CN110014423B - Bionic mechanical arm for loading and unloading raw materials - Google Patents
Bionic mechanical arm for loading and unloading raw materials Download PDFInfo
- Publication number
- CN110014423B CN110014423B CN201910417721.5A CN201910417721A CN110014423B CN 110014423 B CN110014423 B CN 110014423B CN 201910417721 A CN201910417721 A CN 201910417721A CN 110014423 B CN110014423 B CN 110014423B
- Authority
- CN
- China
- Prior art keywords
- shell
- gear
- rotating shaft
- rod
- sleeved
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 17
- 239000002994 raw material Substances 0.000 title claims abstract description 10
- 230000007306 turnover Effects 0.000 claims abstract description 6
- 230000000149 penetrating effect Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000001737 promoting effect Effects 0.000 abstract 1
- 239000000463 material Substances 0.000 description 9
- 238000009434 installation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of bionic machinery, in particular to a bionic mechanical arm for loading and unloading raw materials, which comprises a base, wherein a mounting column is arranged on the left side of the upper surface of the base, a rotating seat is sleeved on the outer side of the mounting column, a second gear meshed with a first gear is fixedly sleeved at the output end of a third gear motor, a mounting shell is arranged on the upper surface of the rotating seat, chain wheels are fixedly sleeved on two sides of a first rotating shaft, a first square hole is formed in the middle of the upper surface of a U-shaped shell, a threaded slider is connected on the outer side of the threaded rod in a threaded manner, the upper surface of the threaded slider is fixedly connected with a T-shaped rod, a turnover device is arranged at the lower end of the connecting rod, and a clamping device is arranged on the left side of the turnover device. Compared with the prior art, the mechanical arm has the advantages of simple structure, low manufacturing cost, safe and stable use, capability of greatly improving the working range of the mechanical arm, greatly improving the use effect of the mechanical arm and worth greatly promoting the use.
Description
Technical Field
The invention relates to the technical field of bionic machinery, in particular to a bionic mechanical arm for loading and unloading raw materials.
Background
With the rapid development of the prior society, the application of mechanical arms is more and more extensive, the mechanical arms are the most widely practical automatic mechanical devices in the technical field of robots, the physical and photographic aspects of the mechanical arms can be seen in the fields of industrial manufacture, medical treatment, entertainment service, military, semiconductor manufacture, space exploration and the like, and the mechanical arms have the common characteristics of being capable of receiving instructions and accurately positioning to a certain point on a three-dimensional space for operation, and the manual handling and loading and unloading are too wasteful of manpower and material resources.
In order to solve the defects existing in the current market, the technology of a mechanical arm device is urgently needed to be improved, the handling and loading operation can be better carried out, the development of the handling and loading equipment industry is promoted, and therefore, a bionic mechanical arm for loading and unloading raw materials is provided.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a bionic mechanical arm for loading and unloading raw materials.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the bionic mechanical arm for loading and unloading raw materials comprises a base, wherein a mounting column is arranged on the left side of the upper surface of the base, a rotating seat is sleeved on the outer side of the mounting column, a bearing is arranged between the rotating seat and the mounting column, a inserted link penetrating through the mounting column and the base is fixedly arranged in the middle of the lower surface of the rotating seat, a bearing is arranged between the inserted link and the mounting column, a first gear is fixedly sleeved on the lower portion of the outer side of the inserted link, a third gear motor is arranged on the right side of the upper surface of the base, a second gear meshed with the first gear is fixedly sleeved on the output end of the third gear motor, a mounting shell is arranged on the upper surface of the rotating seat, second square holes are symmetrically arranged on the left side of the mounting shell, guide columns are fixedly arranged on the right side of the inner side of the mounting shell, a first rotating shaft is arranged on the upper portion and the lower portion of the inner side of the mounting shell, the upper part both ends of first pivot all rotate with the installation casing to be connected, the lower part one end of first pivot rotates with the installation casing to be connected, the lower part the second gear motor that is located the inboard lower surface of installation casing is installed to the other end of first pivot, the sprocket has all been fixed to cup joint to both sides of first pivot, the transmission is connected with the chain between two corresponding sprockets, two fixed mounting has U type pole between the chain, the both ends of U type pole all run through the square hole of second and are connected with the U type casing, the middle part of U type pole is run through by the guide post, the upper surface middle part of U type casing is equipped with first square hole, the guide rail is installed to the upper surface bilateral symmetry of U type casing, the guide rail slider is all installed in the track of guide rail, installs the T type pole that runs through first square hole between two guide rail sliders, the left side of U type casing is installed first gear motor, the output of first gear motor runs through U type casing and installs the threaded rod of being connected with U type casing rotation, the outside threaded connection of threaded rod has the screw slider, the upper surface and the T type pole fixed connection of screw slider, the lower surface mounting of screw slider has the connecting rod, turning device is installed to the lower extreme of connecting rod, clamping device is installed in turning device's left side, connect through the wire between first gear motor, second gear motor and the third gear motor.
