CN109746937A - Manipulator and wheel rim handling equipment - Google Patents
Manipulator and wheel rim handling equipment Download PDFInfo
- Publication number
- CN109746937A CN109746937A CN201910154068.8A CN201910154068A CN109746937A CN 109746937 A CN109746937 A CN 109746937A CN 201910154068 A CN201910154068 A CN 201910154068A CN 109746937 A CN109746937 A CN 109746937A
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- clamping jaw
- driving device
- driving
- mobile base
- clamping
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- 239000000463 material Substances 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000003754 machining Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 206010053615 Thermal burn Diseases 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000003818 cinder Substances 0.000 description 2
- IYLGZMTXKJYONK-ACLXAEORSA-N (12s,15r)-15-hydroxy-11,16-dioxo-15,20-dihydrosenecionan-12-yl acetate Chemical compound O1C(=O)[C@](CC)(O)C[C@@H](C)[C@](C)(OC(C)=O)C(=O)OCC2=CCN3[C@H]2[C@H]1CC3 IYLGZMTXKJYONK-ACLXAEORSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- IYLGZMTXKJYONK-UHFFFAOYSA-N ruwenine Natural products O1C(=O)C(CC)(O)CC(C)C(C)(OC(C)=O)C(=O)OCC2=CCN3C2C1CC3 IYLGZMTXKJYONK-UHFFFAOYSA-N 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The present invention provides a kind of manipulator and wheel rim handling equipments, it is related to material transfer technical field, manipulator provided by the invention includes first driving device, Mobile base, the second driving device and the clamping limb for clamping material, wherein: first driving device is connect with Mobile base, and first driving device is for driving Mobile base close to or far from material；Second driving device is connect with Mobile base and clamping limb respectively, and the second driving device is for driving clamping limb to rotate relative to Mobile base.Manipulator provided by the invention can effectively reduce worker's amount of labour, improve materiel machining efficiency, guarantee the personal safety of staff.
Description
Technical field
The present invention relates to material transfer technical fields, more particularly, to a kind of manipulator and wheel rim handling equipment.
Background technique
Automobiles without inner tubes wheel rim can pass through the technical process for being welded to scarfing cinder, take turns in the process during production
Rim generates heat seriously after welding, is manually transported to subsequent processing scarfing cinder, it is likely that cause to scald, and manual handling efficiency
It is low.
Therefore, how a kind of higher manipulator of transfer efficiency is provided and wheel rim handling equipment is those skilled in the art
One of technical problem to be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of manipulator and wheel rim handling equipments, can effectively reduce worker's labour
Amount improves materiel machining efficiency, guarantees the personal safety of staff.
To achieve the above object, the present invention the following technical schemes are provided:
In a first aspect, the present invention provides a kind of manipulator, including first driving device, Mobile base, the second driving device and
For clamping the clamping limb of material, in which:
First driving device is connect with Mobile base, and first driving device is for driving Mobile base close to or far from material；
Second driving device is connect with Mobile base and clamping limb respectively, the second driving device for drive clamping limb relative to
Mobile base rotation.
Further, first driving device includes mounting base and the first driving mechanism connecting with mounting base, mounting base
It is equipped with the first guide rail, the first driving mechanism is for driving Mobile base to slide along the first rail.
Further, the first driving mechanism includes first motor and transmission component, transmission component respectively with first motor and
Mobile base connection.
Further, transmission component includes lead screw and at least one nut connecting with threads of lead screw, lead screw and first
The power output axis connection of motor, nut are connect with Mobile base.
Further, the second driving device include the second motor and retarder, retarder respectively with the second motor and clamping
Arm connection, retarder is for driving clamping limb to rotate relative to Mobile base.
Further, clamping limb includes linking arm, the first clamping jaw and the second clamping jaw, in which:
Linking arm is connect by the second driving device with Mobile base；
First clamping jaw and the second clamping jaw are connect with linking arm, and the first clamping jaw and the second clamping jaw cooperation clamping material.
