CN108657806A - A kind of robot and its implementation for mountainous region carrying - Google Patents
A kind of robot and its implementation for mountainous region carrying Download PDFInfo
- Publication number
- CN108657806A CN108657806A CN201810523965.7A CN201810523965A CN108657806A CN 108657806 A CN108657806 A CN 108657806A CN 201810523965 A CN201810523965 A CN 201810523965A CN 108657806 A CN108657806 A CN 108657806A
- Authority
- CN
- China
- Prior art keywords
- joint
- servo motor
- pedestal
- gripper
- transport
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
Abstract
The invention discloses a kind of robots carried for mountainous region, including pedestal, triangle Athey wheel, rotation seat, gripper driving box, gripper, second joint, forearm, principal arm and transport storing board；Wherein, the lower end surrounding of the pedestal is separately installed with triangle Athey wheel, and the upper end centre position of the pedestal is equipped with rotation seat, and the upper end of the rotation seat is equipped with principal arm.The present invention enables transfer robot in the various road conditions walkings in mountainous region, is moved easily carrying, improves the moving stability by being equipped with triangle Athey wheel in the bottom of pedestal；The present invention in second joint by being provided with spiral roller, for lower article carrying, the rotation of the second servo motor can be controlled, the spiral roller in the second servo motor shaft is set to rotate, connection rope decentralization in this way on spiral roller, the gripper driving box of connection rope lower end is set to decline, the gripper on such gripper driving box can catch the article of lower.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of robot and its realization side for mountainous region carrying
Method.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
Transfer robot is the industrial robot that can carry out automated handling operation.Earliest transfer robot appears in
The U.S. of nineteen sixty, Versatran and Unimate Liang Zhong robots are used for transport operation for the first time.Transport operation refers to one kind
Equipment holds workpiece, refers to moving on to another Working position from a Working position.Transfer robot can install different ends
Actuator is worked with the workpiece handling for completing various different shapes and state, significantly reduces the heavy manual labor of the mankind.Generation
The transfer robot used in boundary exceedes 100,000, is widely used in lathe loading and unloading, press machine automatic production line, automatic dress
Automatic transporting with assembly line, Palletised carry, container etc..Systems in Certain Developed Countries, which has been made, manually to be carried to greatest extent,
What is gone beyond the limit must be completed by transfer robot.
Present mountainous region transfer robot is all often to use wheel type mobile, uneven place is caused mobile tired
It is difficult；Gripper is often fixed, and arm limitation supported cannot be declined, and cause some articles of lower section that cannot shift；Conveying robot
People is only carried by gripper, itself does not carry parking space, is caused to carry and is placed inconvenience.
Invention content
The purpose of the present invention is to provide a kind of robots carried for mountainous region, to solve to propose in above-mentioned background technology
The problem of.It is provided by the invention it is a kind of for mountainous region carry robot, have road bumpiness can also move, can freely under
The characteristics of drop, included plate for carrying.
Another object of the present invention is to provide a kind of implementation method for the robot carried for mountainous region.
To achieve the above object, the present invention provides the following technical solutions：A kind of robot carried for mountainous region, including bottom
Seat, triangle Athey wheel, rotation seat, gripper driving box, gripper, second joint, forearm, principal arm and transport storing board；Wherein,
The lower end surrounding of the pedestal is separately installed with triangle Athey wheel, and the upper end centre position of the pedestal is equipped with rotation seat, institute
The upper end for stating rotation seat is equipped with principal arm, and the other end of the principal arm is equipped with forearm, and the other end of the forearm is equipped with
The lower end in two joints, the second joint is equipped with gripper driving box, and the surface of the gripper driving box is equipped with machinery
The inside of pawl, the pedestal is equipped with transport storing board；
The second joint include first servo motor, the second servo motor, spiral roller, the second servo motor shaft, fixed pulley,
Connect rope and limit fixing slot, wherein the side upper end of the second joint and forearm jackshaft corresponding position are equipped with the
The lower end both sides of one servo motor, the second joint are mounted on the second servo motor, the second servo motor shaft
Excircle nesting is equipped with spiral roller, and the surface of the spiral roller is wound with connection rope, and the inner wall of the second joint is equal
It is provided with the fixed pulley for dredging connection rope, the bottom of the second joint is evenly arranged with limit fixing slot.