Preferably, the turning device comprises a second shell fixed with the connecting rod, a third rotating shaft is rotatably arranged in the middle of the inner side of the second shell, a fixing plate is arranged at the left end of the third rotating shaft in a penetrating mode through the second shell, a fifth gear is fixedly sleeved on the outer side of the third rotating shaft, a second hydraulic cylinder is arranged on one side of the upper surface of the second shell, a third rack meshed with the fifth gear is arranged at the output end of the second hydraulic cylinder in a penetrating mode through the second shell, a fixing disc is fixedly arranged on the left side face of the second shell, a rotary disc is sleeved on the left side of the fixing disc, the rotary disc is fixedly connected with the fixing plate through bolts, and a limit baffle connected with the rotary disc is sleeved on the right side of the fixing disc.
Preferably, the clamping device comprises a first shell connected with the turntable, a second rotating shaft is vertically installed in the first shell in a rotating mode, a fourth gear is fixedly sleeved on the upper end of the second rotating shaft through the first shell, a first hydraulic cylinder is installed on one side of the upper surface of the first shell, a second rack meshed with the fourth gear is installed at the output end of the first hydraulic cylinder, two third gears are fixedly sleeved on the outer side of the second rotating shaft and located in the first shell, two guide blocks are fixedly installed on the front face and the back face of the inner portion of the first shell, a first rack meshed with the third gears is jointly penetrated between the guide blocks and the first shell, a third square hole is formed in the left side face of the first shell, a movable rod is fixedly installed on one side of the first rack, and a clamping plate is installed on one end of the movable rod through the third square hole.
Preferably, fixing holes are formed in the lower portions of two sides of the base.
Preferably, an integrated structure is formed between the base and the mounting column.
Preferably, the fifth gear is rotated by 90 degrees when the third rack moves to collide with the second housing.
The bionic mechanical arm for loading and unloading raw materials provided by the invention has the beneficial effects that: the invention is provided with a third gear motor driving a second gear to rotate, the second gear drives an inserting rod to rotate through a first gear, the inserting rod drives a rotating seat to rotate, the rotating seat drives a mounting shell to rotate, the mounting shell can rotate in a forming degree, a second gear motor drives a chain wheel to rotate, the chain wheel drives a chain to move up and down, the chain drives a U-shaped rod to move, the first gear motor drives a threaded rod to rotate, the threaded rod drives a guide rail sliding block to move left and right, a second hydraulic cylinder drives a third rack to move, the third rack drives a fifth gear to rotate, the fifth gear drives a third rotating shaft to rotate, the third rotating shaft drives a turntable to rotate through a fixed plate, the turntable drives a clamping device to rotate, the first hydraulic cylinder drives a second rack to rotate, the fourth gear drives the third gear to rotate through the second rotating shaft, and the first rack drives a clamping plate to move through the moving rod, so that the overturning of materials can be realized.
Drawings
FIG. 1 is a schematic diagram of a bionic mechanical arm for loading and unloading materials according to the present invention;
FIG. 2 is a schematic diagram of a clamping device of a bionic mechanical arm for loading and unloading materials according to the present invention;
FIG. 3 is a schematic diagram of a turnover device of a bionic mechanical arm for loading and unloading materials according to the present invention;
FIG. 4 is a schematic A-A diagram of a bionic mechanical arm for loading and unloading materials according to the present invention;
fig. 5 is a schematic B-B structure diagram of a bionic mechanical arm for loading and unloading materials according to the present invention.