Further, third driving device is equipped between the first clamping jaw and linking arm, third driving device is for driving the
One clamping jaw is close to or far from the second clamping jaw；
Fourth drive device is equipped between second clamping jaw and linking arm, fourth drive device is close for driving the second clamping jaw
Or far from the first clamping jaw.
Further, third driving device is equipped with the second guide rail, and the first clamping jaw is slidably connected with the second guide rail；
Fourth drive device is equipped with third guide rail, and the second clamping jaw is slidably connected with third guide rail.
Further, third driving device includes the first cylinder body and the first push rod, and the first cylinder body is connect with linking arm, and first
One end of push rod is slidably connected with the first cylinder body, and the other end is connect with the first clamping jaw；
Fourth drive device includes the second cylinder body and the second push rod, and the second cylinder body is connect with linking arm, and the one of the second push rod
End is slidably connected with the second cylinder body, and the other end is connect with the second clamping jaw.
Second aspect, the present invention also provides a kind of wheel rim handling equipments, including manipulator any in first aspect.
Manipulator and wheel rim handling equipment provided by the invention can generate it is following the utility model has the advantages that
When stating manipulator in use, first driving device drives Mobile base close to material to be transported, subsequent second driving
Device driving clamping limb is rotated clockwise or counterclockwise relative to Mobile base, and the end of clamping limb is enabled to grab material, when
After clamping limb grabs material, the second driving device driving clamping limb is rotated backward, at the same time, first driving device driving movement
Nearly unloading station is seated against, clamping limb discharges material, realizes the transhipment of material.
For compared with the existing technology, the manipulator that first aspect present invention provides can be realized the transhipment of material, especially
It is when material is overweight or temperature of charge is higher, it has not been convenient to when workers carry, worker's amount of labour can be effectively reduced, improve object
Expect processing efficiency, guarantees the personal safety of staff.
For compared with the existing technology, second aspect of the present invention provide wheel rim handling equipment can rapid pair-wheel rim into
Row loading and unloading, need not rely on manual handling, effectively avoid personnel's scald, improve wheel rim production efficiency.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the front view of manipulator provided in an embodiment of the present invention；
Fig. 2 is the top view of manipulator provided in an embodiment of the present invention；
Fig. 3 is the A-A cross-sectional view of Fig. 2；
Fig. 4 is the internal structure view of third driving device provided in an embodiment of the present invention.
Icon: 1- first driving device；11- mounting base；The first guide rail of 111-；The first driving mechanism of 12-；121-
First motor；122- transmission component；1221- lead screw；1222- nut；2- Mobile base；The second driving device of 3-；31-
Two motors；32- retarder；4- clamping limb；41- linking arm；The first clamping jaw of 42-；The second clamping jaw of 43-；The driving of 5- third
Device；6- fourth drive device.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1 is the front view of manipulator provided in an embodiment of the present invention；Fig. 2 is manipulator provided in an embodiment of the present invention
Top view；Fig. 3 is the A-A cross-sectional view of Fig. 2；Fig. 4 is that the internal structure of third driving device provided in an embodiment of the present invention regards
Figure.
The purpose of the present embodiment is that a kind of manipulator is provided, as shown in Figure 1 to Figure 3, including first driving device 1, shifting
Dynamic seat 2, the second driving device 3 and the clamping limb 4 for clamping material, in which:
First driving device 1 is connect with Mobile base 2, and first driving device 1 is for driving Mobile base 2 close to or far from object
Material；
Second driving device 3 is connect with Mobile base 2 and clamping limb 4 respectively, and the second driving device 3 is for driving clamping limb 4
It is rotated relative to Mobile base 2.
When stating manipulator in use, first driving device drives Mobile base close to material to be transported, subsequent second driving
Device driving clamping limb is rotated clockwise or counterclockwise relative to Mobile base, and the end of clamping limb is enabled to grab material, when
After clamping limb grabs material, the second driving device driving clamping limb is rotated backward, at the same time, first driving device driving movement
Nearly unloading station is seated against, clamping limb discharges material, realizes the transhipment of material.
