CN110315522B - Industrial robot arm mechanism of buckling - Google Patents

Industrial robot arm mechanism of buckling Download PDF

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Publication number
CN110315522B
CN110315522B CN201910685930.8A CN201910685930A CN110315522B CN 110315522 B CN110315522 B CN 110315522B CN 201910685930 A CN201910685930 A CN 201910685930A CN 110315522 B CN110315522 B CN 110315522B
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China
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wall
connecting rod
gear
industrial robot
rod
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CN201910685930.8A
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CN110315522A (en
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蒋武晗
韩正泽
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Longhe Intelligent Equipment Manufacturing Co Ltd
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Nanjing Yuyi Communication Technology Co Ltd
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Priority to CN201911378272.4A priority Critical patent/CN111113395A/en
Priority to CN201910685930.8A priority patent/CN110315522B/en
Publication of CN110315522A publication Critical patent/CN110315522A/en
Application granted granted Critical
Publication of CN110315522B publication Critical patent/CN110315522B/en
Priority to PCT/CN2020/085193 priority patent/WO2021017528A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1035Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an arm stretching mechanism of an industrial robot, and belongs to the technical field of robot arms. An industrial robot arm stretching mechanism comprises a base, wherein the top of the base is connected with a workbench, the top of the workbench is connected with a fixed plate, the outer wall of the workbench is connected with a transmission rack in a sliding manner, the outer wall of the transmission rack is connected with a first gear in a meshed manner, the outer wall of the first gear is connected with a first connecting rod, two ends of the first connecting rod are respectively connected with a second connecting rod and a seventh connecting rod in a rotating manner, one end, away from the first connecting rod, of the seventh connecting rod is connected with a third connecting rod, the joint of the third connecting rod and the seventh connecting rod is connected with a second gear, the outer wall of the second gear is connected with a third gear in a meshed manner, the outer wall of the third gear is connected with a fourth connecting rod, two ends of the fourth connecting rod are both connected with fifth connecting rods, one ends, away; the invention is beneficial to improving the flexibility of the robot arm through the rotation between the connecting rods.

