CN109848978A - A kind of revolution gripping manipulator based on automation module control - Google Patents
A kind of revolution gripping manipulator based on automation module control Download PDFInfo
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- CN109848978A CN109848978A CN201910267706.7A CN201910267706A CN109848978A CN 109848978 A CN109848978 A CN 109848978A CN 201910267706 A CN201910267706 A CN 201910267706A CN 109848978 A CN109848978 A CN 109848978A
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Abstract
The present invention provides a kind of revolution gripping manipulator based on automation module control, including main swing arm, top covers, servo motor A, rack gear band, servo motor B, connecting shaft, auxiliary device, fixture block, transmission cylinder, pulling force screw rod, drive rod, chassis, mechanical finger, be self-regulated fingerboard, assists lead ring and clump weight；T-slot is offered at the top of the main swing arm, and is bolted in T-slot and is provided with top cover；The main swing arm end opens up through-hole and in the interior apertured shoulder structure in two sides, and is fixedly installed tapered roller bearing by interference fit on the outside of the shoulder of hole；By being provided with rack gear ring, servo motor A can be cooperated to be axially moved, the rotation position of the transmission control cursor of cooperating teeth band, complete the revolution of manipulator, structure is simple and convenient, and servo motor can accurately be controlled by module, and running accuracy is high, dynamics control uniformly, is conducive to manipulator and accurately puts part.
Description
Technical field
The present invention relates to mechanical equipment technical fields, more specifically, in particular to a kind of based on automation module control
Revolution gripping manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument, feature is that various expected operations can be completed by programming, on construction and performance
It has the advantage of people and robotics respectively concurrently, mainly passes through the modes such as hydraulic, pneumatic and Mechanical Driven at present.
Based on application number: 201610822849.6 suspension type Pneumatic balance transfer manipulator, the invention discloses one kind
Suspension type Pneumatic balance transfer manipulator specifically includes that rail system, running trolley, mechanical arm, air-actuated jaw and gas control
System；The rail system and running trolley, which roll, to be connected；The running trolley is connect by mechanical arm with air-actuated jaw, can be certainly
It moves or runs on rail system manually；The mechanical arm is stiff arms formula mechanical arm, affixed with running trolley；The gas control system
System so that mechanical arm is in gravitational equilibrium state so that operator can easily by the clamping of big dead weight cargo, transfer up and down,
Assembling positioning.Present invention reduces the labor intensity of operator, improve the working efficiency of production, and suspended structure can be effective
Ground utilizes space, and makes working space bigger；
Above-mentioned retrieval and in combination with the prior art, the mechanical arm being currently mainly used mainly passes through the modes pair such as air pressure
Cargo carries out clamping and lifts, and the dynamics for controlling mechanical arm has difficulty, needs through a large amount of internal structure and air throttle etc.
Construction carries out cooperating, and cost of manufacture is higher, and energy consumption is needed using electric power, and electricity turns the progress of the various ways such as gas, unfavorable
In maintenance and maintenance.
Then, it in view of this, being studied improvement for existing structure and missing, provides a kind of based on automation module
The revolution gripping manipulator of control, to achieve the purpose that with more more practical value.
Summary of the invention
(1) technical problem
In conclusion the present invention provide it is a kind of based on automation module control revolution gripping manipulator, by structure with
Functional improvement, by solve the mechanical arm that is currently mainly used mainly by air pressure etc. in a manner of clamping lift is carried out to cargo
It rises, the dynamics for controlling mechanical arm has difficulty, needs to carry out cooperation work by constructions such as a large amount of internal structure and air throttles
Make, cost of manufacture is higher, and energy consumption is needed using electric power, electricity turn the various ways such as gas progress, be unfavorable for repair and maintain
Problem.
(2) technical solution
The present invention provides a kind of revolution gripping manipulator based on automation module control, the cargo for assembly line is raw
It produces and carries.It is provided by the invention it is a kind of based on automation module control revolution gripping manipulator in, specifically include:
Main swing arm, top cover, servo motor A, cursor, rack gear ring, cursor outer cover, rack gear band, servo motor B, even
Spindle, auxiliary device, fixture block, transmission cylinder, pulling force screw rod, drive rod, chassis, mechanical finger, be self-regulated fingerboard, auxiliary lead ring and
Clump weight；T-slot is offered at the top of the main swing arm, and is bolted in T-slot and is provided with top cover；The main swing
Arm end opens up through-hole and in the interior apertured shoulder structure in two sides, and is fixedly installed circular cone rolling by interference fit on the outside of the shoulder of hole
Sub- bearing；The cursor cooperates tapered roller bearing to be movably set in the through-hole of main swing arm end by circlip, and rotates
It is bolted at the top of arm and is provided with cursor outer cover；It is bolted among the cursor and is provided with servo motor B.