For compared with the existing technology, the manipulator that the embodiment of first aspect present invention provides can be realized turning for material
Fortune, especially when material is overweight or temperature of charge is higher, it has not been convenient to when workers carry, worker's labour can be effectively reduced
Amount improves materiel machining efficiency, guarantees the personal safety of staff.
It should be noted that first driving device 1 can be the various knots that can drive Mobile base 2 close to or far from material
Structure, such as hydraulic cylinder, pneumatic cylinder, linear motor, first driving device 1 are also possible to the combination of motor and transmission mechanism, will revolve
Transhipment turn turns to linear motion.In short, the specific structure of first driving device 1 can be it is diversified, it is not another herein
One enumerates.
In at least one embodiment, as shown in figure 3, in order to enable Mobile base 2 is more stable close to or far from material,
One driving device 1 includes mounting base 11 and the first driving mechanism 12 connecting with mounting base 11, and mounting base 11 is equipped with first
Guide rail 111, Mobile base 2 are slidably connected with the first guide rail 111, and the first driving mechanism 12 is for driving Mobile base 2 along the first guide rail
111 slidings.
When in use, mounting base 11 can be fixed on external object, and the first driving mechanism 12 drives Mobile base 2 along first
Guide rail 111 is positive to be slided close to material, driving Mobile base 2 along 111 reverse slide of the first guide rail far from material, in the process,
First guide rail 111 has certain guiding role, can guarantee that Mobile base 2 is stable mobile relative to mounting base 11.
Specifically, as shown in Figure 1 to Figure 3, the first driving mechanism 12 includes first motor 121 and transmission component 122, transmission
Component 122 is connect with first motor 121 and Mobile base 2 respectively.Transmission component 122 can be by the rotary motion of first motor 121
It is converted into linear motion, so that Mobile base 2 be driven to move along the first guide rail 111.
Wherein, as shown in figures 1 and 3, in order to enable the structure of transmission component 122 is more simple, transmission component 122 can
To include lead screw 1221 and at least one nut being threadedly coupled with lead screw 1,221 1222, lead screw 1221 and first motor 121
Power output axis connection, nut 1222 connect with Mobile base 2.
When the power output shaft of first motor 121 rotates forward, lead screw 1221 rotates forward therewith, due to nut 1222 and lead screw 1221
It is threadedly coupled, and nut 1222 is connect with Mobile base 2, nut 1222 is rotated forward relative to lead screw 1221, to drive 2 edge of Mobile base
First guide rail 111 is close to material；Similarly when the power output shaft reversion of first motor 121, lead screw 1221 inverts therewith, due to spiral shell
Mother 1222 is threadedly coupled with lead screw 1221, and nut 1222 is connect with Mobile base 2, and nut 1222 is inverted relative to lead screw 1221,
To drive Mobile base 2 along the first guide rail 111 far from material.
It should be noted that the second driving device 3 can be rotary electric machine, it is also possible to hydraulic cylinder, pneumatic cylinder isoline
Transform linear motion is rotary motion by the combination of telecontrol equipment and transmission mechanism.In short, the specific knot of the second driving device 3
Structure can be diversified, will not enumerate herein.
Specifically, as shown in Figure 1, the second driving device 3 include the second motor 31 and retarder 32, retarder 32 respectively with
Second motor 31 and clamping limb 4 connect, and retarder 32 is for driving clamping limb 4 to rotate relative to Mobile base 2.
The output revolving speed of the power output axis connection of retarder 32 and the second motor 31, the second motor 31 subtracts through retarder 32
Clamping limb 4 is transferred to after speed.To drive clamping limb 4 to rotate relative to Mobile base 2.
In at least one embodiment, the rotational plane of clamping limb 4 is perpendicular to the moving direction of Mobile base 2, i.e. clamping limb 4
Pivot center be parallel to the moving direction of Mobile base 2 so that one timing of length of clamping limb 4, along perpendicular to Mobile base 2
Moving direction rotation being capable of inswept bigger area.
In some embodiments, as shown in Figure 1, in order to enable above-mentioned clamping limb 4 when rotating inswept area it is bigger, clamping
Arm 4 includes linking arm 41, the first clamping jaw 42 and the second clamping jaw 43, in which: linking arm 41 passes through the second driving device 3 and Mobile base
2 connections；First clamping jaw 42 and the second clamping jaw 43 are connect with linking arm 41, and the first clamping jaw 42 and the second clamping jaw 43 cooperation clamping object
Material.
Specifically, moving direction of the linking arm 41 perpendicular to Mobile base 2, one end of linking arm 41 and the second driving device 3
Connection, the other end are connect with the first clamping jaw 42 and the second clamping jaw 43.When the second driving device 3 includes the second motor 31 and retarder
When 32, the power output the tip of the axis of retarder 32 is equipped with attachment base, and linking arm 41 passes through the power of attachment base and retarder 32
Export axis connection.
Wherein, attachment base can be detachably connected with linking arm 41, and linking arm 41 is adjustable relative to the position of attachment base.
Specifically, clamping screw, when unscrewing clamping screw, position of the adjustable linking arm 41 relative to attachment base can be equipped on attachment base
It sets；When tightening clamping screw, clamping screw locks position of the linking arm 41 relative to attachment base.It is carried out by taking Fig. 1 as an example specific
Illustrate, when needing to shorten linking arm 41 and rotating when inswept area, linking arm 41 can be moved down, reduce 42 He of the first clamping jaw
The radius of gyration of second clamping jaw 43；When needing to expand linking arm 41 and rotating when inswept area, linking arm 41 can be moved up,
Increase the radius of gyration of the first clamping jaw 42 and the second clamping jaw 43.
In some embodiments, as shown in figure 3, being equipped with third driving device 5 between the first clamping jaw 42 and linking arm 41, the
Three driving devices 5 are for driving the first clamping jaw 42 close to or far from the second clamping jaw 43；It is set between second clamping jaw 43 and linking arm 41
There is fourth drive device 6, fourth drive device 6 is for driving the second clamping jaw 43 close to or far from the first clamping jaw 42.
When needing to clamp material, third driving device 5 drives the first clamping jaw 42 close to the second clamping jaw 43, the 4th driving dress
6 the second clamping jaws of driving 43 are set close to the first clamping jaw 42；When not needing clamping material, third driving device 5 drives the first clamping jaw
42 far from the second clamping jaw 43, and fourth drive device 6 drives the second clamping jaw 43 far from the first clamping jaw 42, to discharge material.
In some embodiments, in order to enable the first clamping jaw 42 and the second clamping jaw 43 can be more stable relative to linking arm
41 is mobile, and third driving device 5 is equipped with the second guide rail, and the first clamping jaw 42 is slidably connected with the second guide rail；Fourth drive device 6
It is equipped with third guide rail, the second clamping jaw 43 is slidably connected with third guide rail.
When first clamping jaw of the driving of third driving device 5 42 is close to or far from the second clamping jaw 43, the first clamping jaw 42 being capable of edge
The second guide rail sliding, the second guide rail plays certain guiding role, so that 42 motion process of the first clamping jaw is more stable.
Similarly the setting of third guide rail is so that 43 motion process of the second clamping jaw is more stable.
Wherein, as shown in figure 3, the cross section of the first clamping jaw 42 and the second clamping jaw 43 is L shape.
It should be noted that all the first clamping jaw 42 can be driven can be close to or far from the structure of the second clamping jaw 43
Third driving device 5 mentioned by above-described embodiment, such as: third driving device 5 can be hydraulic cylinder, pneumatic cylinder or straight line
Motor.