In the figure: the first gear motor 1, the screw slider 2, the T-bar 3, the rail slider 4, the threaded rod 5, the first square hole 6, the rail 7, the clamping device 8, the moving rod 81, the guide block 82, the first rack 83, the third gear 84, the second rotating shaft 85, the second rack 86, the fourth gear 87, the first hydraulic cylinder 88, the first housing 89, the clamping plate 810, the third square hole 811, the turning device 9, the turntable 91, the fixed disk 92, the limit baffle 93, the second hydraulic cylinder 94, the third rack 95, the second housing 96, the fifth gear 97, the third rotating shaft 98, the fixed plate 99, the connecting rod 10, the second square hole 11, the sprocket 12, the second gear motor 13, the rotating base 14, the insert rod 15, the first gear 16, the fixed hole 17, the base 18, the second gear 19, the third gear motor 20, the mounting post 21, the mounting housing 22, the first rotating shaft 23, the chain 24, the guide post 25, the U-shaped rod 26, and the U-shaped housing 27.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-5, a bionic mechanical arm for loading and unloading raw materials comprises a base 18, wherein fixing holes 17 are formed in the lower portions of two sides of the base 18, so that the mechanical arm and a placing platform can be fixed conveniently, and the using effect is improved.
The base 18 and the mounting column 21 are integrally formed, so that the use stability is improved for enhancing the connection strength.
A mounting column 21 is arranged on the left side of the upper surface of the base 18, a rotating seat 14 is sleeved on the outer side of the mounting column 21, a bearing is arranged between the rotating seat 14 and the mounting column 21, a inserted rod 15 penetrating through the mounting column 21 and the base 18 is fixedly arranged in the middle of the lower surface of the rotating seat 14, a bearing is arranged between the inserted rod 15 and the mounting column 21, a first gear 16 is fixedly sleeved on the lower part of the outer side of the inserted rod 15, a third gear motor 20 is arranged on the right side of the upper surface of the base 18, a second gear 19 meshed with the first gear 16 is fixedly sleeved on the output end of the third gear motor 20 penetrating through the base 18, a mounting shell 22 is arranged on the upper surface of the rotating seat 14, second square holes 11 are symmetrically arranged on the left side of the mounting shell 22, a guide column 25 is fixedly arranged on the right side of the inside of the mounting shell 22, a first rotating shaft 23 is arranged on the upper part and the lower part of the inner side of the mounting shell 22, the two ends of the upper first rotating shaft 23 are rotationally connected with the installation shell 22, one end of the lower first rotating shaft 23 is rotationally connected with the installation shell 22, the other end of the lower first rotating shaft 23 is provided with a second gear motor 13 positioned on the lower surface of the inner side of the installation shell 22, the two sides of the first rotating shaft 23 are fixedly sleeved with chain wheels 12, a chain 24 is in transmission connection with the corresponding two chain wheels 12, a U-shaped rod 26 is fixedly arranged between the two chain wheels 24, the two ends of the U-shaped rod 26 penetrate through the second square hole 11 to be connected with a U-shaped shell 27, the middle part of the U-shaped rod 26 is penetrated by a guide post 25, the middle part of the upper surface of the U-shaped shell 27 is provided with a first square hole 6, the two sides of the upper surface of the U-shaped shell 27 are symmetrically provided with guide rails 7, the guide rail slide blocks 4 are arranged in the tracks of the guide rails 7, the T-shaped rod 3 penetrating the first square hole 6 are arranged between the two guide rail slide blocks 4, the left side of the U-shaped shell 27 is provided with the first gear motor 1, the output end of the first gear motor 1 penetrates through the U-shaped shell 27 to be installed with the threaded rod 5 rotationally connected with the U-shaped shell 27, the outer side of the threaded rod 5 is in threaded connection with the threaded slider 2, the upper surface of the threaded slider 2 is fixedly connected with the T-shaped rod 3, the connecting rod 10 is installed on the lower surface of the threaded slider 2, the turning device 9 is installed at the lower end of the connecting rod 10, the turning device 9 comprises a second shell 96 fixed with the connecting rod 10, a third rotating shaft 98 is installed at the inner side middle part of the second shell 96 in a rotating mode, a fixing plate 99 is installed at the left end of the third rotating shaft 98 in a penetrating mode through the second shell 96, a fifth gear 97 is fixedly sleeved on the outer side of the third rotating shaft 98, a second hydraulic cylinder 94 is installed on one side of the upper surface of the second shell 96, a third rack 95 meshed with the fifth gear 97 is installed at the output end of the second hydraulic cylinder 94, and when the third rack 95 moves to be in contact with the second shell 96, the fifth gear 97 rotates 90 degrees, the clamping device 8 can be accurately turned over 90 degrees, and control is more accurate.