Preferably, the main swing arm bottom, which is bolted, is provided with servo motor A, and servo motor A shaft end
It is connected by key outside and is fixedly installed gear；Integral type is provided with rack gear ring on the outside of the cursor, and cursor passes through rack gear
Rack gear band is set outside ring and servo motor A movement connects.
Preferably, the cursor inside bottom is fixedly installed tapered roller bearing by interference fit；The transmission
Cylinder bottom integral type is provided with cylindrical structure, and transmission cylinder cylindrical structure is fixedly installed on tapered roller bearing by interference fit
In；The transmission cylinder top center is connected and fixed by circlip fit key is provided with connecting shaft, and passes through setting at the top of connecting shaft
Shaft coupling and servo motor B movement connect.
Preferably, the cursor bottom, which is bolted, is provided with chassis, and chassis bottom integral type is provided with four
Group connecting shaft structure；Mechanical finger is movably set with by shaft outside the chassis connecting shaft structure.
Preferably, screw hole is offered among the transmission cylinder bottom；Circular hole is offered among the chassis；The pulling force spiral shell
It is screw thread rod structure at the top of bar, and pulling force screw rod passes through chassis circular hole and transmission cylinder and connected by screw-driven movement.
Preferably, the equal integral type in mechanical finger middle is provided with cylindrical structure；Pulling force screw rod bottom surrounding
Four groups of drive rods are movably set with by pivot structure, and transmission boom end both passes through mechanical finger cylindrical structure and consolidates by screw thread
Surely it is provided with cup head.
Preferably, trapezoidal annular groove is offered among the transmission cylinder；The auxiliary device is packaging structure, and assists dress
Bearing is fixedly installed by bolt splicing in setting；On the outside of the auxiliary device surrounding by be welded and fixed be provided with four groups it is flexible
Bar, and the equal fitting in telescopic rod outer end is provided with spring；The auxiliary device telescopic rod end, which passes through to be welded and fixed, is provided with card
Block, and auxiliary device is placed in trapezoidal annular groove by fixture block.
Preferably, integral type is provided with auxiliary lead ring on rear side of the self-regulation fingerboard, and assists integral type among lead ring
It is provided with connecting shaft structure；The self-regulation fingerboard bottom, which is bolted, is provided with clump weight；The mechanical finger bottom is set
It is set to connecting shaft structure, and offers groove among connecting shaft structure；The self-regulation fingerboard is movably set in manipulator by shaft
Refer to bottom.
(3) beneficial effect
The present invention provides a kind of revolution gripping manipulators based on automation module control, by being provided with rack gear ring,
Servo motor A can be cooperated to be axially moved, manipulator is completed in the rotation position of the transmission control cursor of cooperating teeth band
Revolution, structure is simple and convenient, and servo motor can accurately be controlled by module, and running accuracy is high, and dynamics control is equal
It is even, be conducive to manipulator and accurately put part.
Secondly, the setting of transmission cylinder, pulling force screw rod and mechanical finger, provides the function of clamping crawl for manipulator, leads to
The threading action for crossing pulling force screw rod and transmission cylinder can drive the angle of drive rod adjustment mechanical finger to be locked, so as to zero
Part is grabbed, easy to operate practical, low manufacture cost, and energy consumption is single, realizes fortune without turning the complex operations such as gas by electricity
It is dynamic, be conducive to actually use.
Furthermore the setting of lead ring and clump weight is assisted, provides the function of adjust automatically vertical angle for self-regulation fingerboard,
The guiding that lead ring is assisted by the pendant force-fitting of clump weight makes self-regulation fingerboard voluntarily adjust holding balance, in grabbing for manipulator
It can guarantee that the end face of self-regulation fingerboard carries out contact fixation with best angle when taking, can incline to avoid mechanical finger portion angle
Tiltedly dislocation damages grippers, and property simple and practical in structure is strong.