In some embodiments, as shown in Figure 3 and Figure 4, third driving device 5 includes the first cylinder body and the first push rod, the
One cylinder body is connect with linking arm 41, and one end of the first push rod is slidably connected with the first cylinder body, and the other end is connect with the first clamping jaw 42；
Fourth drive device 6 includes the second cylinder body and the second push rod, and the second cylinder body connect with linking arm 41, one end of the second push rod and the
Two cylinder bodies are slidably connected, and the other end is connect with the second clamping jaw 43.
Specifically, when third driving device 5 is equipped with the second guide rail, fourth drive device 6 is equipped with third guide rail, the
Two guide rails are set to the outside of the first cylinder body, and third guide rail is set to the outside of the second guide rail.
In at least one embodiment, as shown in figure 4, in order to avoid bringing clamping unstable by oil pressure pressure instability
And the problem of material falls off may occur, and third driving device 5 and fourth drive device 6 are one-way cylinder, i.e., and first
Disc spring is equipped in cylinder body, when being passed through hydraulic oil, hydraulic oil pushes the first push rod to be displaced outwardly, so that the first clamping jaw 42 is far from the
Two clamping jaws 43 expand the distance between the first clamping jaw 42 and the second clamping jaw 43；When not being passed through hydraulic oil, in the effect of disc spring
Under, the first push rod retraction, so that the first clamping jaw 42 shortens between the first clamping jaw 42 and the second clamping jaw 43 close to the second clamping jaw 43
Distance can clamp material at this time.
The embodiment of second aspect of the present invention provides a kind of wheel rim handling equipment, and the embodiment of second aspect of the present invention mentions
The wheel rim handling equipment of confession includes above-mentioned manipulator.
The wheel rim handling equipment that second aspect of the present invention embodiment provides has the embodiment of first aspect present invention to provide
Manipulator, can rapid pair-wheel rim carry out loading and unloading, need not rely on manual handling, effectively avoid personnel scald, mention
High wheel rim production efficiency.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of manipulator, which is characterized in that including first driving device (1), Mobile base (2), the second driving device (3) and use
In the clamping limb (4) of clamping material, in which:
The first driving device (1) connect with the Mobile base (2), and the first driving device (1) is for driving the shifting
Seat (2) are moved close to or far from material；
Second driving device (3) connect with the Mobile base (2) and the clamping limb (4) respectively, the second driving dress
(3) are set for driving the clamping limb (4) to rotate relative to the Mobile base (2).
2. manipulator according to claim 1, which is characterized in that the first driving device (1) includes mounting base (11)
And the first driving mechanism (12) connecting with the mounting base (11), the mounting base (11) are equipped with the first guide rail (111),
First driving mechanism (12) is for driving the Mobile base (2) to slide along first guide rail (111).
3. manipulator according to claim 2, which is characterized in that first driving mechanism (12) includes first motor
(121) and transmission component (122), the transmission component (122) respectively with the first motor (121) and the Mobile base (2)
Connection.
4. manipulator according to claim 3, which is characterized in that the transmission component (122) include lead screw (1221) with
And at least one nut (1222) for being threadedly coupled with the lead screw (1221), the lead screw (1221) and the first motor
(121) power output axis connection, the nut (1222) connect with the Mobile base (2).
5. manipulator according to claim 1, which is characterized in that second driving device (3) includes the second motor
(31) and retarder (32), the retarder (32) connect with second motor (31) and the clamping limb (4) respectively, described
Retarder (32) is for driving the clamping limb (4) to rotate relative to the Mobile base (2).
6. manipulator according to claim 1, which is characterized in that the clamping limb (4) includes linking arm (41), the first folder
Pawl (42) and the second clamping jaw (43), in which:
The linking arm (41) is connect by the second driving device (3) with the Mobile base (2)；
First clamping jaw (42) and second clamping jaw (43) are connect with the linking arm (41), and first clamping jaw (42)
Cooperate clamping material with second clamping jaw (43).