Description

Industrial robot arm mechanism of buckling
Technical Field
The invention relates to the technical field of robot arms, in particular to an arm stretching mechanism of an industrial robot.
Background
The robot gripper can simulate the action of a hand and an arm of a human body to realize the grabbing and carrying of objects or operation tools, can effectively reduce the labor load of personnel and improve the working efficiency, is widely applied to various fields of mechanical manufacturing, metallurgy, electronics and the like at present, along with the rapid development of modern industrial production, various specifications and types of robot grippers are developed in the industry, a factory gradually uses a robot to replace manual production, a production tool is held by the hand during manual production in the past for operation, and the robot needs to adopt the gripper to mount the production tool and be mounted at the tail end of the robot.
However, the connection between the front arm and the rear arm of the existing robot arm is complex, the rotational freedom degree between the front arm and the rear arm is not high, so that the robot gripper is not flexible enough in the process of gripping objects, the gripping efficiency of the robot gripper is low, a large amount of time and energy are wasted, and the improvement of industrial production cost is not facilitated.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an arm stretching mechanism of an industrial robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
an industrial robot arm stretching mechanism comprises a base, wherein the top of the base is connected with a workbench, the top of the workbench is connected with a fixed plate, the outer wall of the fixed plate is connected with a reciprocating mechanism, the outer wall of the workbench is connected with a conveying rack in a sliding manner, the outer wall of the conveying rack is connected with a first gear in a meshing manner, the outer wall of the first gear is connected with a first connecting rod, the first connecting rod is fixedly connected with the outer wall of the fixed plate, two ends of the first connecting rod are respectively and rotatably connected with a second connecting rod and a seventh connecting rod, the seventh connecting rod is fixedly connected with the first gear, one end of the second connecting rod, far away from the first connecting rod, is connected with a third connecting rod, the joint of the third connecting rod and the seventh connecting rod is connected with a second gear, the outer wall of the second gear is connected with a third gear in a meshing manner, the outer wall of the third gear is connected with, and one ends of the two fifth connecting rods, which are far away from the fourth connecting rod, are connected with sixth connecting rods, and the outer walls of the sixth connecting rods are connected with clamping mechanisms.
Preferably, a connecting rod is fixedly connected between the third connecting rod and the fourth connecting rod.
Preferably, reciprocating mechanism includes first motor, the outer wall at the fixed plate is connected to first motor, the output of first motor is connected with the axis of rotation, the one end that first motor was kept away from in the axis of rotation passes the fixed plate and is connected with the disc, disc outer wall connection has the gag lever post, the meshing of conveying rack outer wall is connected with sector gear, sector gear rotates the outer wall of connecting at the fixed plate, sector gear outer wall connection has the dwang, the dwang outer wall is opened and is chiseled there is the spacing groove with gag lever post assorted.
Preferably, the outer wall of the workbench is provided with a sliding groove in a chiseled mode, and the transmission rack is connected in the sliding groove in a sliding mode.
Preferably, fixture includes the fixed block, fixed block outer wall connection has the cylinder, the output of cylinder is connected with the telescopic link, the one end that the cylinder was kept away from to the telescopic link is connected with the removal frame, fixed block outer wall connection has the fixed axle, the fixed axle outer wall rotates respectively and is connected with two movable rods, the outer wall connection that removes the frame has the slide bar, two the shrinkage pool has all been dug to the movable rod outer wall, slide bar sliding connection is in the shrinkage pool, and two the movable rod outer wall is connected with first splint and second splint respectively.
Preferably, the outer wall of the telescopic rod is sleeved with an elastic element, and the elastic element is connected between the cylinder and the moving frame.
Preferably, threaded holes are drilled in the outer walls of the second clamping plate and the movable rod, and bolts are movably connected in the threaded holes.
Preferably, the outer walls of the first clamping plate and the second clamping plate are both connected with rubber pads, and the outer walls of the rubber pads are provided with anti-skid lines.
Preferably, the base outer wall is excavated with a groove, the inner wall of the groove is connected with a second motor, the output end of the second motor is connected with a support column, and the support column is connected with the workbench.
Compared with the prior art, the invention provides an industrial robot arm stretching mechanism which has the following beneficial effects:
1. according to the arm stretching mechanism of the industrial robot, when the robot arm needs to be controlled to grab an object, the reciprocating mechanism drives the transmission rack to move, so that the transmission rack is meshed with the first gear, the first gear drives the seventh connecting rod to rotate around the first connecting rod, the seventh connecting rod is lifted, and simultaneously the third connecting rod moves upwards to drive the second gear to be meshed with the third gear, so that the third gear drives the fourth connecting rod to move, the fourth connecting rod drives the two fifth connecting rods to rotate, and the sixth connecting rod drives the clamping mechanism to clamp the object.
2. This industrial robot arm mechanism of buckling through the fixed connection connecting rod between third connecting rod and fourth connecting rod, makes the distance between third connecting rod and the fourth connecting rod fixed, makes things convenient for to carry out the meshing rotation between second gear and the third gear.
3. This industrial robot arm mechanism of buckling, reciprocating mechanism during operation, at first will control first motor operation, make the output of first motor drive the disc and rotate at the fixed plate, and then make the disc drive the gag lever post at rotatory in-process and slide in the spacing groove, make sector gear and conveying rack mesh mutually to make conveying rack slide on the workstation, and then make conveying rack reciprocating motion, and then make the device can reciprocating motion, make the robot tongs can carry out reciprocal snatching to article.
4. This industrial robot arm mechanism of buckling through the spout of digging at the outer wall of workstation, makes the transfer rack slide inside the spout, is favorable to the removal of transfer rack more steady, improves the mobility stability of device.
5. This industrial robot arm mechanism of buckling, when fixture during operation, through the control cylinder operation, the output that makes the cylinder drives the telescopic link and stretches out to the slide bar that makes the carriage release wall slides in the shrinkage pool that the movable rod outer wall was dug, makes two movable rods rotate around the fixed axle, and two movable rods are close to each other, thereby drive first splint and second splint and carry out the centre gripping to article.
6. This industrial robot arm mechanism of buckling through cup jointing elastic element at the outer wall of telescopic link, can play the effect of buffering when cylinder control telescopic link is flexible, avoids flexible too rapidly of telescopic link, leads to removing to put up and collide with the fixed block, is favorable to improving the life of device.
7. This industrial robot arm mechanism of buckling through passing through the bolt with the second splint and installing on the movable rod, can adjust the angle of second splint to the object of different shapes, conveniently snatchs the object.
8. This industrial robot arm mechanism of buckling sets up the rubber pad through the outer wall at splint, can avoid fixture to cause article to damage because the clamping-force is too big at the in-process of getting article by clamp, and the rubber pad outside is provided with anti-skidding line, can avoid splint to get article's in-process, and article drop.
9. This industrial robot arm mechanism of buckling through the top at the base groove of digging to be connected with the second motor, can control the operation of second motor, make the second motor drive the workstation and rotate, and then make the device can press from both sides the omnidirectional article and get.
Drawings
Fig. 1 is a schematic overall structure diagram of an arm stretching mechanism of an industrial robot according to the present invention;
fig. 2 is a schematic structural diagram of a reciprocating mechanism of an arm stretching mechanism of an industrial robot, which is provided by the invention;
fig. 3 is a schematic external structural diagram of a third connecting rod of an arm stretching mechanism of an industrial robot according to the present invention;
FIG. 4 is a schematic diagram of an external structure of a workbench of an arm stretching mechanism of an industrial robot, according to the present invention;
fig. 5 is a schematic structural diagram of a clamping mechanism of an arm stretching mechanism of an industrial robot, which is provided by the invention;
fig. 6 is a schematic cross-sectional structure diagram of a base of an arm stretching mechanism of an industrial robot according to the present invention.
In the figure: 1. a base; 101. a groove; 2. a work table; 201. a chute; 3. a fixing plate; 4. a transfer rack; 5. a first gear; 6. a first link; 7. a second link; 8. a third link; 9. a second gear; 10. a third gear; 11. a fourth link; 12. a fifth link; 13. a sixth link; 14. a connecting rod; 15. a first motor; 16. a disc; a limiting rod; a sector gear; 19. rotating the rod; 191. a limiting groove; 20. a fixed block; 21. a cylinder; 22. a telescopic rod; 23. a movable frame; 231. a slide bar; 24. a fixed shaft; 25. a movable rod; 251. concave holes; 252. a first splint; 253. a second splint; 26. an elastic element; 27. a bolt; 28. a rubber pad; 29. a second motor; 30. and (4) a support column.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-3, an industrial robot arm stretching mechanism comprises a base 1, a workbench 2 is connected to the top of the base 1, a fixed plate 3 is connected to the top of the workbench 2, a reciprocating mechanism is connected to the outer wall of the fixed plate 3, a transmission rack 4 is slidably connected to the outer wall of the workbench 2, a first gear 5 is engaged with the outer wall of the transmission rack 4, a first link 6 is connected to the outer wall of the first gear 5, the first link 6 is fixedly connected to the outer wall of the fixed plate 3, a second link 7 and a seventh link are respectively rotatably connected to two ends of the first link 6, the seventh link is fixedly connected to the first gear 5, a third link 8 is connected to one end of the second link 7 far away from the first link 6, a second gear 9 is connected to the joint of the third link 8 and the seventh link 7, a third gear 10 is engaged with the outer wall of the second gear 9, and a fourth link 11 is connected, both ends of the fourth connecting rod 11 are rotatably connected with fifth connecting rods 12, one ends of the two fifth connecting rods 12, which are far away from the fourth connecting rod 11, are connected with sixth connecting rods 13, and the outer walls of the sixth connecting rods 13 are connected with clamping mechanisms; when the robot arm needs to be controlled to grab an object, the reciprocating mechanism drives the transmission rack 4 to move, so that the transmission rack 4 is meshed with the first gear 5, the first gear 5 drives the seventh connecting rod 7 to rotate around the first connecting rod 6, the seventh connecting rod 7 is lifted, and simultaneously, the third connecting rod 8 moves upwards to drive the second gear 9 to be meshed with the third gear 10, so that the third gear 10 drives the fourth connecting rod 11 to move, the fourth connecting rod 11 drives the two fifth connecting rods 12 to rotate, and the sixth connecting rod 13 drives the clamping mechanism to clamp the object.
Referring to fig. 1 and 3, a connecting rod 14 is fixedly connected between the third connecting rod 8 and the fourth connecting rod 11; the distance between the third connecting rod 8 and the fourth connecting rod 11 is fixed, so that the second gear 9 and the third gear 10 can be conveniently meshed and rotated.
Referring to fig. 2, the reciprocating mechanism comprises a first motor 15, the first motor 15 is connected to the outer wall of the fixed plate 3, the output end of the first motor 15 is connected with a rotating shaft, one end of the rotating shaft, which is far away from the first motor 15, penetrates through the fixed plate 3 and is connected with a disc 16, the outer wall of the disc 16 is connected with a limiting rod, the outer wall of the conveying rack 4 is meshed and connected with a sector gear, the sector gear is rotatably connected to the outer wall of the fixed plate 3, the outer wall of the sector gear is connected with a rotating rod 19, and the outer wall of; when the reciprocating mechanism works, firstly, the first motor 15 is controlled to operate, the output end of the first motor 15 drives the disc 16 to rotate on the fixing plate 3, and then the disc 16 drives the limiting rod to slide in the limiting groove 191 in the rotating process, so that the sector gear is meshed with the transmission rack 4, the transmission rack 4 slides on the workbench 2, the transmission rack 4 reciprocates, the device can reciprocate, and the robot gripper can grasp objects in a reciprocating manner.
Referring to fig. 1-4, a chute 201 is cut on the outer wall of the workbench 2, and the transmission rack 4 is slidably connected in the chute 201; the movement of the transmission rack 4 is more stable, and the movement stability of the device is improved.
Referring to fig. 5, the clamping mechanism includes a fixed block 20, an air cylinder 21 is connected to an outer wall of the fixed block 20, an output end of the air cylinder 21 is connected to a telescopic rod 22, one end of the telescopic rod 22, which is far away from the air cylinder 21, is connected to a moving frame 23, a fixed shaft 24 is connected to an outer wall of the fixed block 20, two movable rods 25 are respectively rotatably connected to outer walls of the fixed shaft 24, a sliding rod 231 is connected to an outer wall of the moving frame 23, concave holes 251 are respectively drilled in outer walls of the two movable rods 25, the sliding rod 231 is slidably connected to the inside of the concave holes 251; when the clamping mechanism works, the operation of the cylinder 21 is controlled, so that the output end of the cylinder 21 drives the telescopic rod 22 to extend, the sliding rod 231 on the outer wall of the moving frame 23 slides in the concave hole 251 cut on the outer wall of the movable rod 25, the two movable rods 25 rotate around the fixed shaft 24, the two movable rods 25 are close to each other, and the first clamping plate 252 and the second clamping plate 253 are driven to clamp the articles.
Referring to fig. 5, the outer wall of the telescopic rod 22 is sleeved with an elastic element 26, and the elastic element 26 is connected between the cylinder 21 and the moving frame 23; the telescopic rod 22 can be controlled by the cylinder 21 to stretch out and draw back, so that the telescopic rod 22 is prevented from stretching out and drawing back too quickly, the movable frame 23 is prevented from colliding with the fixed block 20, and the service life of the device is prolonged.
Referring to fig. 5, threaded holes are drilled in the outer walls of the second clamping plate 253 and the movable rod 25, and bolts 27 are movably connected in the threaded holes; the angle of the second clamp plate 253 can be adjusted for objects with different shapes, and the objects can be conveniently grabbed.
Referring to fig. 5, the outer walls of the first clamping plate 252 and the second clamping plate 253 are both connected with rubber pads 28, and the outer walls of the rubber pads 28 are provided with anti-skid lines; the clamping mechanism can be prevented from damaging the articles due to overlarge clamping force in the process of clamping the articles, and the rubber pad 28 is externally provided with anti-skidding lines, so that the articles can be prevented from falling off when the clamping plate clamps the articles.
Referring to fig. 1 and 6, a groove 101 is cut in the outer wall of the base 1, a second motor 29 is connected to the inner wall of the groove 101, a support column 30 is connected to the output end of the second motor 29, and the support column 30 is connected to the workbench 2; the second motor 29 can be controlled to operate, so that the second motor 29 drives the workbench 2 to rotate, and the device can clamp all-around objects.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (9)

1. The utility model provides an industrial robot arm mechanism of buckling, includes base (1), its characterized in that, the top of base (1) is connected with workstation (2), the top of workstation (2) is connected with fixed plate (3), fixed plate (3) outer wall connection has reciprocating mechanism, workstation (2) outer wall sliding connection has transfer rack (4), transfer rack (4) outer wall meshing is connected with first gear (5), first gear (5) outer wall connection has first connecting rod (6), first connecting rod (6) fixed connection is at the outer wall of fixed plate (3), the both ends of first connecting rod (6) are rotated respectively and are connected with second connecting rod (7) and seventh connecting rod, seventh connecting rod and first gear (5) fixed connection, the one end that first connecting rod (6) was kept away from to second connecting rod (7) is connected with third connecting rod (8), third connecting rod (8) are connected with second gear (9) with the handing-over department of seventh connecting rod, second gear (9) outer wall meshing is connected with third gear (10), third gear (10) outer wall connection has fourth connecting rod (11), the both ends of fourth connecting rod (11) are all rotated and are connected with fifth connecting rod (12), two the one end that fourth connecting rod (11) were kept away from in fifth connecting rod (12) all is connected with sixth connecting rod (13), sixth connecting rod (13) outer wall connection has fixture.
2. An industrial robot arm stretching mechanism according to claim 1, characterized in that a connecting rod (14) is fixedly connected between the third link (8) and the fourth link (11).
3. An industrial robot arm stretching mechanism according to claim 1, characterized in that the reciprocating mechanism comprises a first motor (15), the first motor (15) is connected to the outer wall of the fixing plate (3), the output end of the first motor (15) is connected with a rotating shaft, one end of the rotating shaft, which is far away from the first motor (15), penetrates through the fixing plate (3) and is connected with a disc (16), the outer wall of the disc (16) is connected with a limiting rod, the outer wall of the conveying rack (4) is connected with a sector gear in a meshed manner, the sector gear is rotatably connected to the outer wall of the fixing plate (3), the outer wall of the sector gear is connected with a rotating rod (19), and the outer wall of the rotating rod (19) is provided with a limiting groove (191) matched with the limiting rod in.
4. An industrial robot arm stretching mechanism as claimed in claim 3, wherein the outer wall of the working table (2) is provided with a sliding groove (201), and the transmission rack (4) is slidably connected in the sliding groove (201).
5. An industrial robot arm stretching mechanism according to claim 1, the clamping mechanism comprises a fixed block (20), the outer wall of the fixed block (20) is connected with a cylinder (21), the output end of the cylinder (21) is connected with a telescopic rod (22), one end of the telescopic rod (22) far away from the cylinder (21) is connected with a movable frame (23), the outer wall of the fixed block (20) is connected with a fixed shaft (24), the outer wall of the fixed shaft (24) is respectively and rotatably connected with two movable rods (25), the outer wall of the moving frame (23) is connected with a sliding rod (231), concave holes (251) are formed in the outer walls of the two movable rods (25), the sliding rod (231) is connected in the concave holes (251) in a sliding mode, and the outer walls of the two movable rods (25) are respectively connected with a first clamping plate (252) and a second clamping plate (253).
6. An industrial robot arm stretching mechanism according to claim 5, characterized in that the outer wall of the telescopic rod (22) is sleeved with an elastic element (26), and the elastic element (26) is connected between the cylinder (21) and the moving frame (23).
7. An industrial robot arm stretching mechanism as claimed in claim 5, wherein the second clamp plate (253) and the outer wall of the movable rod (25) are provided with threaded holes, and the threaded holes are movably connected with bolts (27).
8. An industrial robot arm stretching mechanism according to claim 5, characterized in that the outer walls of the first clamping plate (252) and the second clamping plate (253) are connected with rubber pads (28), and the outer walls of the rubber pads (28) are provided with anti-skid lines.
9. An industrial robot arm stretching mechanism as claimed in claim 1, characterized in that the outer wall of the base (1) is provided with a groove (101), the inner wall of the groove (101) is connected with a second motor (29), the output end of the second motor (29) is connected with a supporting column (30), and the supporting column (30) is connected with the workbench (2).
CN201910685930.8A 2019-07-28 2019-07-28 Industrial robot arm mechanism of buckling Active CN110315522B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201911378272.4A CN111113395A (en) 2019-07-28 2019-07-28 Industrial robot arm mechanism of buckling
CN201910685930.8A CN110315522B (en) 2019-07-28 2019-07-28 Industrial robot arm mechanism of buckling
PCT/CN2020/085193 WO2021017528A1 (en) 2019-07-28 2020-04-16 Arm stretching and bending mechanism for industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910685930.8A CN110315522B (en) 2019-07-28 2019-07-28 Industrial robot arm mechanism of buckling

Related Child Applications (1)

Application Number Title Priority Date Filing Date
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CN110315522B true CN110315522B (en) 2020-01-17

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CN110315522B (en) * 2019-07-28 2020-01-17 南京驭逡通信科技有限公司 Industrial robot arm mechanism of buckling
CN111779813A (en) * 2020-07-21 2020-10-16 张聿剑 Horizontal reciprocating mechanism for mechanical transmission and use method thereof
CN112087941A (en) * 2020-10-19 2020-12-15 惠州市百桥电子科技有限公司 PCB fixing device of SMT chip mounter
CN112189503B (en) * 2020-11-02 2023-03-17 江苏江山营造景观有限公司 Afforestation trees strutting arrangement
CN112621797B (en) * 2020-12-01 2022-11-18 山东鸿泽自动化技术有限公司 Clamping arm for industrial robot
CN113104571B (en) * 2021-03-30 2022-03-08 深圳市德泽威技术检测有限公司 Adjustable clamping device with rotating arm

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WO2021017528A1 (en) 2021-02-04
CN111113395A (en) 2020-05-08

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