The fixed disk 92 is fixedly arranged on the left side face of the second housing 96, the rotary disk 91 is sleeved on the left side of the fixed disk 92, the rotary disk 91 is fixedly connected with the fixed plate 99 through bolts, the limit baffle 93 connected with the rotary disk 91 is sleeved on the right side of the fixed disk 92, the structure is simple, the manufacture is convenient, the clamping device 8 can be overturned, and the use effect is enhanced.
The clamping device 8 is installed in the left side of turning device 9, clamping device 8 includes the first shell 89 of being connected with carousel 91, the inside vertical rotation of first shell 89 installs second pivot 85, the upper end of second pivot 85 runs through first shell 89 and fixedly cup joints fourth gear 87, first pneumatic cylinder 88 is installed to upper surface one side of first shell 89, the second rack 86 with fourth gear 87 meshing is installed to the output of first pneumatic cylinder 88, the outside of second pivot 85 just is located the inside fixed cup joint of first shell 89 two third gears 84, the inside front and the back of first shell 89 all fixed mounting has two guide blocks 82, run through jointly between guide block 82 and the first shell 89 with third gear 84 meshing first rack 83, the left surface of first shell 89 is equipped with third square hole 811, one side of first rack 83 all fixed mounting has movable rod 81, the one end of movable rod 81 runs through third square hole 811 and installs splint 810, simple structure, it is convenient to use, can be to the stable clamp to the material, good effect.
The first gear motor 1, the second gear motor 13 and the third gear motor 20 are connected through wires.
Working principle: when the clamping device is used, the third gear motor 20 is arranged to drive the second gear 19 to rotate, the second gear 19 drives the inserting rod 15 to rotate through the first gear 16, the inserting rod 15 drives the rotating seat 14 to rotate, the rotating seat 14 drives the mounting shell 22 to rotate, 360-degree rotation of the mounting shell 22 can be achieved, the second gear motor 13 drives the chain wheel 12 to rotate, the chain wheel 12 drives the chain 24 to rotate, the chain 24 drives the U-shaped rod 26 to move up and down, the first gear motor 1 is arranged to drive the threaded rod 5 to rotate, the threaded rod 5 drives the guide rail sliding block 4 to move left and right, the second hydraulic cylinder 94 is arranged to drive the third rack 95 to move, the third rack 95 drives the fifth gear 97 to rotate, the fifth gear 97 drives the third rotating shaft 98 to rotate, the third rotating shaft 98 drives the rotating disc 91 to rotate 90 degrees through the fixed plate 99, the rotating disc 91 drives the clamping device 8 to rotate 90 degrees, the first hydraulic cylinder 88 is arranged to drive the second rack 86 to move, the second rack 86 drives the fourth gear 87 to rotate, the fourth gear 87 drives the third gear 84 to rotate through the second rotating shaft 85, the third gear 84 is driven by the third gear 84, the third gear 84 to move, the first rack 83 is driven by the first rack 83 to move, and the clamping device can realize all-round material moving through the moving of the clamping plates 81.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (1)
1. The bionic mechanical arm for loading and unloading raw materials comprises a base (18), and is characterized in that a mounting column (21) is mounted on the left side of the upper surface of the base (18), a rotating seat (14) is sleeved on the outer side of the mounting column (21), a bearing is mounted between the rotating seat (14) and the mounting column (21), a plug rod (15) penetrating through the mounting column (21) and the base (18) is fixedly mounted in the middle of the lower surface of the rotating seat (14), a bearing is mounted between the plug rod (15) and the mounting column (21), a first gear (16) is fixedly sleeved on the lower portion