Further in the present invention, the upper end of the rotation seat is provided with the first joint for limiting fixed principal arm,
The surface in first joint is equipped with the 4th servo motor for driving principal arm to rotate.
Further in the present invention, the principal arm is provided with the third for driving forearm to rotate close to one end of forearm
Servo motor.
It is further in the present invention, it is rotatablely connected by pivot pin between the connecting shaft and pedestal of the triangle Athey wheel；
The one end of the connecting shaft is equipped with hydraulic telescopic rod.
Further in the present invention, the sliding slot of the pedestal being internally provided with for storing transport storing board is described
One end of sliding slot is provided with limiting slot.
It is further in the present invention, the connecting rod and supporting rod, supporting rod and transport storing board and support wheel with
It is rotatablely connected by pivot pin between supporting rod.
Further in the present invention, the upper end of the gripper driving box is provided with the limited block for limit, described
The other end of connection rope is connected and fixed with limited block by fixing bolt.
It is further in the present invention, a kind of implementation method of robot carried for mountainous region, including it is following
Step：
（1）Carry movement：By being equipped with triangle Athey wheel in the bottom of pedestal, enable transfer robot on the various roads in mountainous region
Condition is walked, and carrying is moved easily；
（2）It adjusts and carries：For lower article carrying, the rotation of the second servo motor can be controlled, the second servo motor is made to turn
Spiral roller on axis rotates, and the connection rope decentralization on such spiral roller makes the gripper driving box of connection rope lower end decline,
Gripper in this way on gripper driving box can catch the article of lower, can pick up the object of level ground, make simultaneously
The lowers goods and materials such as precipice side can also be picked up, and be carried；
（3）Storage transport：In not external means of transport, storing board is transported into extraction, then removes fixed pin, rotational support
180 degree of bar will be fixed by fixed pin between one end of connecting rod and transport storing board, transport storing board upper end in this way
It can carry out the storage transport of article.
It is further in the present invention, a kind of implementation method of robot carried for mountainous region, the rotation
The upper end of seat is provided with the first joint for limiting fixed principal arm, and the surface in first joint is equipped with for driving principal arm
4th servo motor of rotation；The principal arm is provided with the third servo electricity for driving forearm to rotate close to one end of forearm
Machine；It is rotatablely connected by pivot pin between the connecting shaft and pedestal of the triangle Athey wheel；The one end of the connecting shaft is equipped with hydraulic pressure
Telescopic rod；The sliding slot of the pedestal being internally provided with for storing transport storing board, one end of the sliding slot is provided with limit
Slot；It is rotated by pivot pin between the connecting rod and supporting rod, supporting rod and transport storing board and support wheel and supporting rod
Connection；The upper end of the gripper driving box is provided with the limited block for limit, the other end of the connection rope and limit
Block is connected and fixed by fixing bolt.
Compared with prior art, the beneficial effects of the invention are as follows：
1, the present invention enables transfer robot in the various road conditions rows in mountainous region by being equipped with triangle Athey wheel in the bottom of pedestal
It walks, is moved easily carrying, while being rotatablely connected by pivot pin between the connecting shaft and pedestal of triangle Athey wheel, one end of the connecting shaft peace
Equipped with hydraulic telescopic rod, cushioning effect is played, improves the moving stability；
2, the present invention, for lower article carrying, can control the second servo by being provided with spiral roller in second joint
Motor rotates, and the spiral roller in the second servo motor shaft is made to rotate, and the connection rope decentralization on such spiral roller makes connecting rope
The gripper driving box of rope lower end declines, and the gripper on such gripper driving box can catch the article of lower；
3, the present invention in chassis interior by being provided with transport storing board, and in not external means of transport, extraction transport is deposited
Put plate, then remove fixed pin, 180 degree of rotary supporting rod, by between one end of connecting rod and transport storing board by solid
Rationed marketing is fixed, and the storage transport of article can be carried out by transporting storing board upper end in this way, can be carried out in not external means of transport
Of short duration storage and carrying avoid carrying problem not in time and occur.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the second joint side structure schematic view of the present invention；
Fig. 3 is the second joint internal structure schematic diagram of the present invention；
Fig. 4 is the second joint inside top structural schematic diagram of the present invention；
Fig. 5 is that plate structure schematic diagram is stored in the transport of the present invention；
Fig. 6 is the transport storing board mounting structure schematic diagram of the present invention；
In figure：1, pedestal；11, sliding slot；2, triangle Athey wheel；3, rotation seat；31, the first joint；4, gripper driving box；41、
Limited block；5, gripper；6, second joint；61, first servo motor；62, the second servo motor；63, spiral roller；64, second
Servo motor shaft；65, fixed pulley；66, rope is connected；67, limit fixing slot；7, forearm；71, third servo motor；8, main
Arm；81, the 4th servo motor；9, storing board is transported；91, connecting rod；92, support wheel；93, supporting rod；94, fixed pin.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 6 are please referred to Fig.1, the present invention provides following technical scheme：A kind of robot carried for mountainous region, including pedestal
1, triangle Athey wheel 2, rotation seat 3, gripper driving box 4, gripper 5, second joint 6, forearm 7, principal arm 8 and transport storing board
9；Wherein, the lower end surrounding of pedestal 1 is separately installed with triangle Athey wheel 2, and the upper end centre position of pedestal 1 is equipped with rotation seat 3,
The upper end of rotation seat 3 is equipped with principal arm 8, and the other end of principal arm 8 is equipped with forearm 7, and the other end of forearm 7 is equipped with second joint
6, the lower end of second joint 6 is equipped with gripper driving box 4, and the surface of gripper driving box 4 is equipped with gripper 5, pedestal 1
Inside is equipped with transport storing board 9；
Second joint 6 includes first servo motor 61, the second servo motor 62, spiral roller 63, the second servo motor shaft 64, determines
Pulley 65, connection rope 66 and limit fixing slot 67, wherein the side upper end of second joint 6 and 7 jackshaft corresponding position of forearm
First servo motor 61 is installed, the lower end both sides of second joint 6 are mounted on the second servo motor 62, and the second servo motor turns
The excircle nesting of axis 64 is equipped with spiral roller 63, and the surface of spiral roller 63 is wound with connection rope 66, second joint 6 it is interior
Wall is both provided with the fixed pulley 65 for dredging connection rope 66, and the bottom of second joint 6 is evenly arranged with limit fixing slot 67.
Further, the upper end of rotation seat 3 is provided with the first joint 31 for limiting fixed principal arm 8, the first joint 31
Surface be equipped with for drive principal arm 8 rotate the 4th servo motor 81.
Further, principal arm 8 is provided with the third servo motor 71 for driving forearm 7 to rotate close to one end of forearm 7.
Further, it is rotatablely connected by pivot pin between the connecting shaft of triangle Athey wheel 2 and pedestal 1；One end of the connecting shaft is pacified
Equipped with hydraulic telescopic rod.
Further, the sliding slot 11 of pedestal 1 being internally provided with for storing transport storing board 9, one end of sliding slot 11 is set
It is equipped with limiting slot.
Further, connecting rod 91 and supporting rod 93, supporting rod 93 and transport storing board 9 and support wheel 92 and supporting rod
It is rotatablely connected by pivot pin between 93.
Further, the upper end of gripper driving box 4 is provided with the limited block 41 for limit, connects the another of rope 66
End is connected and fixed with limited block 41 by fixing bolt.
Further, the implementation method of a kind of robot carried for mountainous region of the present invention, includes the following steps：
（1）Carry movement：By being equipped with triangle Athey wheel 2 in the bottom of pedestal 1, keep transfer robot various in mountainous region
Road conditions are walked, and carrying is moved easily；
（2）It adjusts and carries：For lower article carrying, the rotation of the second servo motor 62 can be controlled, the second servo motor is made
Spiral roller 63 in shaft 64 rotates, and the connection rope 66 on such spiral roller 63 is transferred, and the machinery of 66 lower end of connection rope is made
Pawl driving box 4 declines, and the gripper 5 on such gripper driving box 4 can catch the article of lower, can be by level ground
Object is picked up, while making precipice side etc. lowers goods and materials can also be picked up, and is carried；
（3）Storage transport：In not external means of transport, storing board 9 is transported into extraction, then removes fixed pin 94, is rotated
93 1 hundred 80 degree of supporting rod will be fixed by fixed pin 94 between one end of connecting rod 91 and transport storing board 9, be transported in this way
9 upper end of storing board can carry out the storage transport of article, and of short duration storage and carrying can be carried out in not external means of transport, is kept away
Exempt to carry problem not in time to occur.
Further, the upper end of rotation seat 3 is provided with the first joint 31 for limiting fixed principal arm 8, the first joint 31
Surface be equipped with for drive principal arm 8 rotate the 4th servo motor 81；Principal arm 8 is provided with close to one end of forearm 7 and is used for
The third servo motor 71 for driving forearm 7 to rotate；It is rotatablely connected by pivot pin between the connecting shaft and pedestal 1 of triangle Athey wheel 2；
One end of the connecting shaft is equipped with hydraulic telescopic rod；The sliding slot 11 of pedestal 1 being internally provided with for storing transport storing board 9, sliding slot
11 one end is provided with limiting slot；Connecting rod 91 and supporting rod 93, supporting rod 93 and transport storing board 9 and support wheel 92 and branch
It is rotatablely connected by pivot pin between strut 93；The upper end of gripper driving box 4 is provided with the limited block 41 for limit, connection
The other end of rope 66 is connected and fixed with limited block 41 by fixing bolt.
Embodiment 1
By being equipped with triangle Athey wheel 2 in the bottom of pedestal 1, enable transfer robot in the various road conditions walkings in mountainous region, side
Just mobile to carry；Forearm is made by the adjusting of third servo motor 71 and the 4th servo motor 81 for lower article carrying
7 and principal arm 8 carry out rotation adjusting, so that the gripper 5 on gripper driving box 4 is captured required article, crawl the bottom of compared with while
The place that principal arm 8 and the rotation of forearm 7 are also not achieved after adjusting, can control the rotation of the second servo motor 62, keep the second servo electric
Spiral roller 63 in machine shaft 64 rotates, and the connection rope 66 on such spiral roller 63 is transferred, and the machine of 66 lower end of connection rope is made
Machinery claw driving box 4 declines, and the gripper 5 on such gripper driving box 4 can catch the article of lower；In no external transport
When tool, storing board 9 is transported into extraction, then removes fixed pin 94,93 1 hundred 80 degree of rotary supporting rod, by connecting rod 91
It is fixed by fixed pin 94 between one end and transport storing board 9, the storage fortune of article can be carried out by transporting 9 upper end of storing board in this way
It is defeated.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of robot carried for mountainous region, it is characterised in that：Including pedestal（1）, triangle Athey wheel（2）, rotation seat
（3）, gripper driving box（4）, gripper（5）, second joint（6）, forearm（7）, principal arm（8）With transport storing board（9）；Its
In, the pedestal（1）Lower end surrounding be separately installed with triangle Athey wheel（2）, the pedestal（1）Upper end centre position installation
There is rotation seat（3）, the rotation seat（3）Upper end principal arm is installed（8）, the principal arm（8）The other end forearm is installed
（7）, the forearm（7）The other end second joint is installed（6）, the second joint（6）Lower end be equipped with gripper drive
Dynamic case（4）, the gripper driving box（4）Surface gripper is installed（5）, the pedestal（1）Inside transport is installed
Storing board（9）；
The second joint（6）Including first servo motor（61）, the second servo motor（62）, spiral roller（63）, the second servo
Machine shaft（64）, fixed pulley（65）, connection rope（66）And limit fixing slot（67）, wherein the second joint（6）Side
Side upper end and forearm（7）Jackshaft corresponding position is equipped with first servo motor（61）, the second joint（6）Lower end both sides
It is mounted on the second servo motor（62）, the second servo motor shaft（64）Excircle nesting spiral roller is installed
（63）, the spiral roller（63）Surface be wound with connection rope（66）, the second joint（6）Inner wall be both provided with use
In dredging connection rope（66）Fixed pulley（65）, the second joint（6）Bottom be evenly arranged with limit fixing slot（67）.
2. a kind of robot carried for mountainous region according to claim 1, it is characterised in that：The rotation seat（3）'s
Upper end is provided with for limiting fixed principal arm（8）The first joint（31）, first joint（31）Surface be equipped with and be used for
Drive principal arm（8）4th servo motor of rotation（81）.
3. a kind of robot carried for mountainous region according to claim 1, it is characterised in that：The principal arm（8）It is close
Forearm（7）One end be provided with for driving forearm（7）The third servo motor of rotation（71）.
4. a kind of robot carried for mountainous region according to claim 1, it is characterised in that：The triangle Athey wheel
（2）Connecting shaft and pedestal（1）Between be rotatablely connected by pivot pin；The one end of the connecting shaft is equipped with hydraulic telescopic rod.
5. a kind of robot carried for mountainous region according to claim 1, it is characterised in that：The pedestal（1）It is interior
Portion is provided with for storing transport storing board（9）Sliding slot（11）, the sliding slot（11）One end be provided with limiting slot.
6. a kind of robot carried for mountainous region according to claim 1, it is characterised in that：The connecting rod（91）With
Supporting rod（93）, supporting rod（93）With transport storing board（9）And support wheel（92）With supporting rod（93）Between pass through pivot pin
Rotation connection.
7. a kind of robot carried for mountainous region according to claim 1, it is characterised in that：The gripper driving box
（4）Upper end be provided with the limited block for limit（41）, the connection rope（66）The other end and limited block（41）Pass through
Fixing bolt is connected and fixed.
8. according to a kind of implementation method for the robot carried for mountainous region of claim 1-7 any one of them, feature exists
In including the following steps：
（1）Carry movement：By in pedestal（1）Bottom triangle Athey wheel is installed（2）, enable transfer robot in mountainous region
Various road conditions walkings, are moved easily carrying；
（2）It adjusts and carries：For lower article carrying, the second servo motor can be controlled（62）Rotation keeps the second servo electric
Machine shaft（64）On spiral roller（63）Rotation, such spiral roller（63）On connection rope（66）Decentralization, makes connection rope
（66）The gripper driving box of lower end（4）Decline, such gripper driving box（4）On gripper（5）Lower can be caught
Article, the object of level ground the lowers goods and materials such as, which can be picked up to, while make precipice side, can also pick up, and be carried；
（3）Storage transport：In not external means of transport, storing board is transported into extraction（9）, then remove fixed pin（94）,
Rotary supporting rod（93）180 degree, by connecting rod（91）One end with transport storing board（9）Between pass through fixed pin（94）
It is fixed, storing board is transported in this way（9）Upper end can carry out the storage transport of article, can be carried out in not external means of transport short
It is temporary to put and carry, it avoids carrying problem not in time and occurs.
