CN108657806B - Robot for mountain land transportation and implementation method thereof - Google Patents
Robot for mountain land transportation and implementation method thereof Download PDFInfo
- Publication number
- CN108657806B CN108657806B CN201810523965.7A CN201810523965A CN108657806B CN 108657806 B CN108657806 B CN 108657806B CN 201810523965 A CN201810523965 A CN 201810523965A CN 108657806 B CN108657806 B CN 108657806B
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- servo motor
- joint
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- 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
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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a robot for carrying in mountainous regions, which comprises a base, triangular crawler wheels, a rotating seat, a mechanical claw driving box, a mechanical claw, a second joint, a small arm, a main arm and a transportation storage plate, wherein the triangular crawler wheels are arranged on the base; the crawler belt comprises a base, a rotating seat and a main arm, wherein triangular crawler wheels are respectively installed on the periphery of the lower end of the base, the rotating seat is installed in the middle of the upper end of the base, and the main arm is installed at the upper end of the rotating seat. According to the invention, the triangular crawler wheels are arranged at the bottom of the base, so that the carrying robot can walk on various road conditions in mountainous regions, the carrying is convenient, and the moving stability is improved; according to the invention, the winding roller is arranged in the second joint, so that for the carrying of lower articles, the rotation of the second servo motor can be controlled, the winding roller on the rotating shaft of the second servo motor rotates, the connecting rope on the winding roller is lowered, the mechanical claw at the lower end of the connecting rope drives the box to descend, and the mechanical claw on the mechanical claw driving box can grasp the lower articles.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot for mountain land transportation and an implementation method thereof.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
The transfer robot is an industrial robot capable of performing automated transfer work. The earliest transfer robots appeared in the united states in 1960, both Versatran and Unimate robots being used for the first time for transfer operations. The conveying operation is to hold a workpiece with one kind of equipment, and is to move from one processing position to another processing position. The transfer robot can be provided with different end effectors to finish the work of transferring workpieces in different shapes and states, thereby greatly reducing the heavy manual labor of human beings. The transfer robots used in the world are widely applied to loading and unloading of machine tools, automatic production lines of stamping machines, automatic assembly lines, stacking and transfer, automatic transfer of containers and the like, and have over 10 thousands of robots. Some developed countries have established the maximum limit for manual handling, and the handling robot must carry the excess.
The existing mountain carrying robots are usually moved in a wheel mode, and moving difficulty is caused for rugged places; the mechanical claw is often fixed and cannot descend under the limitation of the supporting arm, so that some articles below cannot be transferred; the transfer robot is only carried by the mechanical claw, and the transfer robot does not have a transfer and storage space, so that the transfer robot is inconvenient to carry and place.
Disclosure of Invention
The present invention is directed to a robot for mountain transportation, which solves the above problems of the prior art. The robot for transporting the mountainous region provided by the invention has the characteristics that the robot can move even if the road is rugged, can freely descend and is provided with a transporting plate.
The invention further aims to provide a realization method of the robot for mountain land transportation.
In order to achieve the purpose, the invention provides the following technical scheme: a robot for carrying in mountainous regions comprises a base, triangular crawler wheels, a rotating seat, a mechanical claw driving box, a mechanical claw, a second joint, a small arm, a main arm and a transportation storage plate; the device comprises a base, a main arm, a small arm, a second joint, a gripper driving box, a gripper, a transportation storage plate and a transportation storage plate, wherein triangular crawler wheels are respectively installed on the periphery of the lower end of the base, a rotating seat is installed in the middle of the upper end of the base, the upper end of the rotating seat is provided with the main arm, the other end of the main arm is provided with the small arm, the other end of the small arm is provided with the second joint, the lower end of the second joint is provided with the gripper driving box, the surface of the gripper driving box;
the second joint includes first servo motor, second servo motor, spiral roll, second servo motor pivot, fixed pulley, connection rope and spacing fixed slot, wherein, first servo motor is installed with the forearm jackshaft corresponding position in the side upper end of second joint, second servo motor is all installed to the lower extreme both sides of second joint, the spiral roll is installed to the outer circumference nestification of second servo motor pivot, the connection rope has all been twined on the surface of spiral roll, the inner wall of second joint all is provided with the fixed pulley that is used for dredging the connection rope, the bottom of second joint evenly is provided with spacing fixed slot.