Detailed description of the invention
Fig. 1 is the complete section structural schematic diagram in the embodiment of the present invention；
Fig. 2 is the schematic perspective view of chassis in the embodiment of the present invention；
Fig. 3 is the schematic perspective view of mechanical finger in the embodiment of the present invention；
Fig. 4 is the stereo-resolution structural schematic diagram of self-regulation fingerboard in the embodiment of the present invention；
Fig. 5 is the A partial enlargement structural representation in the embodiment of the present invention；
Fig. 6 is the B partial enlargement structural representation in the embodiment of the present invention；
Fig. 7 is the C partial enlargement structural representation in the embodiment of the present invention；
Fig. 8 is the D partial enlargement structural representation in the embodiment of the present invention；
In Fig. 1 into Fig. 8, the corresponding relationship of component names or lines and accompanying drawing number are as follows:
1, main swing arm, 101, top cover, 2, servo motor A, 3, cursor, 301, rack gear ring, 302 cursor outer covers,
303, rack gear band, 4, servo motor B, 401, connecting shaft, 5, auxiliary device, 501, fixture block, 6, transmission cylinder, 7, pulling force screw rod,
701, drive rod, 8, chassis, 801, mechanical finger, 9, self-regulation fingerboard, 901, auxiliary lead ring, 902, clump weight.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment is used for
Illustrate the present invention, but cannot be used to limit the scope of the invention.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 is please referred to Fig. 8.
Mechanical arm is controlled in order to solve a kind of revolution gripping manipulator based on automation module control in the prior art
Dynamics have difficulty, need by the constructions such as a large amount of internal structure and air throttle carry out cooperating, cost of manufacture is higher,
Energy consumption is needed using electric power, and electricity turns the progress of the various ways such as gas, is unfavorable for the problem of repairing and maintaining, the invention proposes
A kind of revolution gripping manipulator based on automation module control, cargo production and carrying for assembly line, comprising: main swing
Arm 1, top cover 101, servo motor A2, cursor 3, rack gear ring 301, cursor outer cover 302, rack gear band 303, servo motor B 4,
Connecting shaft 401, auxiliary device 5, fixture block 501, transmission cylinder 6, pulling force screw rod 7, drive rod 701, chassis 8, mechanical finger 801, from
Fingerboard 9 is adjusted, lead ring 901 and clump weight 902 are assisted；T-slot is offered at the top of main swing arm 1, and solid by bolt in T-slot
Surely it is provided with top cover 101；Main 1 end of swing arm opens up through-hole and in the interior apertured shoulder structure in two sides, and passes through on the outside of the shoulder of hole
Interference fit is fixedly installed tapered roller bearing；Cursor 3 cooperates tapered roller bearing to be movably set in main pendulum by circlip
In 1 end through-hole of swing arm, and it is bolted at the top of cursor 3 and is provided with cursor outer cover 302；Pass through among cursor 3
Bolt is fixedly installed servo motor B 4.
Wherein, main 1 bottom of swing arm, which is bolted, is provided with servo motor A2, and leads to outside servo motor A2 shaft end
It crosses key connection and is fixedly installed gear；3 outside integral type of cursor is provided with rack gear ring 301, and cursor 3 passes through rack gear ring
Setting rack gear band 303 and servo motor A2 movement connect outside 301, manipulator can be driven to carry out by the way that rack gear ring 301 is arranged
360 ° of circumferential revolutions.
Wherein, 3 inside bottom of cursor is fixedly installed tapered roller bearing by interference fit；6 bottom one of transmission cylinder
Body formula is provided with cylindrical structure, and 6 cylindrical structure of transmission cylinder is fixedly installed in tapered roller bearing by interference fit；Transmission
6 top centers of cylinder are connected and fixed by circlip fit key is provided with connecting shaft 401, and passes through setting shaft coupling at the top of connecting shaft 401
Device and the movement of servo motor B 4 connect, and pulling force screw rod 7 can be driven to move axially by the way that transmission cylinder 6 is arranged.
Wherein, 3 bottom of cursor, which is bolted, is provided with chassis 8, and 8 bottom integral type of chassis is provided with four groups of companies
Axle construction；Mechanical finger 801 is movably set with by shaft outside 8 connecting shaft structure of chassis, is machine by setting mechanical finger 801
Tool hand provides clamping function.
Wherein, screw hole is offered among 6 bottom of transmission cylinder；Circular hole is offered among chassis 8；It is spiral shell at the top of pulling force screw rod 7
Rasp bar structure, and pulling force screw rod 7 passes through 8 circular hole of chassis and transmission cylinder 6 and moves connection by screw-driven, passes through and pulling force spiral shell is arranged
Bar 7 can realize clamping movement for manipulator.
Wherein, the equal integral type in 801 middle of mechanical finger is provided with cylindrical structure；7 bottom surrounding of pulling force screw rod is by turning
Axle construction is movably set with four groups of drive rods 701, and 701 end of drive rod both passes through 801 cylindrical structure of mechanical finger and passes through spiral shell
Line is fixedly installed cup head, can form rocker structure by setting drive rod 701 with cooperative mechanical finger 801.
Wherein, trapezoidal annular groove is offered among transmission cylinder 6；Auxiliary device 5 is packaging structure, and leads in auxiliary device 5
It crosses bolt splicing and is fixedly installed bearing；5 outside surrounding of auxiliary device is provided with four groups of telescopic rods by being welded and fixed, and flexible
The equal fitting in bar outer end is provided with spring；5 telescopic rod end of auxiliary device, which passes through to be welded and fixed, is provided with fixture block 501, and assists
Device 5 is placed in trapezoidal annular groove by fixture block 501, and protection connecting shaft 401 can be auxiliarily fixed by the way that auxiliary device 5 is arranged
Rotation.
Wherein, 9 rear side of self-regulation fingerboard integral type is provided with auxiliary lead ring 901, and assists the intermediate integral type of lead ring 901
It is provided with connecting shaft structure；Self-regulation 9 bottom of fingerboard, which is bolted, is provided with clump weight 902；The setting of 801 bottom of mechanical finger
For connecting shaft structure, and groove is offered among connecting shaft structure；Self-regulation fingerboard 9 is movably set in mechanical finger 801 by shaft
Bottom can provide equilibrium function by setting clump weight 902 for self-regulation fingerboard 9.
The specifically used mode and effect of the present embodiment: in the present invention, T-slot is opened up at the top of main swing arm 1, in T-type
Setting top cover 101 is bolted in slot, main 1 end of swing arm open up through-hole and two sides in apertured shoulder structure,
Cursor 3 is cooperated by circlip by tapered roller bearing by interference fit fixed setting tapered roller bearing on the outside of the shoulder of hole
It is movably set in main 1 end through-hole of swing arm, setting cursor outer cover 302 is bolted at the top of cursor 3, turning
Setting servo motor B 4 is bolted among swing arm 3；Setting servo motor is bolted in main 1 bottom of swing arm
A2 is connected by key fixed setting gear outside servo motor A2 shaft end, and rack gear ring is arranged in 3 outside integral type of cursor
301, it is connected in cursor 3 by setting rack gear band 303 outside rack gear ring 301 and servo motor A2 movement；At 3 inside bottom of cursor
Cylindrical structure is arranged by interference fit fixed setting tapered roller bearing, in 6 bottom integral type of transmission cylinder in portion, by transmission cylinder 6
Cylindrical structure is fixedly installed in tapered roller bearing by interference fit, passes through circlip fit key in 6 top center of transmission cylinder
It is connected and fixed setting connecting shaft 401, will be connected at the top of connecting shaft 401 by setting shaft coupling and the movement of servo motor B 4；Turning
3 bottom of swing arm is bolted setting chassis 8, four groups of connecting shaft structures is arranged in 8 bottom integral type of chassis, in 8 connecting shaft of chassis
Mechanical finger 801 is arranged by shaft activity outside structure；Screw hole is opened up among 6 bottom of transmission cylinder, is opened up among chassis 8
Pulling force screw rod 7 is passed through 8 circular hole of chassis and transmission cylinder 6 and moves connection by screw-driven by circular hole；Among mechanical finger 801
Locate equal integral type setting cylindrical structure, four groups of drive rods 701 be arranged by pivot structure activity in 7 bottom surrounding of pulling force screw rod,
701 end of drive rod is both passed through into 801 cylindrical structure of mechanical finger and is threadably secured setting cup head；Among transmission cylinder 6
Trapezoidal annular groove is opened up, fixed setting bearing is spliced by bolt in auxiliary device 5, passes through weldering in 5 outside surrounding of auxiliary device
Four groups of telescopic rods of fixed setting are connect, spring is arranged in equal fitting in telescopic rod outer end, passes through weldering in 5 telescopic rod end of auxiliary device
Fixed setting fixture block 501 is connect, auxiliary device 5 is placed in trapezoidal annular groove by fixture block 501；It is equal in 9 rear side of self-regulation fingerboard
Connecting shaft structure is arranged in the auxiliary intermediate integral type of lead ring 901 in integral type setting auxiliary lead ring 901, logical in self-regulation 9 bottom of fingerboard
Bolt fixed setting clump weight 902 is crossed, groove is opened up among connecting shaft structure, self-regulation fingerboard 9 is arranged by shaft activity
In 801 bottom of mechanical finger；When in use, servo motor A2 is controlled by module and is started, control servo motor A2 cooperating teeth
Band 303 drives cursor 3 to rotate by a certain angle, and the position of mechanical finger 801 is rotated to four side endface positions of workpiece, is opened
Dynamic servo motor B 4 drives transmission cylinder 6 to rotate, and pulling force screw rod 7 is fallen by screw-driven, is slided and is driven by drive rod 701
Mechanical finger 801 is unfolded, and after manipulator is down on the outside of workpiece by mechanical arm itself lifting structure, starting servo motor B 4 is turned over
Turn transmission cylinder 6 and drives the fingerboard 9 that will be self-regulated of mechanical finger 801 to be fixedly clamped workpiece completion by pulling force screw rod 7 and drive rod 701
Clamping, controlling the rotation of cursor 3 by servo motor A2 can complete to overturn.
The embodiment of the present invention is given for the purpose of illustration and description, and is not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Selecting and describe embodiment is and to make those skilled in the art to more preferably illustrate the principle of the present invention and practical application
It will be appreciated that the present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (8)
1. a kind of revolution gripping manipulator based on automation module control, special for the cargo production and carrying of assembly line
Sign is, comprising: main swing arm (1), top cover (101), servo motor A (2), cursor (3), rack gear ring (301), outside cursor
It covers (302), rack gear band (303), servo motor B (4), connecting shaft (401), auxiliary device (5), fixture block (501), transmission cylinder (6),
Pulling force screw rod (7), drive rod (701), chassis (8), mechanical finger (801) are self-regulated fingerboard (9), assist lead ring (901) and match
Pouring weight (902)；T-slot is offered at the top of the main swing arm (1), and is bolted in T-slot and is provided with top cover
(101)；Main swing arm (1) end opens up through-hole and in the interior apertured shoulder structure in two sides, and passes through interference on the outside of the shoulder of hole
Cooperation is fixedly installed tapered roller bearing；The cursor (3) cooperates tapered roller bearing to be movably set in master by circlip
In the through-hole of swing arm (1) end, and it is bolted at the top of cursor (3) and is provided with cursor outer cover (302)；The rotation
It is bolted among arm (3) and is provided with servo motor B (4).
2. a kind of revolution gripping manipulator based on automation module control according to claim 1, which is characterized in that institute
It states main swing arm (1) bottom and is bolted and be provided with servo motor A (2), and pass through key outside servo motor A (2) shaft end
It is connected and fixed and is provided with gear；Integral type is provided with rack gear ring (301) on the outside of the cursor (3), and cursor (3) passes through tooth
Rack gear band (303) is arranged in ring (301) outside and servo motor A (2) movement connects.
3. a kind of revolution gripping manipulator based on automation module control according to claim 1, which is characterized in that institute
It states cursor (3) inside bottom and tapered roller bearing is fixedly installed by interference fit；Transmission cylinder (6) bottom integral type
It is provided with cylindrical structure, and transmission cylinder (6) cylindrical structure is fixedly installed in tapered roller bearing by interference fit；The biography
Dynamic cylinder (6) top center is connected and fixed by circlip fit key to be provided with connecting shaft (401), and is passed through at the top of connecting shaft (401)
Shaft coupling is set and servo motor B (4) movement connects.
4. a kind of revolution gripping manipulator based on automation module control according to claim 1, which is characterized in that institute
It states cursor (3) bottom and is bolted and be provided with chassis (8), and chassis (8) bottom integral type is provided with four groups of connecting shaft knots
Structure；Mechanical finger (801) are movably set with by shaft outside chassis (8) connecting shaft structure.