of the outer side of the plug rod (15), a third speed reducing motor (20) is mounted on the right side of the upper surface of the base (18), a second gear (19) meshed with the first gear (16) is fixedly sleeved on the output end of the third speed reducing motor (20) penetrating through the base (18), a mounting shell (22) is mounted on the upper surface of the rotating seat (14), a second square hole (11) is symmetrically formed in the left side of the mounting shell (22), a first rotating shaft (23) is fixedly mounted on the upper end of the inner side of the mounting shell (22), a second square hole (25) is fixedly mounted on the upper end of the first rotating shaft (23), one end of the first rotating shaft (23) at the lower part is rotationally connected with the mounting shell (22), a second gear motor (13) positioned on the inner lower surface of the mounting shell (22) is installed at the other end of the first rotating shaft (23) at the lower part, chain wheels (12) are fixedly sleeved on two sides of the first rotating shaft (23), a chain (24) is connected between the corresponding two chain wheels (12) in a transmission manner, a U-shaped rod (26) is fixedly installed between the two chain wheels (24), two ends of the U-shaped rod (26) penetrate through a second square hole (11) to be connected with a U-shaped shell (27), a guide post (25) penetrates through the middle part of the U-shaped rod (26), a first square hole (6) is arranged in the middle of the upper surface of the U-shaped shell (27), guide rails (7) are symmetrically installed on two sides of the upper surface of the U-shaped shell (27), guide rail sliders (4) are installed in tracks, a T-shaped motor (3) with the first hole (6) is installed between the two guide rail sliders (4), the U-shaped rod (27) penetrates through the U-shaped shell (27) to be connected with the first gear motor (1), the device is characterized in that a thread slider (2) is connected to the outer side of the threaded rod (5) in a threaded manner, the upper surface of the thread slider (2) is fixedly connected with a T-shaped rod (3), a connecting rod (10) is installed on the lower surface of the thread slider (2), a turnover device (9) is installed at the lower end of the connecting rod (10), a clamping device (8) is installed on the left side of the turnover device (9), and a first speed reduction motor (1), a second speed reduction motor (13) and a third speed reduction motor (20) are connected through wires;
the turnover device (9) comprises a second shell (96) fixed with the connecting rod (10), a third rotating shaft (98) is rotatably arranged in the middle of the inner side of the second shell (96), a fixed plate (99) is arranged at the left end of the third rotating shaft (98) in a penetrating mode through the second shell (96), a fifth gear (97) is fixedly sleeved on the outer side of the third rotating shaft (98), a second hydraulic cylinder (94) is arranged on one side of the upper surface of the second shell (96), a third rack (95) meshed with the fifth gear (97) is arranged at the output end of the second hydraulic cylinder (94) in a penetrating mode through the second shell (96), a fixed disc (92) is fixedly arranged on the left side face of the second shell (96), a rotary disc (91) is sleeved on the left side of the fixed disc (92), and a limiting baffle (93) connected with the rotary disc (91) is fixedly connected with the fixed plate (99) through bolts in a sleeved mode on the right side of the fixed disc (92);
when the third rack (95) moves to be in contact with the second housing (96), the fifth gear (97) rotates by 90 degrees;
