CN108515534A - A kind of quick change manipulator - Google Patents
A kind of quick change manipulator Download PDFInfo
- Publication number
- CN108515534A CN108515534A CN201810308955.1A CN201810308955A CN108515534A CN 108515534 A CN108515534 A CN 108515534A CN 201810308955 A CN201810308955 A CN 201810308955A CN 108515534 A CN108515534 A CN 108515534A
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- hole
- blind hole
- wall
- spring
- cylinder
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- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
Abstract
The invention discloses a kind of quick change manipulator, lock pin component is removably inserted into female component；Female component includes that ontology, circular arc hold piece, pin and taper spring；Blind hole includes the conical bore and cylindrical hole of coaxial communication successively from outside to inside on the body, and fin used for positioning is additionally provided on the side wall of blind hole；Lock pin component includes columned mandrel, and cylindrical spring is connected in the cylinder blind hole of mandrel.Paw component includes connecting component and grasping mechanism；The top of connecting rod is fixed with smooth sphere, bottom end is hinged with two fingers for capturing cargo, sphere is connected with back-moving spring and is close to the cell wall of groove under the action of back-moving spring, resetting spring is equipped between two staight shank portions of two fingers, the free end in two staight shank portions is connect with a steel wire respectively, and two steel wires are connected after bypassing first pulley with the wheel disc of minitype motor driving.The configuration of the present invention is simple is compact, it can be achieved that rapid-assembling/disassembling, greatly improves working efficiency.
Description
Technical field
The invention belongs to manipulator technical fields more particularly to one kind can be with quick-replaceable manipulator.
Background technology
Manipulator is widely used, and belongs to new high-tech product in industry manufactures, and the duplication of labour is carried out by hand for replacing,
It is frequently encountered in use and manipulator is frequently assembled and disassembled, current manipulator is based on traditional shaft coupling, pin mostly
The modes such as connection, key connection, are not suitable for frequent rapid-assembling/disassembling so that working efficiency is relatively low, and existing manipulator often structure
Complexity is suitable for various high-precisions and captures, but there is also many simple general purpose crawl functions to need in existing application,
Existing high-accuracy mechanical hand seems not applicable, and economy is relatively low.For example, manipulator is often used in crawl in actual production
Toy crawl vanning on light-duty object, such as plastics either down toy production line, or be used on doll machine
The manipulator etc. of doll is grabbed, drives the mechanism on the arm of force that can share, different has been the size of manipulator,
Due to different size of toy, its required manipulator is of different sizes, is also required to quickly and easily be replaced.
Invention content
The purpose of the present invention is to provide a kind of quick change manipulator, quick change manipulator assembly and disassembly are rapid, simple and compact for structure,
Good economy performance, and working efficiency can be greatly promoted.
Technical scheme is as follows：
A kind of quick change manipulator includes from top to bottom optical axis, female component, lock pin component and paw component successively；Institute
Lock pin component is stated to be removably inserted into female component；
The female component includes that columned ontology, circular arc hold piece, pin and taper spring；The top of the ontology with
Light shaft coaxle connect, bottom be equipped with blind hole, the blind hole on the body from outside to inside successively include coaxial communication conical bore and
The big end of cylindrical hole, conical bore is located on the bottom surface of ontology, and fin used for positioning, institute are additionally provided on the side wall of the blind hole
The both ends for stating fin are flushed with the open end of blind hole and bottom respectively；The hole wall upper edge cylindrical hole of the cylindrical hole is radially provided with
Several ladder holes, the ladder hole is from body interior to external successively including the first coaxially connected cylinder unthreaded hole, circular cone
Unthreaded hole and the second cylinder unthreaded hole, wherein the diameter of the first cylinder unthreaded hole is more than circular cone unthreaded hole large port diameter, circular cone unthreaded hole small end
Mouth diameter is equal to the second cylinder unthreaded hole diameter, and annulus is coaxially fixed at large port in the circular cone unthreaded hole；The circle
The big end of cone spring is fixed on the end face of annulus, and small end, which is tightly sleeved on, to be inserted on the pin in ladder hole, and
Under off working state, the end of pin is ejected the second cylinder unthreaded hole by taper spring, and the upper end-face edge that the circular arc holds piece is hinged
