first Knucle-gear 17 is located at the inside of the first installing port 16, the second fixed arm 15 offered on the lateral wall of 17 side of the first Knucle-gear with 17 intermeshing teeth groove of the first Knucle-gear, and second fix Arm 15 is intermeshed with the first Knucle-gear 17, and first one end of fixed arm 15 away from installation axle 14 offers the second mounting hole, the The inside of two mounting holes is provided with the second lever arm 18, and plate 19, the second mounting hole are provided with the roof of the second lever arm 18 The loose slot 20 to cooperate with plate 19 is offered on internal roof, two are symmetrically installed with the two side on 19 top of plate A platform sling, offers on the madial wall of loose slot 20 and hangs groove with what platform sling cooperated, this structure causes the second lever arm 18 not It can drop, multiple ball grooves are offered on the bottom wall of two platform slings, the inside of each ball grooves is embedded with ball, and ball makes It is more smooth in movement to obtain the second lever arm 18.
In the present invention, the inside of the second lever arm 18 offers the 4th installation cavity, and the 4th installation cavity is positioned at the second activity The one end of arm 18 away from installation axle 14, the inside of the 4th installation cavity are provided with the first translation motor 21, the first translation motor 21 Sprocket wheel 22 is installed on drive end, sprocket wheel 22 runs through the inner wall of the 4th installation cavity and extends to the outside of the second lever arm 18, the It is symmetrically installed with two mounting rods on the lateral wall of two lever arms 18, two opposite one end of mounting rod are mounted on wheel shaft, and two Sprocket is equally installed on a wheel shaft, fixed link 23 is installed together about the bottom equipped with chain belt 26, chain belt 26 on three sprockets, The bottom of fixed link 23 is provided with electromagnet 27, and the second installing port 24, the second peace are offered on the bottom wall inside the second mounting hole Dress mouth 24 is internally provided with the second Knucle-gear 25, and second is provided with the second lateral wall of the lever arm 18 away from 14 one end of installation axle Translation motor, and the second Knucle-gear 25 is fixedly connected with the drive end of the second translation motor, is opened on the bottom wall of the second lever arm 18 Equipped with 25 intermeshing teeth groove of the second Knucle-gear, and the second lever arm 18 is intermeshed with the second Knucle-gear 25.
In the present invention, the inside of base 1 is provided with microcontroller and remote control module, the first electric rotating machine 2, the second electric rotating Machine, lifting motor 6, the first translation motor 21 and the second translation motor are servomotor, and its input terminal with microcontroller Output terminal is electrically connected, and the input terminal of microcontroller is electrically connected with the output terminal of remote control module, and microcontroller is programmable 89S51 monolithics Machine, remote control module are PT2272 wireless remote control modules, and the input terminal of electromagnet 27 passes through microcontroller and the output terminal of external power supply It is electrically connected.
In the present invention, user opens power supply, and operation, the first electric rotating machine are remotely controlled to manipulator using remote control 2 control electromagnet 27 rotate horizontally, and lifting motor 6 controls electromagnet 27 to lift, and the second electric rotating machine control electromagnet 27 is vertical Rotation, the second translation motor control electromagnet 27 move horizontally, and the first translation motor 21 controls electromagnet 27 in another direction On move horizontally, when electromagnet 27 reach the location of workpiece when, open 27 power supply of electromagnet, electromagnet 27 picks up workpiece, then controls Manipulator processed moves workpiece to designated position, and workpiece can be put down by closing electromagnet 27.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

Claims (6)

1. a kind of manipulator, including base(1), it is characterised in that:The base(1)Inside offer the first installation cavity, institute The inside for stating the first installation cavity is provided with the first electric rotating machine(2), first electric rotating machine(2)Drive end on be provided with One motor shaft(3), and the first motor shaft(3)Roof inside the first installation cavity simultaneously extends to base(1)Upside, it is described Base(1)Upside be equipped with mounting base(4), and mounting base(4)Bottom wall and the first motor shaft(3)It is fixedly connected, the installation Seat(4)Bottom wall on be symmetrically installed with multiple rollers(5), the mounting base(4)Roof be equipped with the first fixed arm(8), institute State the first fixed arm(8)Top offer the first mounting hole, first mounting hole is internally provided with the first lever arm(9), The mounting base(4)Inside offer the second installation cavity, the inside of second installation cavity is provided with lifting motor(6), institute State lifting motor(6)Drive end on drive rod is installed(7), and drive rod(7)Roof inside the second installation cavity is simultaneously Extend to the inside of the first mounting hole, first lever arm(9)Bottom wall on offer and drive rod(7)Position correspondence is matched somebody with somebody Close hole, the drive rod(7)It is last to offer screw thread, offered on the madial wall of the matching hole and drive rod(7)Mutually nibble The screw thread of conjunction, first lever arm(9)Lateral wall on be symmetrically installed with two slide bars(10), first mounting hole it is interior Two and slide bar are symmetrically offered on side wall(10)The slide of mutual cooperation, two slide bars(10)The two side of opposite end On be symmetrically installed with two spacing slide bars(11), offer and spacing slide bar on the madial wall of two slides(11)Phase The limit sliding chutes mutually coordinated(12), first lever arm(9)Movable mouth is offered on the roof of side(13), the activity mouth (13)Inner horizontal installation axle is installed(14), the installation axle(14)On be arranged with the second fixed arm(15), described first Lever arm(9)Inside offer the 3rd installation cavity, and the 3rd installation cavity is located at the first lever arm(9)Top, the described 3rd The inside of installation cavity is provided with the second electric rotating machine, and the second motor shaft, institute are provided with the drive end of second electric rotating machine State movable mouth(13)The first installing port is offered on the side wall of interior side(16), second motor shaft runs through the 3rd installation cavity Madial wall and extend to the first installing port(16)Inside, second motor shaft away from the second electric rotating machine one end installation There is the first Knucle-gear(17), and the first Knucle-gear(17)Positioned at the first installing port(16)Inside, second fixed arm(15) Close to the first Knucle-gear(17)Offered on the lateral wall of side and the first Knucle-gear(17)Intermeshing teeth groove, and second is solid Fixed arm(15)With the first Knucle-gear(17)Intermeshing, first fixed arm(15)Away from installation axle(14)One end offer Second mounting hole, the inside of second mounting hole are provided with the second lever arm(18), second lever arm(18)Roof On plate is installed(19), offer on the roof inside second mounting hole and plate(19)The loose slot of mutual cooperation (20), the plate(19)Two platform slings, the loose slot are symmetrically installed with the two side on top(20)Madial wall on open Equipped with hanging groove, second lever arm with what platform sling cooperated(18)Inside offer the 4th installation cavity, and the 4th installation Chamber is located at the second lever arm(18)Away from installation axle(14)One end, the inside of the 4th installation cavity is provided with the first translation electricity Machine(21), first translation motor(21)Drive end on sprocket wheel is installed(22), the sprocket wheel(22)Through the 4th installation The inner wall of chamber simultaneously extends to the second lever arm(18)Outside, second lever arm(18)Lateral wall on be symmetrically installed with two A mounting rod, two opposite one end of the mounting rod are mounted on wheel shaft, are equally provided with sprocket on two wheel shafts, and three Together about equipped with chain belt on a sprocket(26), the chain belt(26)Bottom fixed link is installed(23), the fixed link (23)Bottom electromagnet is installed(27).
A kind of 2. manipulator according to claim 1, it is characterised in that:The mounting base(4)Bottom wall on symmetrically open up There are multiple roller grooves, the inside of each roller groove is equally provided with wheel shaft, each roller(5)It is installed in wheel shaft On.
A kind of 3. manipulator according to claim 1, it is characterised in that:Offered on the bottom wall of two platform slings more A ball grooves, the inside of each ball grooves are embedded with ball.
A kind of 4. manipulator according to claim 1, it is characterised in that:Opened up on bottom wall inside second mounting hole There is the second installing port(24), second installing port(24)Be internally provided with the second Knucle-gear(25), second lever arm (18)Away from installation axle(14)Second translation motor, and the second Knucle-gear are installed on the lateral wall of one end(25)With the second translation The drive end of motor is fixedly connected, second lever arm(18)Bottom wall on offer and the second Knucle-gear(25)Intermeshing Teeth groove, and the second lever arm(18)With the second Knucle-gear(25)Intermeshing.
A kind of 5. manipulator according to claim 1, it is characterised in that:The base(1)Inside microcontroller is installed And remote control module, first electric rotating machine(2), the second electric rotating machine, lifting motor(6), the first translation motor(21)With Two translation motors are servomotor, and its input terminal is electrically connected with the output terminal of microcontroller, the input terminal of the microcontroller Be electrically connected with the output terminal of remote control module, the microcontroller is programmable 89S51 microcontrollers, the remote control module for PT2272 without Line remote control module.
A kind of 6. manipulator according to claim 5, it is characterised in that:The electromagnet(27)Input terminal pass through monolithic Machine is electrically connected with the output terminal of external power supply.
CN201711349888.XA 2017-12-15 2017-12-15 A kind of manipulator Pending CN108032294A (en)

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN108748246A (en) * 2018-06-22 2018-11-06 蔡恩来 A kind of robot device
CN108748130A (en) * 2018-06-22 2018-11-06 蔡恩来 Robot device with translation and rotation function
CN108927508A (en) * 2018-09-20 2018-12-04 浙江希尔富电气有限公司 A kind of 22 fin heat dissipation type high electric motor end cap automatic material separator toolings
CN109277746A (en) * 2018-12-17 2019-01-29 郭玉华 A kind of welding manipulator for capableing of multi-angle rotary
CN110434827A (en) * 2019-08-29 2019-11-12 南京捷思汽车科技有限公司 A kind of industrial robot positioning clamping jaw device
CN111805529A (en) * 2020-07-21 2020-10-23 威海威洋机电设备股份有限公司 Swing arm industrial robot
CN114378502A (en) * 2022-03-24 2022-04-22 中国核工业二四建设有限公司 Mobile robot for automatic continuous welding of right-angle fillet weld

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CN205902411U (en) * 2016-05-10 2017-01-25 西北农林科技大学 Retractable kiwi fruit fruit picking manipulator arm
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US20080282821A1 (en) * 2007-05-17 2008-11-20 Denso Wave Incorporated Robot with linearly movable support member attaching to gripper
CN104723327A (en) * 2013-12-20 2015-06-24 广西大学 Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm
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Publication number Priority date Publication date Assignee Title
CN108748246A (en) * 2018-06-22 2018-11-06 蔡恩来 A kind of robot device
CN108748130A (en) * 2018-06-22 2018-11-06 蔡恩来 Robot device with translation and rotation function
CN108927508A (en) * 2018-09-20 2018-12-04 浙江希尔富电气有限公司 A kind of 22 fin heat dissipation type high electric motor end cap automatic material separator toolings
CN109277746A (en) * 2018-12-17 2019-01-29 郭玉华 A kind of welding manipulator for capableing of multi-angle rotary
CN110434827A (en) * 2019-08-29 2019-11-12 南京捷思汽车科技有限公司 A kind of industrial robot positioning clamping jaw device
CN111805529A (en) * 2020-07-21 2020-10-23 威海威洋机电设备股份有限公司 Swing arm industrial robot
CN114378502A (en) * 2022-03-24 2022-04-22 中国核工业二四建设有限公司 Mobile robot for automatic continuous welding of right-angle fillet weld

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Application publication date: 20180515