CN109895070A - A kind of mechanical arm for high-temperature operation environment - Google Patents
A kind of mechanical arm for high-temperature operation environment Download PDFInfo
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- CN109895070A CN109895070A CN201910278745.7A CN201910278745A CN109895070A CN 109895070 A CN109895070 A CN 109895070A CN 201910278745 A CN201910278745 A CN 201910278745A CN 109895070 A CN109895070 A CN 109895070A
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- pedestal
- turntable
- mechanical arm
- clamp arm
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Abstract
The invention discloses a kind of mechanical arms for high-temperature operation environment, including pedestal, horizontally moving device, rotating device, vertically movable device and clamping device, the pedestal is box cavity structure, the cavity inside of the pedestal is provided with horizontally moving device and rotating device, vertically movable device is provided with above the rotating device, the clamping device is fixed at the side of vertically movable device, by the way that horizontal direction movement is arranged to gear drive, keep mechanical arm transverse shifting precision high, reliable operation, and vertical direction movement is provided with screw drive, keep the vertical transmission efficiency of mechanical arm high, damping property and can good impact resistance, convenient for the precise positioning of mechanical arm, the apparatus structure is simple, manufacture easy to produce, production cost is low, convenient for promoting, and pedestal, horizontally moving device, vertical shift dress It sets and is all made of heat-resisting material steel alloy with clamping device and is made, long service life.
Description
Technical field
The invention belongs to mechanical equipment technical fields；Specifically a kind of mechanical arm for high-temperature operation environment.
Background technique
Manipulator can imitate certain movements of manpower and arm, be widely used in each processing industry, especially automation stream
Aquatic producing line reduces labor intensity and Labor Risk partly to replace manual operation.In the occasion of some high-temperature operations, such as
Forging, workpiece are processed in the state of scorching hot, and manually operation danger level is high, intensity is big, easily cause production accident.With
Manipulator replaces manual work to become trend.But the manipulator of existing structure, since structure is complicated, some components are difficult to
High temperature resistant makes the reduced service life of manipulator, increases production cost.It is a kind of for high-temperature operation environment therefore, it is necessary to design
Mechanical arm.
Summary of the invention
The purpose of the present invention is to provide a kind of mechanical arms for high-temperature operation environment.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of mechanical arm for high-temperature operation environment, including pedestal, horizontally moving device, rotating device, vertical shifting
Dynamic device and clamping device, the pedestal are box cavity structure, and the cavity inside of the pedestal is provided with horizontally moving device
And rotating device, vertically movable device is provided with above the rotating device, and the clamping device is fixed at vertical shifting
The side of dynamic device.
The pedestal includes sliding slot, supporting block, sliding slot, strip groove and turntable mounting hole, and the surface of the pedestal is in level
Direction offers strip groove, and the side wall of longitudinal two sides offers sliding slot, the support in the horizontal direction inside the strip groove
Sliding block compatible with sliding slot is provided on the side wall of block longitudinal direction two sides, the sliding block that the supporting block passes through longitudinal two sides, which slides, to be connected
It connects in the sliding slot of pedestal.
The horizontally moving device includes gear, shaft, rotary electric machine one and spur rack, the chassis interior longitudinal direction
Upper be horizontally disposed with has shaft, and the outside of pedestal is arranged in side wall of the one end of the shaft through pedestal side, and is located at pedestal
The shaft of external one end is connect with the rotary electric machine one by shaft coupling, and the both ends of the shaft positioned at chassis interior are logical
It crosses key connection and is provided with gear, the two sides of the supporting block bottom surface longitudinal direction are provided with spur rack, the shaft in the horizontal direction
The gear at both ends engages connection with the spur rack of supporting block bottom surface longitudinal direction two sides, and the centre of surface position of the supporting block also opens up
There is turntable mounting hole.
The rotating device includes rotary electric machine two, L-type support base one, turntable, annular notches, ring block and motor installation
Slot is provided with ring block on the circular arc side of the turntable, opens on the inside circular arc side of the turntable mounting hole of the supporting block
Equipped with annular groove compatible with ring block, the turntable is rotatably connected on the ring of supporting block by the ring block on circular arc side
In shape slot, the perimeter that the bottom surface of the supporting block is located at turntable is fixedly installed L-type support base one, the L-type support base
Rotary electric machine two, the output end of the rotary electric machine two and the bottom surface of turntable are provided with by motor mount on the level frame of chair
It is fixedly connected, the centre of surface position of the turntable offers motor mounting groove.