It is holding on body outer wall and when circular arc and the end of pin can pushed back in ladder hole when piece is close to the body outer wall；
The lock pin component includes columned mandrel, is provided along its length on the outer wall of mandrel and is slided with the fin
The sliding slot of dynamic cooperation, the outer wall upper edge mandrel of mandrel to be radially provided with quantity cylinder identical with the ladder hole quantity blind
Hole is connected with cylindrical spring in cylinder blind hole, and the cylindrical spring will be inserted into the mandril in cylinder blind hole under off working state
End ejects the cylinder blind hole；
When the mandrel is inserted into the blind hole of the ontology, hole is inserted under the guiding role of the fin and sliding slot
Bottom, the mandril are headed into the first cylinder unthreaded hole and are held in circular arc by cylindrical spring and pushed up completely by pin when piece is close to body outer wall
Go out the first cylinder unthreaded hole；
The paw component includes connecting component and grasping mechanism；The connecting component includes the hand being connected with the mandrel
Handle, handle bottom face are opened up there are one hemispheric groove, and several blind holes are equipped in the slot bottom of the groove, the blind hole along
The radial setting of groove, the bottom of each blind hole is fixedly connected with the back-moving spring for not stretching out blind hole；The bottom end of the handle
It is also vertically equipped with sleeve, the axis of sleeve crosses the centre of sphere of groove, several adjusting spiral shells through barrel are screwed on the barrel of sleeve
Bar；The grasping mechanism includes the connecting rod being located in sleeve, and connecting rod is compressed by the adjusting screw rod, and the top of connecting rod is fixed with light
Sliding sphere, bottom end are hinged with two fingers for capturing cargo, and the sphere is connected and is being tensed with the back-moving spring
It is close to the cell wall of groove under the action of spring, the finger includes the crawl section in the staight shank portion and C-shaped bending of straight panel shape, two hands
The staight shank portion of finger is hinged on by articulated shaft on connecting rod, is equipped between two staight shank portions and is answered in its natural state by two fingers are open-top
Position spring, the free end in two staight shank portions are connect with a steel wire respectively, and two steel wires bypass first be fixed on connection-rod wall
It is connected with the wheel disc for the minitype motor driving being fixed on connection-rod wall after pulley, so that two fingers are opened or clamped.
Further, thread connection between the annulus outer wall and circular cone unthreaded hole inner wall.
Further, the component that the ladder hole and its internal all element being arranged are constituted is on blind hole axis
Point be the rounded array in the center of circle.
Further, it includes two that the circular arc, which holds piece, and it is half of pipe that each circular arc, which holds piece,.
Further, the connecting component further includes the pressing sleeve of spherical shell shape, and one end of the pressing sleeve is equipped with flange, described convex
Edge is bolted on handle base, and the sphere exposes after the circular hole partially passed through on pressing sleeve of groove by pressing sleeve tightly
It is pressed in handle base.
Further, in the second pulley that is arranged right below of the first pulley, two steel wires ten in two staight shank portions are connected
Converge connection rotating around in the both sides of the second pulley and right over second pulley after word intersection, converges tie point and lead
Draw steel wire to be connected, the traction steel wire is connected after bypassing the first pulley with the wheel disc.
Further, the adjusting screw rod is using the point on sleeve axis as the rounded array in the center of circle.
Further, the second pulley replaces with optical axis, and the optical axis both ends are equipped with limiting plate, and optical axis is fixed on connecting rod
On the side wall of lower part.
Beneficial effects of the present invention：The present invention realizes the connection of axis, core by the cooperation between mandril and ladder hole
The mandril stretched out on axis gradually squeezes with the conical bore on female component and contacts and compress and go back, and is led in the positioning of fin, sliding slot
To effect underthrust on earth after, mandril is able to slide into the first cylinder unthreaded hole rapidly, is connected to realize, transmission torque, when holding
When circular arc holds piece, circular arc holds piece and pin is pushed back ladder hole so that pin by mandril release the first cylinder unthreaded hole in, at this time to
Next drawing mandrel, you can realize the separation of mandrel and female component；It can be seen that this connect quick change construction can realize rapidly axis it
Between connection replace, ultrahigh in efficiency, be particularly suitable for compared under low torque axis connection transmission.
On the other hand, the present invention is provided with simple and reliable mechanical paw, similar hinged in groove using sphere
Rotation flexibly realizes that a certain range of oblique angular position of connecting rod is adjusted, and after link angle location determination, tightens phase
Adjusting screw rod is answered, and fine position is done by adjusting screw rod, to reach accurate link tilt angle, to adapt to difference
Crawl demand, and motor and steel wire is used to drive finger opening and closing, when motor is not actuated, under action of reset spring, by two
On finger top to the deployed position for being maintained at certain, after starting motor, the movement of steel wire makes two staight shank portion compression reseting springs
And two fingers are drawn close, realize gripping, two fingers are again rapid under the reply force effect of resetting spring when motor reversal
It opens and resets；It can be seen that finger opening and closing high sensitivity, the structure of this kind of structure are very simple, it is particularly suitable for light-duty article
Crawl.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is that the present invention removes the structural schematic diagram after handgrip part.
Fig. 3 is the enlarged view at I in Fig. 1.
Specific implementation mode
Illustrate that embodiments of the present invention, those skilled in the art can be by this explanations by particular specific embodiment below
Content disclosed by book understands other advantages and effect of the present invention easily.
The invention will be further described with reference to the accompanying drawings and examples：
As shown in Fig. 1-3, a kind of quick change manipulator includes from top to bottom optical axis 1, female component, lock pin component successively；
The lock pin component is removably inserted into female component.The female component includes that columned ontology 2, circular arc hold piece 3, column
Pin 7 and taper spring 5.The top of the ontology 2 and optical axis 1 are coaxially connected, and bottom is equipped with blind hole, and the blind hole is on ontology 2
Include the conical bore 201 and cylindrical hole 202 of coaxial communication successively from outside to inside, the big end of conical bore 201 is located at the bottom surface of ontology 2
On, be additionally provided with fin 6 used for positioning on the side wall of the blind hole, the both ends of the fin 6 respectively with the open end of blind hole
It is flushed with bottom；The hole wall upper edge cylindrical hole 202 of the cylindrical hole 202 is radially provided with several ladder holes 4, and the ladder is logical
Hole 4 includes the first cylinder unthreaded hole 401, circular cone unthreaded hole 402 and the second cylinder light being coaxially connected successively from 2 interior of ontology
Hole 403, wherein the diameter of the first cylinder unthreaded hole 401 is more than the large port diameter of circular cone unthreaded hole 402, the small end of circular cone unthreaded hole 402
The diameter of mouth is equal to the diameter of the second cylinder unthreaded hole 403, and circle is coaxially fixed at large port in the circular cone unthreaded hole 402
Ring 8.The big end of the taper spring 5 is fixed on the end face of annulus 7, and small end is tightly sleeved on the institute being inserted into ladder hole 4
It states on pin 7, and in a non-operative state, the end of pin 7 is ejected the second cylinder unthreaded hole 403, the circular arc by taper spring 5
The upper end-face edge for holding piece 3 is hinged on 2 outer wall of ontology and is held when circular arc can be by the end of pin 7 when piece 3 is close to 2 outer wall of ontology
Portion pushes back in ladder hole 4.
The lock pin component includes columned mandrel 9, is provided along its length on the outer wall of mandrel 9 and the fin
6 sliding slots being slidably matched, the outer wall upper edge mandrel 9 of mandrel 9 are radially provided with quantity circle identical with 4 quantity of the ladder hole
Column blind hole is connected with cylindrical spring 10 in cylinder blind hole, and the cylindrical spring 10 will be inserted into cylinder blind hole under off working state
The end of mandril 11 eject the cylinder blind hole.
When the mandrel 9 is inserted into the blind hole of the ontology 2, blind hole is inserted under the guiding role of the fin 6 and sliding slot
Bottom hole, the mandril 11 are headed into the first cylinder unthreaded hole 401 by cylindrical spring 10 and when circular arc hold piece 3 and is close to 2 outer wall of ontology
By the first cylinder unthreaded hole 401 of ejection completely of pin 7, in order to detach lock pin component rapidly.