In the invention, a first joint for limiting and fixing the main arm is arranged at the upper end of the rotating seat, and a fourth servo motor for driving the main arm to rotate is arranged on the surface of the first joint.
In the invention, a third servo motor for driving the small arm to rotate is arranged at one end of the main arm close to the small arm.
In the invention, the connecting shaft of the triangular crawler wheel is rotatably connected with the base through a shaft pin; and one end of the connecting shaft is provided with a hydraulic telescopic rod.
In the invention, a sliding groove for storing the transportation and storage plate is arranged in the base, and a limiting groove is arranged at one end of the sliding groove.
In the invention, the connecting rod and the supporting rod, the supporting rod and the transportation and storage plate, and the supporting wheel and the supporting rod are rotatably connected through shaft pins.
In the invention, a limiting block for limiting is arranged at the upper end of the mechanical claw driving box, and the other end of the connecting rope is fixedly connected with the limiting block through a fixing bolt.
In a further aspect of the present invention, the method for implementing a robot for mountain transportation includes the following steps:
(1) carrying and moving: the triangular crawler wheels are arranged at the bottom of the base, so that the carrying robot can walk on various road conditions in mountainous regions, and is convenient to move and carry;
(2) adjusting and carrying: for the transportation of lower articles, the second servo motor can be controlled to rotate, so that the winding roller on the rotating shaft of the second servo motor rotates, the connecting rope on the winding roller is lowered, the mechanical claw driving box at the lower end of the connecting rope descends, and the mechanical claw on the mechanical claw driving box can grab the lower articles, so that the articles on the horizontal ground can be grabbed, and meanwhile, the low articles such as the cliff and the like can also be grabbed for transportation;
(3) storage and transportation: when not having outside transport means, will take out the transportation and deposit the board, then take off the fixed pin, rotate the bracing piece one hundred eighty degrees, deposit through the fixed pin between the board with the one end of connecting rod and transportation, the transportation of depositing of article can be carried out to transportation storage plate upper end like this.
In the invention, further, in the implementation method of the robot for transporting mountainous regions, a first joint for limiting and fixing the main arm is arranged at the upper end of the rotating seat, and a fourth servo motor for driving the main arm to rotate is arranged on the surface of the first joint; a third servo motor for driving the small arm to rotate is arranged at one end, close to the small arm, of the main arm; the connecting shaft of the triangular crawler wheel is rotationally connected with the base through a shaft pin; one end of the connecting shaft is provided with a hydraulic telescopic rod; a sliding groove for storing the transportation storage plate is formed in the base, and a limiting groove is formed in one end of the sliding groove; the connecting rod and the supporting rod, the supporting rod and the transportation and storage plate, and the supporting wheel and the supporting rod are rotationally connected through shaft pins; the upper end of gripper drive case is provided with and is used for spacing stopper, the other end of connecting the rope passes through fixing bolt with the stopper and is connected fixedly.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the triangular crawler wheels are arranged at the bottom of the base, so that the carrying robot can walk on various road conditions in mountainous regions, the carrying robot is convenient to move and carry, meanwhile, the connecting shafts of the triangular crawler wheels are rotatably connected with the base through the shaft pins, and one end of each connecting shaft is provided with the hydraulic telescopic rod, so that the buffer effect is achieved, and the moving stability is improved;
2. according to the invention, the winding roll is arranged in the second joint, so that for carrying articles at lower positions, the second servo motor can be controlled to rotate, the winding roll on the rotating shaft of the second servo motor rotates, the connecting rope on the winding roll is lowered, the mechanical claw at the lower end of the connecting rope drives the box to descend, and the mechanical claw on the mechanical claw driving box can catch the articles at the lower positions;
3. according to the invention, the conveying and storing plate is arranged in the base, when no external conveying tool is available, the conveying and storing plate is taken out, then the fixing pin is taken down, the supporting rod is rotated by one hundred eighty degrees, and one end of the connecting rod is fixed with the conveying and storing plate through the fixing pin, so that the upper end of the conveying and storing plate can be used for storing and conveying articles, the articles can be stored and conveyed for a short time when no external conveying tool is available, and the problem of untimely conveying is avoided.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of a second joint of the present invention;
FIG. 3 is a schematic view of the internal structure of a second joint according to the present invention;
FIG. 4 is a schematic top view of the interior of a second joint according to the present invention;
FIG. 5 is a schematic view of a shipping pallet configuration of the present invention;
FIG. 6 is a schematic view of a shipping storage plate mounting arrangement of the present invention;
in the figure: 1. a base; 11. a chute; 2. a triangular crawler wheel; 3. a rotating seat; 31. a first joint; 4. a gripper drive box; 41. a limiting block; 5. a gripper; 6. a second joint; 61. a first servo motor; 62. a second servo motor; 63. a winding roll; 64. a second servo motor shaft; 65. a fixed pulley; 66. a connecting rope; 67. a limiting fixing groove; 7. a small arm; 71. a third servo motor; 8. a main arm; 81. a fourth servo motor; 9. a transport storage plate; 91. a connecting rod; 92. a support wheel; 93. a support bar; 94. and fixing the pin.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides the following technical solutions: a robot for carrying in mountainous regions comprises a base 1, triangular crawler wheels 2, a rotating seat 3, a mechanical claw driving box 4, a mechanical claw 5, a second joint 6, a small arm 7, a main arm 8 and a transportation storage plate 9; the periphery of the lower end of the base 1 is respectively provided with a triangular crawler wheel 2, the middle position of the upper end of the base 1 is provided with a rotating seat 3, the upper end of the rotating seat 3 is provided with a main arm 8, the other end of the main arm 8 is provided with a small arm 7, the other end of the small arm 7 is provided with a second joint 6, the lower end of the second joint 6 is provided with a mechanical claw driving box 4, the surface of the mechanical claw driving box 4 is provided with a mechanical claw 5, and the interior of the base 1 is provided with a transportation and storage plate 9;
second joint 6 includes first servo motor 61, second servo motor 62, spiral roller 63, second servo motor pivot 64, fixed pulley 65, connect rope 66 and spacing fixed slot 67, wherein, first servo motor 61 is installed with forearm 7 jackshaft corresponding position in the side upper end of second joint 6, second servo motor 62 is all installed to the lower extreme both sides of second joint 6, spiral roller 63 is installed to the outer circumference nestification of second servo motor pivot 64, spiral roller 63's surface has all twined connection rope 66, the inner wall of second joint 6 all is provided with fixed pulley 65 that is used for dredging connection rope 66, the bottom of second joint 6 evenly is provided with spacing fixed slot 67.
Further, the upper end of the rotating base 3 is provided with a first joint 31 for limiting and fixing the main arm 8, and a fourth servo motor 81 for driving the main arm 8 to rotate is mounted on the surface of the first joint 31.
Further, a third servo motor 71 for driving the small arm 7 to rotate is arranged at one end of the main arm 8 close to the small arm 7.
Further, a connecting shaft of the triangular crawler wheel 2 is rotatably connected with the base 1 through a shaft pin; one end of the connecting shaft is provided with a hydraulic telescopic rod.
Further, the base 1 is provided with a chute 11 for storing the transportation storage plate 9, and one end of the chute 11 is provided with a limit groove.
Furthermore, the connecting rod 91 and the supporting rod 93, the supporting rod 93 and the transportation and storage plate 9, and the supporting wheel 92 and the supporting rod 93 are rotatably connected through shaft pins.
Further, the upper end of the gripper driving box 4 is provided with a limiting block 41 for limiting, and the other end of the connecting rope 66 is fixedly connected with the limiting block 41 through a fixing bolt.
Further, the implementation method of the robot for mountain area transportation in the invention comprises the following steps:
(1) carrying and moving: the triangular crawler wheels 2 are arranged at the bottom of the base 1, so that the carrying robot can walk on various road conditions in mountainous regions, and is convenient to move and carry;
(2) adjusting and carrying: for the transportation of lower articles, the second servo motor 62 can be controlled to rotate, the winding roller 63 on the rotating shaft 64 of the second servo motor is rotated, so that the connecting rope 66 on the winding roller 63 is lowered, the mechanical claw driving box 4 at the lower end of the connecting rope 66 is lowered, the mechanical claw 5 on the mechanical claw driving box 4 can grab the lower articles, not only can grab the articles on the horizontal ground, but also can grab the low articles such as a cliff and the like for transportation;
(3) storage and transportation: when not having outside transport means, will take out transportation storage plate 9, then take off fixed pin 94, rotate the bracing piece 93 one hundred eighty degrees, it is fixed through fixed pin 94 between the one end of connecting rod 91 and the transportation storage plate 9, transport storage plate 9 upper end can carry out the transportation of depositing of article like this, can deposit for a short time and carry when not having outside transport means, avoid the untimely problem of transport to appear.
Further, a first joint 31 for limiting and fixing the main arm 8 is arranged at the upper end of the rotating base 3, and a fourth servo motor 81 for driving the main arm 8 to rotate is arranged on the surface of the first joint 31; a third servo motor 71 for driving the small arm 7 to rotate is arranged at one end of the main arm 8 close to the small arm 7; the connecting shaft of the triangular crawler wheel 2 is rotationally connected with the base 1 through a shaft pin; one end of the connecting shaft is provided with a hydraulic telescopic rod; a sliding chute 11 for storing the transportation storage plate 9 is arranged in the base 1, and one end of the sliding chute 11 is provided with a limiting groove; the connecting rod 91 and the supporting rod 93, the supporting rod 93 and the transportation and storage plate 9, and the supporting wheel 92 and the supporting rod 93 are rotatably connected through shaft pins; the upper end of the gripper driving box 4 is provided with a limiting block 41 for limiting, and the other end of the connecting rope 66 is fixedly connected with the limiting block 41 through a fixing bolt.
Example 1
The triangular crawler wheels 2 are arranged at the bottom of the base 1, so that the carrying robot can walk on various road conditions in mountainous regions, and is convenient to move and carry; for the transportation of lower articles, the small arm 7 and the main arm 8 are adjusted in a rotating way through the adjustment of the third servo motor 71 and the fourth servo motor 81, so that the gripper 5 on the gripper driving box 4 grips the required articles, and the second servo motor 62 can be controlled to rotate at a place which can not be reached after the main arm 8 and the small arm 7 are adjusted in a rotating way while gripping a lower article, so that the winding roller 63 on the rotating shaft 64 of the second servo motor is rotated, the connecting rope 66 on the winding roller 63 is lowered, the gripper driving box 4 at the lower end of the connecting rope 66 is lowered, and the gripper 5 on the gripper driving box 4 can grip the articles at the lower part; when there is not outside transport means, will take out transport storage plate 9, then take off fixed pin 94, rotate bracing piece 93 one hundred eighty degrees, it is fixed through fixed pin 94 between the one end of connecting rod 91 and transport storage plate 9, transport storage plate 9 upper end like this can carry out the transportation of depositing of article.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A robot for mountain transport characterized by: the device comprises a base (1), a triangular crawler wheel (2), a rotating seat (3), a mechanical claw driving box (4), a mechanical claw (5), a second joint (6), a small arm (7), a main arm (8) and a transportation and storage plate (9); the three-dimensional mechanical claw type crawler belt is characterized in that triangular crawler wheels (2) are respectively installed on the periphery of the lower end of the base (1), a rotating seat (3) is installed in the middle of the upper end of the base (1), a main arm (8) is installed at the upper end of the rotating seat (3), a small arm (7) is installed at the other end of the main arm (8), a second joint (6) is installed at the other end of the small arm (7), a mechanical claw driving box (4) is installed at the lower end of the second joint (6), mechanical claws (5) are installed on the surface of the mechanical claw driving box (4), and a transportation and storage plate (9) is installed inside the base (1);
the second joint (6) comprises a first servo motor (61), a second servo motor (62), a winding roller (63), a second servo motor rotating shaft (64), a fixed pulley (65), a connecting rope (66) and a limiting fixing groove (67), wherein, a first servo motor (61) is arranged at the upper end of the side edge of the second joint (6) and at the position corresponding to the middle shaft of the small arm (7), both sides of the lower end of the second joint (6) are provided with a second servo motor (62), a winding roll (63) is nested and mounted on the outer circumference of the second servo motor rotating shaft (64), the surface of the winding roll (63) is wound with connecting ropes (66), the inner wall of the second joint (6) is provided with fixed pulleys (65) for dredging the connecting ropes (66), the bottom of the second joint (6) is uniformly provided with a limiting fixing groove (67);
a sliding chute (11) for storing the transportation storage plate (9) is arranged in the base (1), and one end of the sliding chute (11) is provided with a limiting groove;
the connecting rod (91) is rotationally connected with the supporting rod (93), the supporting rod (93) is rotationally connected with the transportation and storage plate (9), and the supporting wheel (92) is rotationally connected with the supporting rod (93) through a shaft pin;
the upper end of gripper drive case (4) is provided with stopper (41) that are used for spacingly, the other end of connecting rope (66) is fixed with stopper (41) through fixing bolt connection.
2. A robot for mountain haulage according to claim 1 wherein: the upper end of the rotating seat (3) is provided with a first joint (31) used for limiting and fixing the main arm (8), and a fourth servo motor (81) used for driving the main arm (8) to rotate is mounted on the surface of the first joint (31).
3. A robot for mountain haulage according to claim 1 wherein: and a third servo motor (71) for driving the small arm (7) to rotate is arranged at one end, close to the small arm (7), of the main arm (8).
4. A robot for mountain haulage according to claim 1 wherein: the connecting shaft of the triangular crawler wheel (2) is rotationally connected with the base (1) through a shaft pin; and one end of the connecting shaft is provided with a hydraulic telescopic rod.
5. A method for the realization of a robot for mountain handling according to any of the claims 1-4, characterized by the following steps:
(1) carrying and moving: the triangular crawler wheels (2) are mounted at the bottom of the base (1), so that the carrying robot can walk on various road conditions in mountainous regions, and is convenient to move and carry;
(2) adjusting and carrying: for the transportation of lower articles, the second servo motor (62) is controlled to rotate, so that the winding roller (63) on the rotating shaft (64) of the second servo motor rotates, the connecting rope (66) on the winding roller (63) is lowered, the mechanical claw driving box (4) at the lower end of the connecting rope (66) descends, and the mechanical claw (5) on the mechanical claw driving box (4) can grab the lower articles, so that the articles on the horizontal ground can be grabbed, and meanwhile, the lower articles and materials can also be grabbed for transportation;
(3) storage and transportation: when not having outside transport means, will take out transportation storage plate (9), then take off fixed pin (94), rotation bracing piece (93) one hundred eighty degrees is fixed through fixed pin (94) between the one end of connecting rod (91) and transportation storage plate (9), and transportation storage plate (9) upper end carries out depositing and transporting of article like this, deposits and carries for a short time when not having outside transport means, avoids the untimely problem of transport to appear.
6. The method for implementing a robot for mountain transportation according to claim 5, wherein: a first joint (31) used for limiting and fixing the main arm (8) is arranged at the upper end of the rotating seat (3), and a fourth servo motor (81) used for driving the main arm (8) to rotate is mounted on the surface of the first joint (31); a third servo motor (71) for driving the small arm (7) to rotate is arranged at one end, close to the small arm (7), of the main arm (8); the connecting shaft of the triangular crawler wheel (2) is rotationally connected with the base (1) through a shaft pin; one end of the connecting shaft is provided with a hydraulic telescopic rod; a sliding chute (11) for storing the transportation storage plate (9) is arranged in the base (1), and one end of the sliding chute (11) is provided with a limiting groove; the connecting rod (91) is rotationally connected with the supporting rod (93), the supporting rod (93) is rotationally connected with the transportation and storage plate (9), and the supporting wheel (92) is rotationally connected with the supporting rod (93) through a shaft pin; the upper end of gripper drive case (4) is provided with stopper (41) that are used for spacingly, the other end of connecting rope (66) is fixed with stopper (41) through fixing bolt connection.
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| 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 |
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| 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 |
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| CN108657806A CN108657806A (en) | 2018-10-16 |
| CN108657806B true CN108657806B (en) | 2020-10-23 |
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| CN201810523965.7A Active CN108657806B (en) | 2018-05-28 | 2018-05-28 | Robot for mountain land transportation and implementation method thereof |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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| CN108657806A (en) | 2018-10-16 |
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