The vertically movable device includes rotary electric machine three, T-slot, nut seat, screw rod, L-type support base two and T-block,
The rotary electric machine three is erected in the motor mounting groove of turntable by motor mount fixation, vertical in the disk of the turntable
It is provided with L-type support base two, the output end of the rotary electric machine three is provided with screw rod, the other end of the screw rod by shaft coupling
It is rotatably connected on the bearing of two level frame bottom surface of L-type support base, the nut seat is threadedly attached in the upper of screw rod, described
The side of nut seat is fixedly installed T-block, the medial surface of two vertical stand of L-type support base offer in the vertical direction with
The compatible T-slot of T-block, the nut seat are slidably connected in the T-slot of L-type support base two by T-block, the nut
The other side horizontal connection of seat has connecting plate.
The clamping device includes protective jacket, hydraulic cylinder, piston rod, link block, push rod, clamp arm one, fixed link, clamping
Block and clamp arm two, connecting plate are fixedly installed hydraulic cylinder, the piston rod of the hydraulic cylinder in the plate face far from nut seat one end
It is fixedly connected with link block far from hydraulic cylinder one end inside protective jacket, and in piston rod, is opened on the bottom surface of the link block
It equipped with hanging buckle, is attached between the clamp arm one and clamp arm two by fixed link, the fixed link is located at protective jacket
Inside, and the both ends of fixed link are connected to inside protective jacket on the side wall of longitudinal two sides, the clamp arm one and clamp arm
It is attached between the junction and link block at two tops with by push rod.
The structure of the clamp arm one and clamp arm two is completely the same, and the clamp arm one and clamp arm two are by clamping bar
One and clamping bar two constitute, one end of the clamping bar one and clamping bar two is connected by a hinge, and the other end of clamping bar one
Offer through-hole.
The protective jacket is the cavity rectangular parallelepiped structure of bottom end uncovered.
It is provided with gripping block on the clamping face of the clamp arm one and clamp arm two, the gripping block is by high temperature resistant hardness
High steel alloy is made.
The both ends of the chute of base are provided with the buffer unit of supporting block.
The spur rack has two, and axisymmetrical of two spur racks about supporting block in the horizontal direction.
The push rod is hard steel pole, and is provided with hook at the both ends of push rod.
Beneficial effects of the present invention:
1, by setting pedestal, high temperature is influenced into big electric machine assembly and is arranged in chassis interior, avoids high temperature to motor group
Part generates damage, improves the service life of single unit system；
2, it is arranged to gear drive by moving horizontal direction, keeps mechanical arm transverse shifting precision high, reliable operation,
And vertical direction movement is provided with screw drive, keep the vertical transmission efficiency of mechanical arm high, damping property and can good impact resistance,
Convenient for the precise positioning of mechanical arm；
3, the apparatus structure is simple, and manufacture easy to produce, production cost is low, convenient for promoting, and pedestal, moves horizontally dress
It sets, vertical shift device and clamping device are all made of heat-resisting material steel alloy and are made, long service life.
Detailed description of the invention
In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the drawings.
Fig. 1 is overall structure diagram of the present invention for the mechanical arm of high-temperature operation environment.
Fig. 2 is that supporting block of the present invention for the mechanical arm of high-temperature operation environment looks up figure structure schematic representation.
Fig. 3 is pedestal half sectional view structural schematic diagram of the present invention for the mechanical arm of high-temperature operation environment.
Fig. 4 is that supporting block of the present invention for the mechanical arm of high-temperature operation environment overlooks figure structure schematic representation.
Fig. 5 is pusher structure schematic diagram of the present invention for the mechanical arm of high-temperature operation environment.
Fig. 6 is turntable structure schematic diagram of the present invention for the mechanical arm of high-temperature operation environment.
Fig. 7 is turntable half sectional view structural schematic diagram of the present invention for the mechanical arm of high-temperature operation environment.
Fig. 8 is clamp arm structural schematic diagram of the present invention for the mechanical arm of high-temperature operation environment.
Fig. 9 is nut seat structural schematic diagram of the present invention for the mechanical arm of high-temperature operation environment.
Specific embodiment
As shown in figs 1-9, a kind of mechanical arm for high-temperature operation environment, a kind of machinery for high-temperature operation environment
Arm, including pedestal 1, horizontally moving device 2, rotating device 3, vertically movable device 4 and clamping device 5, the pedestal 1 are case
Formula cavity structure, the cavity inside of the pedestal 1 are provided with horizontally moving device 2 and rotating device 3, the rotating device 3
Top is provided with vertically movable device 4, and the clamping device 5 is fixed at the side of vertically movable device 4, realizes manipulator
Arm is mobile to the clamping of object.
The pedestal 1 includes sliding slot 11, supporting block 12, sliding slot 13, strip groove 14 and turntable mounting hole 121, the pedestal 1
Surface offer strip groove 14 in the horizontal direction, the side wall of the longitudinal two sides in 14 inside of strip groove opens up in the horizontal direction
There is sliding slot 13, is provided with sliding block 11 compatible with sliding slot 13, the supporting block on the side wall of the longitudinal two sides of the supporting block 12
12 are slidably connected in the sliding slot 13 of pedestal 1 by the sliding block 11 of longitudinal two sides, make movement of the supporting block 12 on pedestal 1 more
Stablize, to keep mechanical arm more steady to the movement of crawl object.
The horizontally moving device 2 includes gear 21, shaft 22, rotary electric machine 1 and spur rack 24, in the pedestal 1
Being horizontally disposed on portion's longitudinal direction has shaft 22, and pedestal 1 is arranged in side wall of the one end of the shaft 22 through 1 side of pedestal
Outside, and the shaft 22 for being located at 1 outside one end of pedestal is connect with the rotary electric machine 1 by shaft coupling, it is described to be located at pedestal
The both ends of shaft 22 inside 1, which are connected by key, is provided with gear 21, and two lateral edges of 12 bottom surface of the supporting block longitudinal direction are horizontal
Direction is provided with spur rack 24, and the gear 21 at 22 both ends of shaft and the spur rack 24 of 12 bottom surface longitudinal direction two sides of supporting block are nibbled
Connection is closed, is rotated by one 23 drive shaft 22 of rotary electric machine, engages the gear 21 at 22 both ends of shaft with spur rack 24
Transmission realizes movement in the horizontal direction of the mechanical arm to crawl object so that supporting block 12 be driven to move on pedestal 1,
The centre of surface position of the supporting block 12 is also provided with turntable mounting hole 121, convenient for the installation of turntable 33.
The rotating device 3 includes rotary electric machine 2 31, L-type support base 1, turntable 33, annular notches 34, ring block
35 and motor mounting groove 36, ring block 35, the turntable installation of the supporting block 12 are provided on the circular arc side of the turntable 33
Annular groove 34 compatible with ring block 35 is offered on the inside circular arc side in hole 121, the turntable 33 passes through circular arc side
On ring block 35 be rotatably connected in the annular groove 34 of supporting block 12, keep erection of the turntable 33 in supporting block 12 more steady
It is fixed, realize that turntable 33 smoothly rotates in supporting block 12.
The perimeter that the bottom surface of the supporting block 12 is located at turntable 33 is fixedly installed L-type support base 1, the L-type
It supports and rotary electric machine 2 31, the output end of the rotary electric machine 2 31 is provided with by motor mount on the level frame of seat 32
It is fixedly connected with the bottom surface of turntable 33, drives turntable 33 to be rotated by rotary electric machine 2 31, to realize that turntable 33 drives
Rotation of the mechanical arm to crawl object, the centre of surface position of the turntable 33 offer motor mounting groove 36, convenient for rotation electricity
The installation of machine 3 41.
The vertically movable device 4 includes rotary electric machine 3 41, T-slot 42, nut seat 43, screw rod 44, L-type support base two
45 and T-block 46, the rotary electric machine 3 41 is erected in the motor mounting groove 36 of turntable 33 by motor mount fixation, institute
It states vertical stand in the disk of turntable 33 and is equipped with L-type support base 2 45, the output end of the rotary electric machine 3 41 is set by shaft coupling
It is equipped with screw rod 44, the other end of the screw rod 44 is rotatably connected on the bearing of 2 45 level frame bottom surface of L-type support base, the spiral shell
Base 43 is threadedly attached in the upper of screw rod 44, and the side of the nut seat 43 is fixedly installed T-block 46, the L-type branch
The medial surface of support 2 45 vertical stand of seat offers T-slot 42 compatible with T-block 46, the nut seat 43 in the vertical direction
It is slidably connected in the T-slot 42 of L-type support base 2 45 by T-block 46, makes to make nut seat 43 by the way that T-slot 42 is arranged
In the vertical direction more stable, to make nut seat 43 drive the movement of connecting plate 6 in the vertical direction more stable, just
In movement of the mechanical arm to crawl object in the vertical direction, the other side horizontal connection of the nut seat 43 has connecting plate 6.
The clamping device 5 includes protective jacket 51, hydraulic cylinder 52, piston rod 53, link block 54, push rod 55, clamp arm one
56, fixed link 57, gripping block 58 and clamp arm 2 59, connecting plate 6 are fixedly installed liquid in the plate face far from 43 one end of nut seat
The piston rod 53 of cylinder pressure 52, the hydraulic cylinder 52 is located inside protective jacket 51, and solid far from 52 one end of hydraulic cylinder in piston rod 53
Surely be connected with link block 54, offer hanging buckle on the bottom surface of the link block 54, the clamp arm 1 and clamp arm 2 59 it
Between be attached by fixed link 57, the fixed link 57 is located at the inside of protective jacket 51, and the both ends of fixed link 57 connect respectively
It connects on the side wall of the longitudinal two sides in 51 inside of protective jacket, the junction at 2 59 top of the clamp arm 1 and clamp arm and connection
It is attached between block 54 with by push rod 55, piston rod 53 is started by hydraulic cylinder 52 and pushes or pull on push rod 55, thus real
The release and clamping of existing clamp arm 1 and 2 59 pairs of clamp arm crawl objects.
The structure of the clamp arm 1 and clamp arm 2 59 is completely the same, and the clamp arm 1 and clamp arm 2 59 are equal
It is made of clamping bar 1 and clamping bar 2 562, one end of the clamping bar 1 and clamping bar 2 562 is connected by hinge
It connects, and the other end of clamping bar 1 offers through-hole, convenient for the suspension of 55 end of push rod hook, to realize piston rod 53
Push.
The protective jacket 51 is the cavity rectangular parallelepiped structure of bottom end uncovered, is prevented clamp arm 1 and clamp arm 2 59
Shield protection.
It is provided with gripping block 58 on the clamping face of the clamp arm 1 and clamp arm 2 59, the gripping block 58 is by resistance to
The high steel alloy of high temperature hardness is made.
The both ends of 1 sliding slot 11 of pedestal are provided with the buffer unit of supporting block 12, carry out limit guarantor to supporting block 12
Shield.
The spur rack 24 has two, and axisymmetrical of two spur racks 24 about supporting block 12 in the horizontal direction,
Keep the movement of supporting block 12 more stable.
The 55 hard steel pole of push rod, and hook is provided at the both ends of push rod 55.
Working principle: being rotated by one 23 drive shaft 22 of rotary electric machine, makes the gear 21 at 22 both ends of shaft and straight
24 engaged transmission of rack gear realizes mechanical arm to crawl object in the horizontal direction so that supporting block 12 be driven to move on pedestal 1
On movement, by rotary electric machine 2 31 drive turntable 33 rotated, thus realize turntable 33 drive mechanical arm to crawl
The rotation of object drives screw rod 44 to be rotated by rotary electric machine 3 41, to realize nut seat 43 on screw rod 44 vertical
Movement on direction realizes that nut seat 43 drives the movement of mechanical arm in the vertical direction by connecting plate 6, works as mechanical arm
When work, piston rod 53 is started by hydraulic cylinder 52 and pushes or pull on push rod 55, to realize clamp arm 1 and clamp arm two
The release and clamping of 59 pairs of crawl objects, so that mechanical arm be made to grab the object of different location.
Above content is only to structure of the invention example and explanation, affiliated those skilled in the art couple
Described specific embodiment does various modifications or additions or is substituted in a similar manner, without departing from invention
Structure or beyond the scope defined by this claim, is within the scope of protection of the invention.
Claims (9)
1. a kind of mechanical arm for high-temperature operation environment, including pedestal (1), horizontally moving device (2), rotating device (3),
Vertically movable device (4) and clamping device (5), it is characterised in that: the pedestal (1) is box cavity structure, the pedestal (1)
Cavity inside be provided with horizontally moving device (2) and rotating device (3), be provided with above the rotating device (3) vertical
Mobile device (4), the clamping device (5) are fixed at the side of vertically movable device (4)；
The pedestal (1) includes sliding slot (11), supporting block (12), sliding slot (13), strip groove (14) and turntable mounting hole (121),
The surface of the pedestal (1) offers strip groove (14) in the horizontal direction, the side wall of the internal longitudinal two sides of the strip groove (14)
It offers sliding slot (13), is provided with and sliding slot (13) Xiang Shi on the side wall of the longitudinal two sides of the supporting block (12) in the horizontal direction
The sliding block (11) matched, the sliding block (11) that the supporting block (12) passes through longitudinal two sides are slidably connected at the sliding slot (13) of pedestal (1)
It is interior；
The horizontally moving device (2) includes gear (21), shaft (22), rotary electric machine one (23) and spur rack (24), described
Being horizontally disposed on the internal longitudinal direction of pedestal (1) has shaft (22), and the side of pedestal (1) side is run through in one end of the shaft (22)
Wall is arranged in the outside of pedestal (1), and the shaft (22) for being located at pedestal (1) external one end passes through with the rotary electric machine one (23)
Shaft coupling connection, the both ends of the shaft (22) internal positioned at pedestal (1), which are connected by key, to be provided with gear (21), described
The two sides of supporting block (12) bottom surface longitudinal direction are provided with spur rack (24) in the horizontal direction, the gear at shaft (22) both ends
(21) connection, the centre of surface position of the supporting block (12) are engaged with the spur rack (24) of supporting block (12) bottom surface longitudinal direction two sides
It is also provided with turntable mounting hole (121)；
The rotating device (3) include rotary electric machine two (31), L-type support base one (32), turntable (33), annular notches (34),
Ring block (35) and motor mounting groove (36) are provided with ring block (35), the support on the circular arc side of the turntable (33)
Offered on the inside circular arc side of the turntable mounting hole (121) of block (12) with ring block (35) compatible annular groove (34),
The turntable (33) is rotatably connected in the annular groove (34) of supporting block (12) by the ring block (35) on circular arc side, described
The perimeter that the bottom surface of supporting block (12) is located at turntable (33) is fixedly installed L-type support base one (32), the L-type support base
Rotary electric machine two (31), the output end of the rotary electric machine two (31) are provided with by motor mount on the level frame of chair (32)
It is fixedly connected with the bottom surface of turntable (33), the centre of surface position of the turntable (33) offers motor mounting groove (36).
2. a kind of mechanical arm for high-temperature operation environment according to claim 1, which is characterized in that the vertical shifting
Dynamic device (4) include rotary electric machine three (41), T-slot (42), nut seat (43), screw rod (44), L-type support base two (45) and T
Type block (46), the rotary electric machine three (41) pass through the fixed motor mounting groove (36) for being erected at turntable (33) of motor mount
Interior, vertical stand is equipped with L-type support base two (45) in the disk of the turntable (33), and the output end of the rotary electric machine three (41) is logical
It crosses shaft coupling to be provided with screw rod (44), the other end of the screw rod (44) is rotatably connected on L-type support base two (45) level frame bottom
On the bearing in face, the nut seat (43) is threadedly attached in the upper of screw rod (44), and the side of the nut seat (43) is fixed
It is provided with T-block (46), the medial surface of L-type support base two (45) vertical stand offers in the vertical direction and T-block
(46) compatible T-slot (42), the nut seat (43) are slidably connected at the T of L-type support base two (45) by T-block (46)
In type groove (42), the other side horizontal connection of the nut seat (43) has connecting plate (6).
3. a kind of mechanical arm for high-temperature operation environment according to claim 1, which is characterized in that the clamping dress
(5) are set to include protective jacket (51), hydraulic cylinder (52), piston rod (53), link block (54), push rod (55), clamp arm one (56), consolidate
Fixed pole (57), gripping block (58) and clamp arm two (59), connecting plate (6) far from nut seat (43) one end plate face on be fixedly installed
Have hydraulic cylinder (52), it is internal and separate in piston rod (53) that the piston rod (53) of the hydraulic cylinder (52) is located at protective jacket (51)
Hydraulic cylinder (52) one end is fixedly connected with link block (54), offers hanging buckle, the clamping on the bottom surface of the link block (54)
It is attached between arm one (56) and clamp arm two (59) by fixed link (57), the fixed link (57) is located at protective jacket (51)
Inside, and the both ends of fixed link (57) are connected on the side wall of the internal longitudinal two sides of protective jacket (51), the clamp arm
It is attached between junction at the top of one (56) and clamp arm two (59) and link block (54) with by push rod (55).
4. a kind of mechanical arm for high-temperature operation environment according to claim 3, which is characterized in that the clamp arm
The structure of one (56) and clamp arm two (59) is completely the same, and the clamp arm one (56) and clamp arm two (59) are by clamping bar one
(561) it being constituted with clamping bar two (562), the clamping bar one (561) and one end of clamping bar two (562) are connected by a hinge,
And the other end of clamping bar one (561) offers through-hole.
5. a kind of mechanical arm for high-temperature operation environment according to claim 3, which is characterized in that the protective jacket
It (51) is the cavity rectangular parallelepiped structure of bottom end uncovered.
6. a kind of mechanical arm for high-temperature operation environment according to claim 3, which is characterized in that the clamp arm
It is provided on one (56) and the clamping face of clamp arm two (59) gripping block (58), the gripping block (58) is high by high temperature resistant hardness
Steel alloy be made.
7. a kind of mechanical arm for high-temperature operation environment according to claim 1, which is characterized in that the pedestal
(1) both ends of sliding slot (11) are provided with the buffer unit of supporting block (12).
8. a kind of mechanical arm for high-temperature operation environment according to claim 1, which is characterized in that the spur rack
(24) there are two, and axisymmetrical of two spur racks (24) about supporting block (12) in the horizontal direction.
9. a kind of mechanical arm for high-temperature operation environment according to claim 3, which is characterized in that the push rod
(55) hard steel pole, and hook is provided at the both ends of push rod (55).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278745.7A CN109895070A (en) | 2019-04-09 | 2019-04-09 | A kind of mechanical arm for high-temperature operation environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278745.7A CN109895070A (en) | 2019-04-09 | 2019-04-09 | A kind of mechanical arm for high-temperature operation environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109895070A true CN109895070A (en) | 2019-06-18 |
Family
ID=66955359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910278745.7A Pending CN109895070A (en) | 2019-04-09 | 2019-04-09 | A kind of mechanical arm for high-temperature operation environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109895070A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571539A (en) * | 2020-05-26 | 2020-08-25 | 安徽省阜南志峰工艺品有限公司 | Adjustable fixture for machining iron artware and using method of adjustable fixture |
| CN113788316A (en) * | 2021-09-13 | 2021-12-14 | 南京紫峰家具有限公司 | Intelligent pharmacy automatic medicine taking equipment and method |
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| JP2000153490A (en) * | 1998-11-18 | 2000-06-06 | K & M Enterprise Kk | Triaxial robot of long stroke |
| CN201198135Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Laneway storehouse stacking robot |
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| CN111571539A (en) * | 2020-05-26 | 2020-08-25 | 安徽省阜南志峰工艺品有限公司 | Adjustable fixture for machining iron artware and using method of adjustable fixture |
| CN113788316A (en) * | 2021-09-13 | 2021-12-14 | 南京紫峰家具有限公司 | Intelligent pharmacy automatic medicine taking equipment and method |
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Application publication date: 20190618 |