As shown in Figure 1, the paw component includes connecting component and grasping mechanism；The connecting component includes and the core
The connected handle 12 of axis 9,12 bottom face of handle are opened up there are one hemispheric groove, are equipped in the slot bottom of the groove several blind
Hole, the blind hole are arranged along the radial direction of groove, and the bottom of each blind hole is fixedly connected with the back-moving spring for not stretching out blind hole
13；The bottom end of the handle 12 is also vertically equipped with sleeve 14, and the axis of sleeve 14 crosses the centre of sphere of groove, on the barrel of sleeve 14
It is screwed with several adjusting screw rods 15 through barrel.The grasping mechanism includes the connecting rod 16 being located in sleeve 14, and connecting rod 16 is by institute
The compression of adjusting screw rod 15 is stated, the top of connecting rod 16 is fixed with smooth sphere 17, and bottom end is hinged with two for capturing cargo
Finger 18, the sphere 17 are connected with the back-moving spring 13 and are close to the cell wall of groove, institute under the action of back-moving spring 13
The crawl section 1802 that finger 18 includes the staight shank portion 1801 and C-shaped bending of straight panel shape is stated, the staight shank portion 1801 of two fingers 18 is logical
It crosses articulated shaft to be hinged on connecting rod 16, be equipped in its natural state by the open-top reset bullet of two fingers 18 between two staight shank portions 1801
Spring 19, the resetting spring 19 are horizontally disposed, and the free end in two staight shank portions 1801 is connect with a steel wire a respectively, two steel wire a around
Cross the wheel disc driven with the micromotor 21 being fixed on 16 bar wall of connecting rod after the first pulley 20 being fixed on 16 bar wall of connecting rod
22 are connected, so that two fingers 18 are opened or clamped.It should be noted that, the micromotor 21 can choose pulse herein
Stepper motor can also use by controller control can be with the common electric machine of positive and negative rotation certain angle.
Further, thread connection between the outer wall of the annulus 8 and the inner wall of circular cone unthreaded hole 402 is adjusted in order to pass through
The position that pitch circle ring 8 is screwed into adjusts the sensitivity contacted between pin 7 and mandril 11.
Further, the component that the ladder hole 4 and its internal all element being arranged are constituted is with blind hole axis
On point be the rounded array in the center of circle, so as to greatly improve the reliability of connection.
Further, it includes two that the circular arc, which holds piece 3, and it is half of pipe that each circular arc, which holds piece 3, to grasp
When two circular arcs hold piece 3, disposably all pins 7 are pushed back in ladder hole 4.
Further, the connecting component further includes the pressing sleeve 23 of spherical shell shape, and one end of the pressing sleeve 23 is equipped with flange
2301, the flange 2301 is bolted on 12 bottom of handle, and the exposing groove of the sphere 17 partially passes through pressing sleeve 23
On circular hole after 12 bottom of handle is compressed tightly against by pressing sleeve；Change structure mainly in adjusting screw rod 15 by the position tune of connecting rod 16
It saves to required gradient and improves the stability of 16 position of connecting rod after compressing, the shaking for preventing connecting rod 16 from may occur.
Further, it is arranged right below second pulley 24 in the first pulley 20, second pulley 24 could be secured to
On 16 lower sides of connecting rod, rotating around in the second pulley 24 after two steel wire a right-angled intersections in two staight shank portions 1801 of connection
Both sides and converge connection right over second pulley 24, converge tie point b and be connected with traction steel wire c, the traction steel wire c
Around being connected with the wheel disc 22 after the first pulley 20.The structure design can make the opening and closing of two fingers 18 cleverer
Living, structure is more simplified.
Further, the adjusting screw rod 15 is using the point on 14 axis of sleeve as the rounded array in the center of circle, according to adjusting position
The adjusting screw rod of three and its above quantity can be arranged in the complexity of angle setting degree, to promote the sensitivity of its adjusting, this implementation
Example is preferably provided with 3.
Further, the second pulley 24 replaces with optical axis, and the optical axis both ends are equipped with limiting plate, to make such as
The form of the winding wheel of unsintered tape, optical axis are fixed on the side wall of connecting rod lower part, so as to two steel wire a when moving with optical axis light
It is sliding to touch, prevent steel wire a from being shaken when being promoted or declining release.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (8)
1. a kind of quick change manipulator, it is characterised in that：Include from top to bottom optical axis, female component, lock pin component and hand successively
Tine；The lock pin component is removably inserted into female component；
The female component includes that columned ontology, circular arc hold piece, pin and taper spring；The top of the ontology and optical axis
Coaxially connected, bottom is equipped with blind hole, and the blind hole includes the conical bore and cylinder of coaxial communication successively from outside to inside on the body
The big end in hole, conical bore is located on the bottom surface of ontology, and fin used for positioning is additionally provided on the side wall of the blind hole, described convex
The both ends of rib are flushed with the open end of blind hole and bottom respectively；Being radially provided with for the hole wall upper edge cylindrical hole of the cylindrical hole is several
Ladder hole, the ladder hole is from body interior to external successively including the first coaxially connected cylinder unthreaded hole, circular cone unthreaded hole
With the second cylinder unthreaded hole, wherein the diameter of the first cylinder unthreaded hole is more than circular cone unthreaded hole large port diameter, and circular cone unthreaded hole portlet is straight
Diameter is equal to the second cylinder unthreaded hole diameter, and annulus is coaxially fixed at large port in the circular cone unthreaded hole；The circular cone bullet
The big end of spring is fixed on the end face of annulus, and small end, which is tightly sleeved on, to be inserted on the pin in ladder hole, and in non-work
Make under state, the end of pin is ejected the second cylinder unthreaded hole by taper spring, and the upper end-face edge that the circular arc holds piece is hinged on this
It holds on external wall and when circular arc and the end of pin can be pushed back in ladder hole when piece is close to the body outer wall；
The lock pin component includes columned mandrel, is provided along its length on the outer wall of mandrel and matches with fin sliding
The sliding slot of conjunction, the outer wall upper edge mandrel of mandrel are radially provided with quantity cylinder blind hole identical with the ladder hole quantity, circle
Cylindrical spring is connected in column blind hole, the cylindrical spring pushes up the end for being inserted into the mandril in cylinder blind hole under off working state
Go out the cylinder blind hole；
When the mandrel is inserted into the blind hole of the ontology, hole bottom, institute are inserted under the guiding role of the fin and sliding slot
It states mandril and is headed into the first cylinder unthreaded hole and held in circular arc by cylindrical spring and ejected when piece is close to body outer wall completely by pin
One cylinder unthreaded hole；
The paw component includes connecting component and grasping mechanism；The connecting component includes the handle being connected with the mandrel,
Handle bottom face is opened up there are one hemispheric groove, is equipped with several blind holes in the slot bottom of the groove, the blind hole is along recessed
The radial setting of slot, the bottom of each blind hole is fixedly connected with the back-moving spring for not stretching out blind hole；The bottom end of the handle is also
It is vertically equipped with sleeve, the axis of sleeve crosses the centre of sphere of groove, several adjusting screw rods through barrel are screwed on the barrel of sleeve；
The grasping mechanism includes the connecting rod being located in sleeve, and connecting rod compressed by the adjusting screw rod, and the top of connecting rod is fixed with smooth
Sphere, bottom end is hinged with two for capturing the fingers of cargo, and the sphere is connected with the back-moving spring and in tension bullet
It is close to the cell wall of groove under the action of spring, the finger includes the crawl section in the staight shank portion and C-shaped bending of straight panel shape, two fingers
Staight shank portion be hinged on connecting rod by articulated shaft, between two staight shank portions be equipped in its natural state by the open-top reset of two fingers
The free end of spring, two staight shank portions is connect with a steel wire respectively, and two steel wires bypass first be fixed on connection-rod wall and slide
It is connected with the wheel disc for the minitype motor driving being fixed on connection-rod wall after wheel, so that two fingers are opened or clamped.
2. a kind of quick change manipulator according to claim 1, it is characterised in that：The annulus outer wall and circular cone unthreaded hole inner wall it
Between thread connection.
3. a kind of quick change manipulator according to claim 2, it is characterised in that：What the ladder hole and its inside were arranged
The component that all elements are constituted is using the point on blind hole axis as the rounded array in the center of circle.
4. a kind of quick change manipulator according to claim 3, it is characterised in that：It includes two that the circular arc, which holds piece, Mei Geyuan
It is half of pipe that arc, which holds piece,.
5. a kind of quick change manipulator according to claim 1, it is characterised in that：The connecting component further includes the pressure of spherical shell shape
One end of set, the pressing sleeve is equipped with flange, and the flange is bolted on handle base, and the sphere exposes the portion of groove
Divide and handle base is compressed tightly against by pressing sleeve after the circular hole on pressing sleeve.
6. a kind of quick change manipulator according to claim 5, it is characterised in that：It is arranged right below in the first pulley
Two pulleys, rotating around in the both sides of the second pulley and in second pulley after two steel wire right-angled intersections in two staight shank portions of connection
Connection is converged in surface, converges tie point and is connected with traction steel wire, the traction steel wire bypass the first pulley after with institute
Wheel disc is stated to be connected.
7. a kind of quick change manipulator according to claim 6, it is characterised in that：The adjusting screw rod is with the point on sleeve axis
For the rounded array in the center of circle.
8. a kind of quick change manipulator described according to claim 6 or 7, it is characterised in that：The second pulley replaces with optical axis, institute
It states optical axis both ends and is equipped with limiting plate, optical axis is fixed on the side wall of connecting rod lower part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810308955.1A CN108515534A (en) | 2018-04-09 | 2018-04-09 | A kind of quick change manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810308955.1A CN108515534A (en) | 2018-04-09 | 2018-04-09 | A kind of quick change manipulator |
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| CN108515534A true CN108515534A (en) | 2018-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810308955.1A Pending CN108515534A (en) | 2018-04-09 | 2018-04-09 | A kind of quick change manipulator |
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Cited By (11)
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| CN109531612A (en) * | 2018-12-25 | 2019-03-29 | 南京瀚宸知识产权服务有限公司 | Quick change device for robot end tool |
| CN109911504A (en) * | 2019-02-25 | 2019-06-21 | 安徽省宣城市永健机械有限公司 | A kind of handling device of automobile axle shaft |
| CN110666824A (en) * | 2019-10-24 | 2020-01-10 | 博众精工科技股份有限公司 | Quick-change fixing structure |
| CN110978043A (en) * | 2019-10-15 | 2020-04-10 | 深圳市越疆科技有限公司 | Executor, terminal and arm of arm |
| CN111376288A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Palm structure and robot |
| CN111730618A (en) * | 2020-07-13 | 2020-10-02 | 马鞍山思卡瑞自动化科技有限公司 | Automatic grinding tool switching device for grinding robot and implementation method thereof |
| CN111805521A (en) * | 2019-04-11 | 2020-10-23 | 晋江市超骏机械有限公司 | Gantry type feeding and discharging manipulator |
| CN111843979A (en) * | 2020-08-05 | 2020-10-30 | 安徽三虎机械科技有限公司 | Robot arm for industrial production and working method thereof |
| CN112059037A (en) * | 2020-09-01 | 2020-12-11 | 东莞市海洛实业有限公司 | Workpiece clamping and quick-changing device for high-speed precision punch press |
| CN113262906A (en) * | 2021-05-31 | 2021-08-17 | 南通科美自动化科技有限公司 | Mechanical arm and automatic spraying system |
| EP4434692A1 (en) * | 2023-03-23 | 2024-09-25 | Klose & Oechsle GmbH | Holding device for holding a connecting line on a movable robot arm |
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| CN111376288B (en) * | 2018-12-29 | 2021-10-29 | 深圳市优必选科技有限公司 | Palm structure and robot |
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| CN111805521A (en) * | 2019-04-11 | 2020-10-23 | 晋江市超骏机械有限公司 | Gantry type feeding and discharging manipulator |
| CN110978043A (en) * | 2019-10-15 | 2020-04-10 | 深圳市越疆科技有限公司 | Executor, terminal and arm of arm |
| CN110666824A (en) * | 2019-10-24 | 2020-01-10 | 博众精工科技股份有限公司 | Quick-change fixing structure |
| CN110666824B (en) * | 2019-10-24 | 2024-06-11 | 博众精工科技股份有限公司 | Quick-change fixing structure |
| CN111730618A (en) * | 2020-07-13 | 2020-10-02 | 马鞍山思卡瑞自动化科技有限公司 | Automatic grinding tool switching device for grinding robot and implementation method thereof |
| CN111843979A (en) * | 2020-08-05 | 2020-10-30 | 安徽三虎机械科技有限公司 | Robot arm for industrial production and working method thereof |
| CN112059037A (en) * | 2020-09-01 | 2020-12-11 | 东莞市海洛实业有限公司 | Workpiece clamping and quick-changing device for high-speed precision punch press |
| CN113262906A (en) * | 2021-05-31 | 2021-08-17 | 南通科美自动化科技有限公司 | Mechanical arm and automatic spraying system |
| EP4434692A1 (en) * | 2023-03-23 | 2024-09-25 | Klose & Oechsle GmbH | Holding device for holding a connecting line on a movable robot arm |
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Application publication date: 20180911 |