5. a kind of revolution gripping manipulator based on automation module control according to claim 1, which is characterized in that institute
It states and offers screw hole among transmission cylinder (6) bottom；Circular hole is offered among the chassis (8)；It is at the top of the pulling force screw rod (7)
Screw thread rod structure, and pulling force screw rod (7) passes through chassis (8) circular hole and transmission cylinder (6) and moves connection by screw-driven.
6. a kind of revolution gripping manipulator based on automation module control according to claim 1, which is characterized in that institute
It states the equal integral type in mechanical finger (801) middle and is provided with cylindrical structure；Pulling force screw rod (7) the bottom surrounding passes through shaft knot
Structure is movably set with four groups of drive rods (701), and drive rod (701) end both passes through mechanical finger (801) cylindrical structure and passes through
It is screwed and is provided with cup head.
7. a kind of revolution gripping manipulator based on automation module control according to claim 1, which is characterized in that institute
It states and offers trapezoidal annular groove among transmission cylinder (6)；The auxiliary device (5) is packaging structure, and passes through in auxiliary device (5)
Bolt splicing is fixedly installed bearing；Surrounding is provided with four groups of telescopic rods by being welded and fixed on the outside of the auxiliary device (5), and
The equal fitting in telescopic rod outer end is provided with spring；Auxiliary device (5) telescopic rod end, which passes through to be welded and fixed, is provided with fixture block
(501), and auxiliary device (5) is placed in trapezoidal annular groove by fixture block (501).
8. a kind of revolution gripping manipulator based on automation module control according to claim 1, which is characterized in that institute
It states equal integral type on rear side of self-regulation fingerboard (9) and is provided with auxiliary lead ring (901), and assist lead ring (901) intermediate integral type setting
There is connecting shaft structure；Self-regulation fingerboard (9) bottom, which is bolted, is provided with clump weight (902)；The mechanical finger
(801) bottom is set as connecting shaft structure, and groove is offered among connecting shaft structure；The self-regulation fingerboard (9) is living by shaft
It is dynamic to be set to mechanical finger (801) bottom.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910267706.7A CN109848978A (en) | 2019-04-03 | 2019-04-03 | A kind of revolution gripping manipulator based on automation module control |
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| CN201910267706.7A CN109848978A (en) | 2019-04-03 | 2019-04-03 | A kind of revolution gripping manipulator based on automation module control |
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| CN110216030A (en) * | 2019-06-24 | 2019-09-10 | 孙梨梨 | Automobile mechanical parts machining special small pipeline system paint spray booth |
| CN112388663A (en) * | 2020-10-14 | 2021-02-23 | 江西玉祥智能装备制造有限公司 | Special clamp for transfer robot |
| CN113001572A (en) * | 2021-02-26 | 2021-06-22 | 杭州临润贸易有限公司 | Industrial robot clamping device capable of preventing object from falling off during rotation |
| CN113421375A (en) * | 2021-06-22 | 2021-09-21 | 深圳市冠乔科技有限公司 | Automatic moving and carrying mechanism for unmanned goods shop |
| CN116329456A (en) * | 2023-04-06 | 2023-06-27 | 东莞辉科机器人自动化股份有限公司 | Swing arm forging and pressing manipulator |
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| CN110216030B (en) * | 2019-06-24 | 2020-11-17 | 乐清市曙晟科技有限公司 | Small-sized production line type paint spray booth special for processing automobile mechanical parts |
| CN112388663A (en) * | 2020-10-14 | 2021-02-23 | 江西玉祥智能装备制造有限公司 | Special clamp for transfer robot |
| CN113001572A (en) * | 2021-02-26 | 2021-06-22 | 杭州临润贸易有限公司 | Industrial robot clamping device capable of preventing object from falling off during rotation |
| CN113421375A (en) * | 2021-06-22 | 2021-09-21 | 深圳市冠乔科技有限公司 | Automatic moving and carrying mechanism for unmanned goods shop |
| CN116329456A (en) * | 2023-04-06 | 2023-06-27 | 东莞辉科机器人自动化股份有限公司 | Swing arm forging and pressing manipulator |
| CN116329456B (en) * | 2023-04-06 | 2024-03-15 | 东莞辉科机器人自动化股份有限公司 | Swing arm forging and pressing manipulator |
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