the clamping device (8) comprises a first shell (89) connected with a turntable (91), a second rotating shaft (85) is vertically and rotatably arranged in the first shell (89), a fourth gear (87) is fixedly sleeved at the upper end of the second rotating shaft (85) penetrating through the first shell (89), a first hydraulic cylinder (88) is arranged on one side of the upper surface of the first shell (89), a second rack (86) meshed with the fourth gear (87) is arranged at the output end of the first hydraulic cylinder (88), two third gears (84) are fixedly sleeved at the outer side of the second rotating shaft (85) and positioned in the first shell (89), two guide blocks (82) are fixedly arranged on the front and the back of the first shell (89), a first square rack (83) meshed with the third gears (84) is jointly sleeved between the guide blocks (82) and the first shell (89), a third hole (811) is formed in the left side of the first shell (89), two movable rods (81) are fixedly sleeved at the right sides of the first side racks (83), and two movable rods (81) are fixedly sleeved at the movable rods (81) and one ends of the movable rods (81) are fixedly arranged at the movable rods (811);
fixing holes (17) are formed in the lower portions of two sides of the base (18); the base (18) and the mounting column (21) are of an integrated structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910417721.5A CN110014423B (en) | 2019-05-20 | 2019-05-20 | Bionic mechanical arm for loading and unloading raw materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910417721.5A CN110014423B (en) | 2019-05-20 | 2019-05-20 | Bionic mechanical arm for loading and unloading raw materials |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110014423A CN110014423A (en) | 2019-07-16 |
| CN110014423B true CN110014423B (en) | 2023-12-01 |
Family
ID=67194045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910417721.5A Active CN110014423B (en) | 2019-05-20 | 2019-05-20 | Bionic mechanical arm for loading and unloading raw materials |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110014423B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110610553B (en) * | 2019-08-23 | 2020-09-11 | 重庆特斯联智慧科技股份有限公司 | Intelligent self-service payment all-in-one machine arranged at exit of unmanned parking lot |
| CN110815197A (en) * | 2019-11-22 | 2020-02-21 | 江苏铁锚玻璃股份有限公司 | Positioning power manipulator with protection function |
| CN110842974A (en) * | 2019-11-22 | 2020-02-28 | 长沙市奥思得精工模具有限公司 | Automobile fixture recognition mechanism |
| CN111070300A (en) * | 2019-12-11 | 2020-04-28 | 邢台职业技术学院 | Rotary clamping mechanism for cutting off pineapple bottom stem |
| CN110842899B (en) * | 2020-01-16 | 2020-06-26 | 广东电网有限责任公司东莞供电局 | Clamping and overturning mechanism and manipulator |
| CN113193707A (en) * | 2021-03-31 | 2021-07-30 | 黄辉荣 | Commutator mould moving device |
| CN113233311B (en) * | 2021-06-07 | 2022-06-17 | 浙江陀曼智能科技股份有限公司 | Novel machine tool assembling and hoisting device |
| CN113878567A (en) * | 2021-10-29 | 2022-01-04 | 深圳市捷思特电子设备有限公司 | Manipulator for product processing |
| CN114249134B (en) * | 2021-12-24 | 2023-07-28 | 上海旭恒精工机械制造东台有限公司 | Lifting type paper stack stacking device with adjusting function |
| CN115056018A (en) * | 2022-06-27 | 2022-09-16 | 江苏振光电力设备制造有限公司 | Automatic unloader that goes up of numerical control drilling production line based on hoisting robot |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0967003A (en) * | 1995-08-30 | 1997-03-11 | Takigen Mfg Co Ltd | Carrying vehicle having elevating/lowering cargo carrying device |
| JP2012139746A (en) * | 2010-12-28 | 2012-07-26 | Aichi Sangyo Kk | Industrial robot |
| CN105150202A (en) * | 2015-10-01 | 2015-12-16 | 合肥金海康五金机械制造有限公司 | Grabbing mechanism of material taking mechanical arm |
| CN106272377A (en) * | 2016-08-30 | 2017-01-04 | 马鞍山北光冶金机械有限责任公司 | A kind of modularity circular cylindrical coordinate mechanical arm |
| CN107378929A (en) * | 2017-09-22 | 2017-11-24 | 上海鸣与信息科技发展有限公司 | A kind of portable material folding mechanical arm |
| CN108975152A (en) * | 2018-09-19 | 2018-12-11 | 袁福珍 | A kind of working method for the working lifting auxiliary device that builds a bridge |
| CN109153512A (en) * | 2018-01-18 | 2019-01-04 | 深圳市中瑞远博软件信息有限公司 | Automatic chemical dosing machinery arm |
| CN208358804U (en) * | 2018-05-24 | 2019-01-11 | 深圳智慧者机器人科技有限公司 | Draw overturning truss manipulator |