9. a kind of implementation method of robot carried for mountainous region according to claim 8, it is characterised in that：Described turn
Dynamic seat（3）Upper end be provided with for limiting fixed principal arm（8）The first joint（31）, first joint（31）Surface peace
Equipped with for driving principal arm（8）4th servo motor of rotation（81）；The principal arm（8）Close to forearm（7）One end be provided with
For driving forearm（7）The third servo motor of rotation（71）；The triangle Athey wheel（2）Connecting shaft and pedestal（1）Between
It is rotatablely connected by pivot pin；The one end of the connecting shaft is equipped with hydraulic telescopic rod；The pedestal（1）Be internally provided with for depositing
Put transport storing board（9）Sliding slot（11）, the sliding slot（11）One end be provided with limiting slot；The connecting rod（91）With support
Bar（93）, supporting rod（93）With transport storing board（9）And support wheel（92）With supporting rod（93）Between rotated by pivot pin
Connection；The gripper driving box（4）Upper end be provided with the limited block for limit（41）, the connection rope（66）It is another
One end and limited block（41）It is connected and fixed by fixing bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810523965.7A CN108657806B (en) | 2018-05-28 | 2018-05-28 | Robot for mountain land transportation and implementation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810523965.7A CN108657806B (en) | 2018-05-28 | 2018-05-28 | Robot for mountain land transportation and implementation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108657806A true CN108657806A (en) | 2018-10-16 |
| CN108657806B CN108657806B (en) | 2020-10-23 |
Family
ID=63776802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810523965.7A Active CN108657806B (en) | 2018-05-28 | 2018-05-28 | Robot for mountain land transportation and implementation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108657806B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110548815A (en) * | 2019-08-28 | 2019-12-10 | 南京视莱尔汽车电子有限公司 | Feeding device for stamping automobile parts and using method |
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|---|---|---|---|---|
| JPH0392490A (en) * | 1989-08-31 | 1991-04-17 | Framatome Et Cogema <Fragema> | Vehicle having inclinable endless truck pushing unit |
| CN203401486U (en) * | 2013-08-09 | 2014-01-22 | 殷聪聪 | Remote control medical care robot |
| CN204453647U (en) * | 2015-01-20 | 2015-07-08 | 广运机电(苏州)有限公司 | Drawer type belt feeder and cargo transfer mechanism |
| CN205009899U (en) * | 2015-08-05 | 2016-02-03 | 蔡连锁 | Complete large -scale tire equipment of taking off of tearing open of automatically move formula |
| CN105580560A (en) * | 2014-11-16 | 2016-05-18 | 张桂春 | Apple harvesting robot |
| CN106112960A (en) * | 2016-08-18 | 2016-11-16 | 甘培嘉 | A kind of modular mechanical arm |
| CN106393136A (en) * | 2016-11-25 | 2017-02-15 | 安徽智联投资集团有限公司 | Lathe mechanical arm for workpiece production |
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2018
- 2018-05-28 CN CN201810523965.7A patent/CN108657806B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0392490A (en) * | 1989-08-31 | 1991-04-17 | Framatome Et Cogema <Fragema> | Vehicle having inclinable endless truck pushing unit |
| CN203401486U (en) * | 2013-08-09 | 2014-01-22 | 殷聪聪 | Remote control medical care robot |
| CN105580560A (en) * | 2014-11-16 | 2016-05-18 | 张桂春 | Apple harvesting robot |
| CN204453647U (en) * | 2015-01-20 | 2015-07-08 | 广运机电(苏州)有限公司 | Drawer type belt feeder and cargo transfer mechanism |
| CN205009899U (en) * | 2015-08-05 | 2016-02-03 | 蔡连锁 | Complete large -scale tire equipment of taking off of tearing open of automatically move formula |
| CN106112960A (en) * | 2016-08-18 | 2016-11-16 | 甘培嘉 | A kind of modular mechanical arm |
| CN106393136A (en) * | 2016-11-25 | 2017-02-15 | 安徽智联投资集团有限公司 | Lathe mechanical arm for workpiece production |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110548815A (en) * | 2019-08-28 | 2019-12-10 | 南京视莱尔汽车电子有限公司 | Feeding device for stamping automobile parts and using method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108657806B (en) | 2020-10-23 |
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