7. manipulator according to claim 6, which is characterized in that first clamping jaw (42) and the linking arm (41) it
Between be equipped with third driving device (5), the third driving device (5) is for driving first clamping jaw (42) close to or far from institute
State the second clamping jaw (43)；
Fourth drive device (6) are equipped between second clamping jaw (43) and the linking arm (41), the fourth drive device
(6) for driving second clamping jaw (43) close to or far from first clamping jaw (42).
8. manipulator according to claim 7, which is characterized in that the third driving device (5) is equipped with the second guide rail,
First clamping jaw (42) is slidably connected with second guide rail；
The fourth drive device (6) is equipped with third guide rail, and second clamping jaw (43) is slidably connected with the third guide rail.
9. manipulator according to claim 7, which is characterized in that the third driving device (5) include the first cylinder body and
First push rod, first cylinder body are connect with the linking arm (41), and one end of first push rod and first cylinder body are sliding
Dynamic connection, the other end are connect with first clamping jaw (42)；
The fourth drive device (6) includes the second cylinder body and the second push rod, and second cylinder body and the linking arm (41) are even
It connects, one end of second push rod is slidably connected with second cylinder body, and the other end is connect with second clamping jaw (43).
10. a kind of wheel rim handling equipment, which is characterized in that including such as described in any item manipulators of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910154068.8A CN109746937A (en) | 2019-02-28 | 2019-02-28 | Manipulator and wheel rim handling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910154068.8A CN109746937A (en) | 2019-02-28 | 2019-02-28 | Manipulator and wheel rim handling equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109746937A true CN109746937A (en) | 2019-05-14 |
Family
ID=66407858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910154068.8A Pending CN109746937A (en) | 2019-02-28 | 2019-02-28 | Manipulator and wheel rim handling equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109746937A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010028175A1 (en) * | 1999-04-07 | 2001-10-11 | Thompson Brian K. | Robot for an industrial automation system |
| CN103170983A (en) * | 2013-04-01 | 2013-06-26 | 江苏新天洋机械制造有限公司 | Mechanical clamping jaw mechanism |
| CN104772752A (en) * | 2015-04-03 | 2015-07-15 | 华东师范大学 | Mechanical arm |
| CN105364921A (en) * | 2014-08-24 | 2016-03-02 | 江西理工大学 | Mechanical arm |
| CN106695862A (en) * | 2016-12-21 | 2017-05-24 | 浙江今跃机械科技开发有限公司 | Integrated fixture and manipulator |
| CN207293549U (en) * | 2017-09-26 | 2018-05-01 | 金石机器人常州股份有限公司 | Automotive hub handgrip |
| CN209793785U (en) * | 2019-02-28 | 2019-12-17 | 山东小鸭精工机械有限公司 | Manipulator and rim loading and unloading device |
-
2019
- 2019-02-28 CN CN201910154068.8A patent/CN109746937A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010028175A1 (en) * | 1999-04-07 | 2001-10-11 | Thompson Brian K. | Robot for an industrial automation system |
| CN103170983A (en) * | 2013-04-01 | 2013-06-26 | 江苏新天洋机械制造有限公司 | Mechanical clamping jaw mechanism |
| CN105364921A (en) * | 2014-08-24 | 2016-03-02 | 江西理工大学 | Mechanical arm |
| CN104772752A (en) * | 2015-04-03 | 2015-07-15 | 华东师范大学 | Mechanical arm |
| CN106695862A (en) * | 2016-12-21 | 2017-05-24 | 浙江今跃机械科技开发有限公司 | Integrated fixture and manipulator |
| CN207293549U (en) * | 2017-09-26 | 2018-05-01 | 金石机器人常州股份有限公司 | Automotive hub handgrip |
| CN209793785U (en) * | 2019-02-28 | 2019-12-17 | 山东小鸭精工机械有限公司 | Manipulator and rim loading and unloading device |
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