| CN208542434U (en) * | 2018-06-26 | 2019-02-26 | 魏治安 | A kind of clamping device for suit doors production |
| CN208648172U (en) * | 2018-07-12 | 2019-03-26 | 深圳智慧者机器人科技有限公司 | Pcb board automatic blanking palletizing apparatus |
| CN109646822A (en) * | 2019-02-26 | 2019-04-19 | 青岛大学附属医院 | A kind of radiation positioning equipment and its application method for medical oncology clinic |
-
2019
- 2019-05-20 CN CN201910417721.5A patent/CN110014423B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0967003A (en) * | 1995-08-30 | 1997-03-11 | Takigen Mfg Co Ltd | Carrying vehicle having elevating/lowering cargo carrying device |
| JP2012139746A (en) * | 2010-12-28 | 2012-07-26 | Aichi Sangyo Kk | Industrial robot |
| CN105150202A (en) * | 2015-10-01 | 2015-12-16 | 合肥金海康五金机械制造有限公司 | Grabbing mechanism of material taking mechanical arm |
| CN106272377A (en) * | 2016-08-30 | 2017-01-04 | 马鞍山北光冶金机械有限责任公司 | A kind of modularity circular cylindrical coordinate mechanical arm |
| CN107378929A (en) * | 2017-09-22 | 2017-11-24 | 上海鸣与信息科技发展有限公司 | A kind of portable material folding mechanical arm |
| CN109153512A (en) * | 2018-01-18 | 2019-01-04 | 深圳市中瑞远博软件信息有限公司 | Automatic chemical dosing machinery arm |
| CN208358804U (en) * | 2018-05-24 | 2019-01-11 | 深圳智慧者机器人科技有限公司 | Draw overturning truss manipulator |
| CN208542434U (en) * | 2018-06-26 | 2019-02-26 | 魏治安 | A kind of clamping device for suit doors production |
| CN208648172U (en) * | 2018-07-12 | 2019-03-26 | 深圳智慧者机器人科技有限公司 | Pcb board automatic blanking palletizing apparatus |
| CN108975152A (en) * | 2018-09-19 | 2018-12-11 | 袁福珍 | A kind of working method for the working lifting auxiliary device that builds a bridge |
| CN109646822A (en) * | 2019-02-26 | 2019-04-19 | 青岛大学附属医院 | A kind of radiation positioning equipment and its application method for medical oncology clinic |
Non-Patent Citations (1)
| Title |
|---|
| 基于语音控制的弹奏机器人系统设计与实现.《 产业与科技论坛》.2011,全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110014423A (en) | 2019-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110014423B (en) | Bionic mechanical arm for loading and unloading raw materials | |
| CN212595402U (en) | Reagent mixing device | |
| CN108407610A (en) | A kind of four-wheel drive robot chassis of chain drive | |
| CN217097780U (en) | Four-axis swing arm manipulator | |
| CN112551077A (en) | Automobile tire production is with placing and transfer device | |
| WO2018137273A1 (en) | Stereoscopic parking equipment | |
| CN209664478U (en) | A kind of automatic loading and unloading device on gear shapping machine | |
| CN204903555U (en) | Sample analysis appearance and emergency call mechanism thereof | |
| CN116519499A (en) | Electric power installation cable strength measuring device | |
| CN211193885U (en) | Simple three-axis manipulator | |
| CN216883953U (en) | Mobile platform for robot | |
| CN113624155B (en) | Tunnel engineering deformation monitoring device | |
| CN110253558B (en) | Mechanism for realizing mechanical arm action through intermittent compound motion | |
| CN214782121U (en) | Single-layer double-sided chip coating device | |
| CN111634667B (en) | Upset self-balancing anchor clamps suitable for intelligence lifting means | |
| CN212387092U (en) | Telescopic conveying line height adjusting structure | |
| CN211137511U (en) | Epidermis cleaning device for wood working | |
| CN114113140A (en) | Multistation LED lamp plate detection device | |
| CN102497066B (en) | Suspension type line inserting table for motor | |
| CN106362404A (en) | Foot platform structure of game equipment | |
| CN220614278U (en) | PE pipeline perforating device | |
| CN213257318U (en) | Ball valve spheroid hole processingequipment | |
| CN211077395U (en) | Pin shaft coupling centrifugal backstop | |
| CN213889909U (en) | Double-shaft rotary table for millimeter wave radar test | |
| CN112643281A (en) | Water supply and drainage pipeline connecting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |