CN109109004A - A kind of portable cross clamp formula manipulator - Google Patents
A kind of portable cross clamp formula manipulator Download PDFInfo
- Publication number
- CN109109004A CN109109004A CN201811173227.0A CN201811173227A CN109109004A CN 109109004 A CN109109004 A CN 109109004A CN 201811173227 A CN201811173227 A CN 201811173227A CN 109109004 A CN109109004 A CN 109109004A
- Authority
- CN
- China
- Prior art keywords
- away
- servo motor
- linear guides
- shafts
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a kind of portable cross clamp formula manipulators, including No.1 servo motor case and manipulator clamping mechanism, side is equipped with No.1 servo motor in No.1 servo motor case, No.1 servo motor lower end is connected with motor output shaft, one end that motor output shaft is away from No.1 servo motor is connected with No.1 gear, the present invention passes through setting No.1 servo motor and No. two servo motors, it may make the manipulator clamping mechanism that can not only move up and down in vertical plane, it can also be adjusted simultaneously in the rotation that horizontal plane carries out certain angle, by being equipped with No. two linear guides in extension board bottom, and No. two linear guides connect manipulator clamping mechanism by guide rail cylinder, the manipulator clamping mechanism may make to carry out a degree of extension in horizontal plane, therefore the device can use the clamping work for meeting the requirements higher workpiece, the present invention It is simple and practical in structure, it is easy to operate, it can the service efficiency of the portable cross clamp formula manipulator significantly.
Description
Technical field:
The invention belongs to manipulator technical field, in particular to a kind of portable cross clamp formula manipulator.
Background technique:
Manipulator is widely studied and applied as critical equipment more main in important manufacturing equipment, main to apply
In automobile, ship, naval vessels, aircraft, satellite, rocket, spaceship, heavy duty machine tools, large-scale production line and equipment group and steel
The industries such as metallurgy, in the prior art, the principle that industry mechanical arm generallys use are to complete clamping by driving, and function is more single
One, so that it is not had versatility.
Summary of the invention:
The object of the invention is that providing a kind of portable cross clamp formula manipulator to solve the above-mentioned problems, solve
It has determined current existing problem.
To solve the above-mentioned problems, the present invention provides a kind of technical solutions:
A kind of portable cross clamp formula manipulator, including No.1 servo motor case and manipulator clamping mechanism, described one
Side is equipped with No.1 servo motor in number servo motor case, and No.1 servo motor lower end is connected with motor output shaft, described
One end that motor output shaft is away from No.1 servo motor is connected with No.1 gear, No.1 gear side and in No.1 servo
No. two gears are equipped in motor housing, one end that No. two gears are away from No.1 servo motor is connected with No.1 shaft, described
No.1 servo motor case lower end is connected with No.1 baffle, and the side that the No.1 baffle is away from No.1 servo motor case is connected with
No.1 linear guides, one end that the No.1 linear guides are away from No.1 baffle are connected with No. two baffles, the No.1 baffle
It is connected by No.1 linear guides with No. two baffles, is connected on the No.1 linear guides close to the side of No.1 servo motor case
It is connected to No.1 limit card board, the No.1 linear guides are connected with No. two limit card boards on the side of No. two baffles, described
Linear slide block is connected on No.1 linear guides, the side of the No.1 linear guides is equipped with screw rod, and one end of the screw rod connects
It is connected to shaft coupling, one end that the shaft coupling is away from screw rod is connected with No.1 baffle, and the No.1 shaft is kept off across No.1
Piece is connected with shaft coupling, and the No.1 shaft is connected by shaft coupling with screw rod.
Preferably, one end that the screw rod is away from shaft coupling is connected with No.1 bearing, the No.1 bearing is away from
One end of screw rod is connected with No. two baffles, and the shaft coupling is connected by screw rod with No.1 bearing, is arranged on the screw rod
There is adjusting nut, the adjusting nut is connected with No.1 connecting rod close to the side of linear slide block, and the No.1 connecting rod is separate
It is connected in the side of adjusting nut with linear slide block, the adjusting nut is connected by No.1 connecting rod with linear slide block,
One end that the adjusting nut is away from No.1 connecting rod is connected with No. two connecting rods, and No. two connecting rods are away from adjusting spiral shell
Female one end is connected with No. two servo motor casees, and top is equipped with No. two servo motors in No. two servo motor casees, and described two
Number servo motor case outer top is equipped with electric machine controller, and No. two servo motor two sides are connected with damping connecting plate, described to subtract
The side that shake connecting plate is away from No. two servo motors is connected with No. two servo motor chamber interior walls, two on the damping connecting plate
End is connected separately with caging bolt, the damping connecting plate by caging bolt respectively with No. two servo motors and No. two servo electricity
Cabinet is connected, and bottom end is connected with No. two shafts under No. two servo motors, and No. two shafts are away from No. two servo electricity
One end of machine is connected with No. two bearings.
Preferably, one end that No. two bearings are away from No. two shafts is connected with bottom in No. two servo motor casees
It connects, No. two servo motor case lower end sides are equipped with fluting, and No. two shafts and opposite side of slotting are connected with welding
Fixed plate, it is described plate be welded and fixed be away from the sides of No. two shafts be connected with extension board, be connected on the extension board lower end
No. two linear guides are connected with guide rail cylinder on No. two linear guides, and the guide rail cylinder is away from the one of No. two shafts
Side is connected with manipulator clamping mechanism, and the side of close guide rail cylinder is equipped with bearing plate in the manipulator clamping mechanism, described
Bearing plate is fixedly connected with No. two shafts, and one end that the bearing plate is away from No. two shafts is connected with telescopic cylinder, described to stretch
One end that contracting cylinder is away from bearing plate is connected with No.1 telescopic rod, and the No.1 telescopic rod is away from the two sides of telescopic cylinder
It is connected with No.1 hinge, one end that the No.1 hinge is away from No.1 telescopic rod is connected with minitype cylinder, the minitype cylinder
The one end for being away from No.1 hinge is connected with No. two telescopic rods, and the No.1 hinge is away from the side of telescopic cylinder and in No.1
It is connected with No. two hinges on telescopic rod, No. three connecting rods, described No. three connecting rod one end and two are connected on No. two hinges
Number telescopic rod is connected, and one end that No. three connecting rods are away from No. two telescopic rods is connected with rubber clamping head.
Preferably, the manipulator clamping mechanism is slidably connected by guide rail cylinder and No. two linear guides.
Preferably, the maximum angle of the extension board rotation is-degree.
Preferably, the adjusting nut is fixedly connected with No.1 connecting rod and No. two connecting rods.
Preferably, the model YK31C of the electric machine controller, and the electric machine controller and No. two servo motor electricity
Property connection.
Preferably, the No.1 hinge is flexibly connected with minitype cylinder.
Beneficial effects of the present invention: a kind of portable cross clamp formula manipulator of the present invention passes through setting No.1 servo electricity
Machine and No. two servo motors, may make the manipulator clamping mechanism that can not only move up and down in vertical plane, while can also be in water
The rotation that plane carries out certain angle is adjusted, by being equipped with No. two linear guides and No. two linear guides in extension board bottom
Manipulator clamping mechanism is connected by guide rail cylinder, the manipulator clamping mechanism may make to carry out a degree of prolong in horizontal plane
It stretches, therefore the device can use the clamping work for meeting the requirements higher workpiece, the configuration of the present invention is simple is practical, and it is easy to operate,
It is greatly improved the service efficiency of the portable cross clamp formula manipulator.
Detailed description of the invention:
Detailed description will be given by the following detailed implementation and drawings by the present invention for ease of explanation,.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is manipulator clamping mechanism structure schematic diagram of the invention；
Fig. 3 is enlarged structure schematic diagram at A of the invention.
In figure: 1, No.1 servo motor case；2, No.1 servo motor；3, motor output shaft；4, No.1 gear；5, No. two teeth
Wheel；6, No.1 shaft；7, No.1 baffle；8, No.1 limit card board；9, No.1 linear guides；10, No. two limit card boards；11, two
Number baffle；12, shaft coupling；13, screw rod；14, No.1 bearing；15, adjusting nut；16, No.1 connecting rod；17, linear slide block；
18, No. two connecting rods；19, No. two servo motor casees；20, electric machine controller；21, No. two servo motors；22, damping connecting plate；
23, caging bolt；24, No. two shafts；25, No. two bearings；26, plate is welded and fixed；27, extension board；28, it slots；29, No. two lines
Property guide rail；30, guide rail cylinder；31, manipulator clamping mechanism；32, bearing plate；33, telescopic cylinder；34, No.1 telescopic rod；35,
No.1 hinge；36, minitype cylinder；37, No. two telescopic rods；38, No. three connecting rods；39, rubber clamping head；40, No. two hinges.
Specific embodiment:
As shown in Figure 1-3, present embodiment uses following technical scheme: a kind of portable cross clamp formula is mechanical
Hand, including No.1 servo motor case 1 and manipulator clamping mechanism 31, side is watched equipped with No.1 in the No.1 servo motor case 1
Motor 2 is taken, 2 lower end of No.1 servo motor is connected with motor output shaft 3, and the motor output shaft 3 is away from No.1 servo
One end of motor 2 is connected with No.1 gear 4,4 side of No.1 gear and No. two gears is equipped in No.1 servo motor case 1
5, one end that No. two gears 5 are away from No.1 servo motor 2 is connected with No.1 shaft 6, under the No.1 servo motor case 1
End is connected with No.1 baffle 7, and the side that the No.1 baffle 7 is away from No.1 servo motor case 1 is connected with No.1 linear guides
9, one end that the No.1 linear guides 9 are away from No.1 baffle 7 is connected with No. two baffles 11, and the No.1 baffle 7 passes through one
Number linear guides 9 are connected with No. two baffles 11, connect on the No.1 linear guides 9 close to the side of No.1 servo motor case 1
It is connected to No.1 limit card board 8, the No.1 linear guides 9 are connected with No. two limit card boards on the side of No. two baffles 11
10, linear slide block 17 is connected on the No.1 linear guides 9, the side of the No.1 linear guides 9 is equipped with screw rod 13, described
One end of screw rod 13 is connected with shaft coupling 12, and one end that the shaft coupling 12 is away from screw rod 13 is connected with No.1 baffle 7, institute
It states No.1 shaft 6 to be connected across No.1 baffle 7 with shaft coupling 12, the No.1 shaft 6 passes through shaft coupling 12 and 13 phase of screw rod
Connection.
Wherein, one end that the screw rod 13 is away from shaft coupling 12 is connected with No.1 bearing 14, and the No.1 bearing 14 is remote
It is connected from one end in screw rod 13 with No. two baffles 11, the shaft coupling 12 is connected by screw rod 13 with No.1 bearing 14,
Adjusting nut 15 is arranged on the screw rod 13, the adjusting nut 15 is connected with No.1 connection close to the side of linear slide block 17
Bar 16, the side that the No.1 connecting rod 16 is away from adjusting nut 15 are connected with linear slide block 17, the adjusting nut 15
It is connected by No.1 connecting rod 16 with linear slide block 17, the adjusting nut 15 is away from one end connection of No.1 connecting rod 16
There are No. two connecting rods 18, one end that No. two connecting rods 18 are away from adjusting nut 15 is connected with No. two servo motor casees 19,
Top is equipped with No. two servo motors 21 in No. two servo motor casees 19, and 19 outer top of No. two servo motor casees is equipped with electricity
Machine controller 20,21 two sides of No. two servo motors are connected with damping connecting plate 22, and the damping connecting plate 22 is away from two
The side of number servo motor 21 is connected with No. two 19 inner walls of servo motor case, and both ends are separately connected on the damping connecting plate 22
Have a caging bolt 23, the damping connecting plate 22 by caging bolt 23 respectively with No. two servo motors 21 and No. two servo motors
Case 19 is connected, and the lower bottom end of No. two servo motors 21 is connected with No. two shafts 24, and No. two shafts 24 are away from No. two
One end of servo motor 21 is connected with No. two bearings 25.
Wherein, one end that No. two bearings 25 are away from No. two shafts 24 is connected with bottom in No. two servo motor casees 19
It connects, the 19 lower end side of No. two servo motor casees is equipped with fluting 28, and No. two shafts 24 side opposite with fluting 28 connects
Be connected to and plate 26 be welded and fixed, it is described plate 26 be welded and fixed be away from the sides of No. two shafts 24 be connected with extension board 27, it is described to prolong
It stretches and is connected with No. two linear guides 29 on 27 lower end of plate, be connected with guide rail cylinder 30 on No. two linear guides 29, it is described to lead
The side that rail cylinder 30 is away from No. two shafts 24 is connected with manipulator clamping mechanism 31, leans in the manipulator clamping mechanism 31
The side of nearly guide rail cylinder 30 is equipped with bearing plate 32, and the bearing plate 32 is fixedly connected with No. two shafts 24, the bearing plate 32
The one end for being away from No. two shafts 24 is connected with telescopic cylinder 33, and the telescopic cylinder 33 is away from one end connection of bearing plate 32
There is No.1 telescopic rod 34, the No.1 telescopic rod 34, which is away from the two sides of telescopic cylinder 33, is connected with No.1 hinge 35, described
One end that No.1 hinge 35 is away from No.1 telescopic rod 34 is connected with minitype cylinder 36, and the minitype cylinder 36 is away from No.1 hinge
One end of chain 35 is connected with No. two telescopic rods 37, and the No.1 hinge 35 is away from the side of telescopic cylinder 33 and stretches in No.1
It is connected with No. two hinges 40 on bar 34, No. three connecting rods 38, No. three connecting rods 38 1 are connected on No. two hinges 40
End is connected with No. two telescopic rods 37, and one end that No. three connecting rods 38 are away from No. two telescopic rods 37 is connected with rubber clamping
First 39.
Wherein, the manipulator clamping mechanism 31 is slidably connected by guide rail cylinder 30 with No. two linear guides 29.
Wherein, the maximum angle that the extension board 27 rotates is 0-120 degree.
Wherein, the adjusting nut 15 is fixedly connected with No.1 connecting rod 16 and No. two connecting rods 18.
Wherein, the model YK31C of the electric machine controller 20, and the electric machine controller 20 and No. two servo motors 21
It is electrically connected.
Wherein, the No.1 hinge 35 is flexibly connected with minitype cylinder 36.
Specific: the present invention when in use, opens No.1 servo motor 2 and No. two servo motors 21, and 13 turns of screw rod
It is dynamic that adjusting nut 15 is driven to move up and down on screw rod 13, while No. two shafts 24 rotate, and may make the manipulator clamping mechanism
31 can not only move up and down in vertical plane, while can also adjust in the rotation that horizontal plane carries out certain angle, by extending
27 bottom of plate is equipped with No. two linear guides 29, manipulator clamping mechanism 31 can be driven in horizontal plane by opening guide rail cylinder 30
A degree of extension is carried out, because being flexibly connected between No.1 hinge 35 and minitype cylinder 36, so when minitype cylinder 36 is opened
When, No. three connecting rods 38 are squeezed by No. two telescopic rods 37, can be carried out in this way by rubber clamping head 39
Work is clamped, therefore the device can use the clamping work for meeting the requirements higher workpiece, the configuration of the present invention is simple is practical, operation
It is convenient, it can the service efficiency of the portable cross clamp formula manipulator significantly.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, the technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention, the claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of portable cross clamp formula manipulator, including No.1 servo motor case (1) and manipulator clamping mechanism (31),
Be characterized in that: the interior side of the No.1 servo motor case (1) is equipped with No.1 servo motor (2), under the No.1 servo motor (2)
End is connected with motor output shaft (3), and one end that the motor output shaft (3) is away from No.1 servo motor (2) is connected with No.1
Gear (4), No.1 gear (4) side and is equipped with No. two gears (5), No. two teeth in the No.1 servo motor case (1)
One end that wheel (5) is away from No.1 servo motor (2) is connected with No.1 shaft (6), and the No.1 servo motor case (1) lower end connects
It is connected to No.1 baffle (7), the side that the No.1 baffle (7) is away from No.1 servo motor case (1) is connected with No.1 and linearly leads
Rail (9), one end that the No.1 linear guides (9) are away from No.1 baffle (7) are connected with No. two baffles (11), the No.1 gear
Piece (7) is connected by No.1 linear guides (9) with No. two baffles (11), is watched on the No.1 linear guides (9) close to No.1
The side for taking motor housing (1) is connected with No.1 limit card board (8), close No. two baffles (11) of the No.1 linear guides (9)
It is connected with No. two limit card boards (10) on side, is connected with linear slide block (17), the No.1 on the No.1 linear guides (9)
The side of linear guides (9) is equipped with screw rod (13), and one end of the screw rod (13) is connected with shaft coupling (12), the shaft coupling
(12) one end for being away from screw rod (13) is connected with No.1 baffle (7), the No.1 shaft (6) pass through No.1 baffle (7) with
Shaft coupling (12) is connected, and the No.1 shaft (6) is connected by shaft coupling (12) with screw rod (13).
2. a kind of portable cross clamp formula manipulator according to claim 1, it is characterised in that: the screw rod (13) is remote
Be connected with No.1 bearing (14) from one end of shaft coupling (12), the No.1 bearing (14) be away from one end of screw rod (13) with
No. two baffles (11) are connected, and the shaft coupling (12) is connected by screw rod (13) with No.1 bearing (14), the screw rod
(13) it is arranged on adjusting nut (15), the adjusting nut (15) is connected with No.1 connection close to the side of linear slide block (17)
Bar (16), the side that the No.1 connecting rod (16) is away from adjusting nut (15) are connected with linear slide block (17), the tune
Section nut (15) is connected by No.1 connecting rod (16) with linear slide block (17), and the adjusting nut (15) is away from No.1 company
One end of extension bar (16) is connected with No. two connecting rods (18), and No. two connecting rods (18) are away from one end of adjusting nut (15)
No. two servo motor casees (19) are connected with, the interior top of No. two servo motor casees (19) is equipped with No. two servo motors (21), institute
No. two servo motor case (19) outer tops are stated equipped with electric machine controller (20), No. two servo motors (21) two sides, which are connected with, to be subtracted
Shake connecting plate (22), the damping connecting plate (22) be away from No. two servo motors (21) side and No. two servo motor casees
(19) inner wall is connected, and both ends are connected separately with caging bolt (23) on the damping connecting plate (22), the damping connecting plate
(22) it is connected respectively with No. two servo motors (21) and No. two servo motor casees (19) by caging bolt (23), described No. two
Bottom end is connected with No. two shafts (24) under servo motor (21), and No. two shafts (24) are away from No. two servo motors (21)
One end is connected with No. two bearings (25).
3. a kind of portable cross clamp formula manipulator according to claim 2, it is characterised in that: No. two bearings
(25) one end for being away from No. two shafts (24) is connected with No. two interior bottoms of servo motor case (19), No. two servo motors
Case (19) lower end side is equipped with fluting (28), and No. two shafts (24) side opposite with fluting (28), which is connected with, to be welded and fixed
Plate (26), it is described plate (26) be welded and fixed be away from the sides of No. two shafts (24) be connected with extension board (27), the extension board
(27) it is connected with No. two linear guides (29) on lower end, is connected with guide rail cylinder (30), institute on No. two linear guides (29)
It states guide rail cylinder (30) and is away from the sides of No. two shafts (24) and be connected with manipulator clamping mechanism (31), the manipulator clamping
Side in mechanism (31) close to guide rail cylinder (30) is equipped with bearing plate (32), and the bearing plate (32) is solid with No. two shafts (24)
Fixed connection, one end that the bearing plate (32) is away from No. two shafts (24) is connected with telescopic cylinder (33), the telescopic cylinder
(33) one end for being away from bearing plate (32) is connected with No.1 telescopic rod (34), and the No.1 telescopic rod (34) is away from flexible gas
It is connected on the two sides of cylinder (33) No.1 hinge (35), one end that the No.1 hinge (35) is away from No.1 telescopic rod (34) connects
It is connected to minitype cylinder (36), one end that the minitype cylinder (36) is away from No.1 hinge (35) is connected with No. two telescopic rods
(37), the No.1 hinge (35) is away from the side of telescopic cylinder (33) and is connected with No. two hinges on No.1 telescopic rod (34)
Chain (40) is connected with No. three connecting rods (38) on No. two hinges (40), and No. three connecting rods (38) one end is stretched with No. two
Contracting bar (37) is connected, and one end that No. three connecting rods (38) are away from No. two telescopic rods (37) is connected with rubber clamping head
(39)。
4. a kind of portable cross clamp formula manipulator according to claim 3, it is characterised in that: the manipulator clamping
Mechanism (31) is slidably connected by guide rail cylinder (30) with No. two linear guides (29).
5. a kind of portable cross clamp formula manipulator according to claim 3, it is characterised in that: the extension board (27)
The maximum angle of rotation is 0-120 degree.
6. a kind of portable cross clamp formula manipulator according to claim 2, it is characterised in that: the adjusting nut
(15) it is fixedly connected with No.1 connecting rod (16) and No. two connecting rods (18).
7. a kind of portable cross clamp formula manipulator according to claim 2, it is characterised in that: the electric machine controller
(20) model YK31C, and the electric machine controller (20) is electrically connected with No. two servo motors (21).
8. a kind of portable cross clamp formula manipulator according to claim 3, it is characterised in that: the No.1 hinge
(35) it is flexibly connected with minitype cylinder (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811173227.0A CN109109004A (en) | 2018-10-09 | 2018-10-09 | A kind of portable cross clamp formula manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811173227.0A CN109109004A (en) | 2018-10-09 | 2018-10-09 | A kind of portable cross clamp formula manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109109004A true CN109109004A (en) | 2019-01-01 |
Family
ID=64857576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811173227.0A Withdrawn CN109109004A (en) | 2018-10-09 | 2018-10-09 | A kind of portable cross clamp formula manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109109004A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293512A (en) * | 2019-06-18 | 2019-10-01 | 温州中壹技术研究院有限公司 | A kind of mechanical arm device and control system |
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|---|---|---|---|---|
| CN200981235Y (en) * | 2006-12-15 | 2007-11-28 | 深圳市新三思材料检测有限公司 | Automatic feeding mechanical arm |
| KR101378010B1 (en) * | 2012-11-26 | 2014-03-25 | (주)디엠비에이치 | Robot arm |
| CN105619436A (en) * | 2016-04-12 | 2016-06-01 | 广东拓斯达科技股份有限公司 | T-shaped manipulator |
| CN105922241A (en) * | 2016-06-24 | 2016-09-07 | 无锡市宇正铁路油封制造有限公司 | Dual-face and dual-guiding-rail five-axis manipulator with counterweight |
| CN207726378U (en) * | 2018-03-12 | 2018-08-14 | 天津美安驰自动化科技有限公司 | A kind of mechanical clamp for automatic stacking system |
| CN108481357A (en) * | 2018-03-22 | 2018-09-04 | 陈阳 | A kind of electricapparatus hand for work pieces process transhipment |
-
2018
- 2018-10-09 CN CN201811173227.0A patent/CN109109004A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200981235Y (en) * | 2006-12-15 | 2007-11-28 | 深圳市新三思材料检测有限公司 | Automatic feeding mechanical arm |
| KR101378010B1 (en) * | 2012-11-26 | 2014-03-25 | (주)디엠비에이치 | Robot arm |
| CN105619436A (en) * | 2016-04-12 | 2016-06-01 | 广东拓斯达科技股份有限公司 | T-shaped manipulator |
| CN105922241A (en) * | 2016-06-24 | 2016-09-07 | 无锡市宇正铁路油封制造有限公司 | Dual-face and dual-guiding-rail five-axis manipulator with counterweight |
| CN207726378U (en) * | 2018-03-12 | 2018-08-14 | 天津美安驰自动化科技有限公司 | A kind of mechanical clamp for automatic stacking system |
| CN108481357A (en) * | 2018-03-22 | 2018-09-04 | 陈阳 | A kind of electricapparatus hand for work pieces process transhipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293512A (en) * | 2019-06-18 | 2019-10-01 | 温州中壹技术研究院有限公司 | A kind of mechanical arm device and control system |
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Application publication date: 20190101 |
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| WW01 | Invention patent application withdrawn after publication |