CN110480626A - A kind of double drive double leval jib shifting pendulum manipulator - Google Patents
A kind of double drive double leval jib shifting pendulum manipulator Download PDFInfo
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- CN110480626A CN110480626A CN201910648306.0A CN201910648306A CN110480626A CN 110480626 A CN110480626 A CN 110480626A CN 201910648306 A CN201910648306 A CN 201910648306A CN 110480626 A CN110480626 A CN 110480626A
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- 230000007246 mechanism Effects 0.000 claims abstract description 146
- 210000000245 forearm Anatomy 0.000 claims abstract description 60
- 239000000725 suspension Substances 0.000 claims abstract description 12
- 125000006850 spacer group Chemical group 0.000 claims description 6
- 230000008719 thickening Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of double drive double leval jibs to move pendulum manipulator, including suspension mechanism, big arm mechanism, forearm double pendulum mechanism, small arm mechanism and terminal-collecting machine mechanism, big arm mechanism is installed on the suspension mechanism, the big arm mechanism includes double leval jib master arm and slave arm, and double leval jib active arm configuration drives slave arm to do pendulum motion；Forearm double pendulum mechanism includes the first rotational structure and the second rotational structure, and the first rotational structure connects the slave arm end of big arm mechanism, and the second rotational structure is placed in that forearm double pendulum is in-house and connect with small arm mechanism, and small arm mechanism meets terminal-collecting machine mechanism.Big arm mechanism of the invention uses double leval jib both arms drive form, and in such a way that swing arm and telescopic arm combine, and realizes manipulator high-speed, even running, can greatly improve Manipulator Transportation efficiency.
Description
Technical field
The present invention relates to stamping technology fields more particularly to a kind of high speed, high load loading and unloading double drive double leval jib to move pendulum
Manipulator.
Background technique
In the industrial production, there is high load capacity, high duplication, height more particularly to material carrying, stamping parts loading and unloading etc.
The process of risk, the form of manual handling seriously restrict production efficiency and the quality of production.In addition, manual handling have compared with
Big risk, the safety of worker are difficult to obtain effective guarantee.
With the continuous development of science and technology, manipulator is more and more applied in industrial production, is especially being related to punching press
The process of part loading and unloading is replaced manually using manipulator, and the efficiency of stamping line is improved.But as efficient production is wanted
The continuous improvement asked, rectangular coordinate manipulative handling efficiency common at present are no longer satisfied production requirement, and universal
Articulated manipulator higher cost and load capacity it is limited.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of double drive double leval jibs to move pendulum manipulator.
The technical solution adopted by the present invention to solve the technical problems is: double including suspension mechanism, big arm mechanism, forearm
Swinging mechanism, small arm mechanism and terminal-collecting machine mechanism, it is characterised in that: big arm mechanism is mounted on suspension mechanism, drives big swing arm
Swing, forearm double pendulum mechanism is mounted on big arm mechanism end, drives the rotation of forearm vertical direction and small arm mechanism horizontal
The rotation in direction, small arm mechanism are connect with forearm double pendulum mechanism, and terminal-collecting machine is connect with small arm mechanism.Big arm mechanism is driven using double
Dynamic double leval jib form, which is realized, to be swung, and slave arm is placed in four-bar linkage structure center.
Further, the big arm mechanism be four rod structure of double drive, including crossbeam, the first master arm, otic placode beam,
Second master arm and slave arm, four rod structures drive driven arm swing while swinging, and the crossbeam is fixed on suspension mechanism
On, the connection type of crossbeam and the first master arm is that the first retarder is fixed in one end of the beam and thickening plate, described first
Master arm is connected to the output end of the first retarder, and first servo motor is connected to the input terminal of the first retarder, the cross
The connection of the beam other end and the second master arm has above-mentioned same form, and two servo motors form double drive structure.
Further, the connection type of the first master arm in the big arm mechanism and otic placode beam is to pass through first axle
Connection, first bearing seat and second bearing seat be separately mounted on the otic placode of otic placode beam left end two, the first bearing seat and the
First angular contact ball bearing and the second angular contact ball bearing are respectively symmetrically installed, first bearing end cap is fixed in two bearing bracket
In first bearing seat, second bearing end cap is fixed in second bearing seat, equipped with the first felt collar and the on the inside of two bearing blocks
Two felt collars, the first axle and the first master arm are fixedly mounted, and rotate movement relative to otic placode beam, second master arm
Connection with otic placode beam has above-mentioned same form.
Further, the connection type of the slave arm in the big arm mechanism and otic placode beam is, by the second axis connection,
Second axis is fixed on otic placode beam by ring flange, and second axis is centripetal by third angular contact ball bearing and the 4th
Thrust ball bearing is placed in 3rd bearing seat, with the among the third angular contact ball bearing and the 4th angular contact ball bearing
Two sleeves are fixed, and locked spacer is housed on the outside of the third angular contact ball bearing, locking screw is housed on the outside of the locked spacer
Mother, the 3rd bearing seat are fixed on slave arm, and 3rd bearing end cap is fixed on 3rd bearing seat, the 3rd bearing end
First sleeve is housed between lid and third angular contact ball bearing, terminates forearm double pendulum mechanism under the slave arm.
Further, forearm double pendulum mechanism includes the first rotational structure and the second rotational structure, first rotation
Structure includes the second servo motor, the second retarder, motor cover, forearm double pendulum mechanism cabinet, and second rotational structure includes
Third servo motor, third retarder, second retarder are fixed on the inside of slave arm, and driving forearm double pendulum mechanism is vertical
The swing in direction, second servo motor are connected to the input terminal of the second retarder, the connection of forearm double pendulum mechanism cabinet
In the output end of the second retarder, the third retarder is connected to forearm double pendulum mechanism box house, the third servo electricity
Machine is connected to the input terminal of third retarder, and the motor cover is connect by screw with forearm double pendulum mechanism cabinet, the third
The output end of retarder connects small arm mechanism, drives the swing of small arm mechanism horizontal direction.
Further, the adoptable another structure type of the big arm mechanism, big arm mechanism are double drive four
Rod structure, including crossbeam, the first master arm, otic placode beam, the second master arm, first master arm extend, and it is double that end connects forearm
Swinging mechanism.
The invention has the benefit that (1) double drive double leval jib of the present invention moves the big arm mechanism of pendulum manipulator using double
The four-bar mechanism of arm driving, can reduce the top weight of manipulator, reduce large arm center of gravity, improve movement stability and
Bearing capacity, while four-bar mechanism is light-weight, inertia is small, and speed is fast, significantly saves the single motion time, improves manipulator
Working efficiency.
(2) big arm mechanism is mounted on the structure type of four-bar mechanism center according to slave arm, can make from
The stroke that swings of swing arm is symmetrical, so as to shorten the length of slave arm, while increasing the rigidity of four-bar mechanism, improves mechanical
The stability of hand.
(3) big arm mechanism extends according to the first master arm, removes the structure type of slave arm, can be greatly reduced to machine
The requirement of tool hand installation accuracy, and further decrease manipulator weight.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Attached drawing 1 is that double drive double leval jib of the present invention moves pendulum robot manipulator structure schematic diagram.
Attached drawing 2 is that double drive double leval jib of the present invention moves pendulum robot manipulator structure main view.
Attached drawing 3 is big arm mechanism schematic diagram of the present invention.
Attached drawing 4 is the adoptable another structure type main view of big arm mechanism of the present invention.
Attached drawing 5 is 2 crossbeam of attached drawing and master arm connection structure A-A cross-sectional view.
Attached drawing 6 is 2 master arm of attached drawing and otic placode beam connection structure B-B cross-sectional view.
Attached drawing 7 is 2 otic placode beam of attached drawing and slave arm connection structure C-C cross-sectional view.
Attached drawing 8 is 2 forearm double pendulum mechanism of attached drawing and small arm mechanism D-D cross-sectional view.
Attached drawing 9 is terminal-collecting machine structural scheme of mechanism.
Marks in the drawings respectively indicate: 1, suspension mechanism, 2, big arm mechanism, 3, forearm double pendulum mechanism, 4, forearm machine
Structure, 5, terminal-collecting machine mechanism, 6, crossbeam, the 7, first master arm, 8, otic placode beam, the 9, second master arm, 10, slave arm, 11, first subtracts
Fast device, 12, first servo motor, 13, thickening plate, the 14, first felt collar, the 15, first angular contact ball bearing, 16, first axle,
17, first bearing seat, 18, first bearing end cap, 19, second bearing seat, 20 second bearing end caps, the 21, second centripetal thrust force ball
Bearing, the 22, second felt collar, the 23, second axis, 24, ring flange, 25,3rd bearing seat, 26, first sleeve, 27, third is centripetal pushes away
Power ball bearing, 28, locking nut, 29, locked spacer, 30,3rd bearing end cap, 31, second sleeve, 32, third centripetal thrust force
Ball bearing, the 33, second servo motor, the 34, second retarder, 35, motor cover, 36, forearm double pendulum mechanism cabinet, 37, third watches
Take motor, 38, third retarder, 39, forearm bracket, 40, forearm, 41, guide rail slide block, the 42, the 4th servo motor, 43, gear,
44,3rd sleeve, 45, fastening screw, 46, third axis, 47, thicken gasket, the 48, the 4th retarder, 49, rack gear, 50, straight line leads
Rail, 51, mobile jib, 52, inside engaged gear, 53, sucker.
Specific embodiment
The specific embodiment for moving pendulum manipulator to a kind of double drive double leval jib of the invention with reference to the accompanying drawing carries out detailed
It is thin to illustrate.
A kind of double drive double leval jib shifting pendulum manipulator, as shown in Fig. 2, including suspension mechanism 1, big arm mechanism 2, forearm
Double pendulum mechanism 3, small arm mechanism 4 and terminal-collecting machine mechanism 5, it is characterised in that: big arm mechanism 2 is mounted on suspension mechanism 1, driving
Slave arm 10 in big arm mechanism 2 is swung, and forearm double pendulum mechanism 3 is mounted on 2 end of big arm mechanism, drives forearm double pendulum machine
The rotation of 3 vertical direction of structure and the rotation of small 4 horizontal direction of arm mechanism, small arm mechanism 4 are connect with forearm double pendulum mechanism 3, can be real
The linear motion of existing horizontal direction, terminal-collecting machine 5 are connect with small arm mechanism 4.
As shown in attached drawing 3,5, big arm mechanism 2 is four rod structure of double drive, including crossbeam 6, the first master arm 7, otic placode
Beam 8, the second master arm 9 and slave arm 10, the crossbeam 6 are fixed on suspension mechanism 1, and the first retarder 11 is consolidated by screw
It is scheduled on 6 left end of crossbeam and thickening plate 13, first master arm 7 is connected to the first retarder 11 by interior hexagonal groove screw
Output end, first servo motor 12 is connected to the input terminal of the first retarder 11, the crossbeam 6 and the second master arm 9
Connection has above-mentioned same form, and two servo motors drive two master arms to do pendulum motion.
As shown in Fig. 6, the first master arm 7 in the big arm mechanism 2 and otic placode beam 8 are connected by first axle 16,
First bearing seat 17 and second bearing seat 19 are separately mounted on the otic placode of otic placode beam 8 left end two, 17 He of first bearing seat
First angular contact ball bearing 15 and the second angular contact ball bearing 21, first bearing are respectively symmetrically installed in second bearing seat 19
End cap 18 is bolted in first bearing seat 17, and second bearing end cap 20 is bolted on second bearing seat 19
On, the first felt collar 14 and the second felt collar 22 are housed on the inside of two bearing blocks, the axis 16 and the first master arm 7 are screwed,
The connection of second master arm 9 and otic placode beam 8 has above-mentioned same form.
As shown in Fig. 7, the slave arm 10 in the big arm mechanism 2 and otic placode beam 8 are connected by the second axis 23, described
Second axis 23 is fixed on otic placode beam 8 by ring flange 24, and second axis 23 passes through third angular contact ball bearing 27 and the
Four angular contact ball bearings 32 are placed in 3rd bearing seat 25, the third angular contact ball bearing 27 and the 4th centripetal thrust ball
It is fixed with second sleeve 31 among bearing 32, locked spacer 29 is housed on the outside of the third angular contact ball bearing 27, it is described to stop
Locking nut 28 is housed, the 3rd bearing seat 25 is fixed on slave arm 10, and 3rd bearing end cap 30 is solid on the outside of mobile gasket 29
It is scheduled on 3rd bearing seat 25, first sleeve is housed between the 3rd bearing end cap 30 and third angular contact ball bearing 27
26, the slave arm 10 is lower to terminate forearm double pendulum mechanism 3.It is specifically moved are as follows: crossbeam 6, the first master arm 7, otic placode beam 8,
Two master arms 9 collectively constitute a four-bar mechanism, and two master arms drive the movement of four-bar mechanism jointly, and double leval jib movement is driven
The swing of dynamic slave arm 10.
As shown in Fig. 8, forearm double pendulum mechanism 3 include the first rotational structure and the second rotational structure, described first
Rotational structure includes the second servo motor 33, the second retarder 34, motor cover 35, forearm double pendulum mechanism cabinet 36, described second
Rotational structure includes third servo motor 37, third retarder 38, and second retarder 34 is fixed on the inside of slave arm 10,
Second servo motor 33 is connected to the input terminal of the second retarder 34, and forearm double pendulum mechanism cabinet 36 is connected to second
The output end of retarder 34, the third retarder 38 are connected to inside forearm double pendulum mechanism cabinet 36, the third servo electricity
Machine 37 is connected to the input terminal of third retarder 38, and the motor cover 35 is connect by screw with forearm double pendulum mechanism cabinet 36,
The output end of the third retarder 38 connects small arm mechanism 4.It is specifically moved are as follows: the first rotational structure is by the second servo motor
33 driving forearm double pendulum mechanism cabinets 36 do the rotary motion of vertical direction, and the second rotational structure is driven by third servo motor 37
Small arm mechanism 4 does the rotary motion of horizontal direction.
Forearm bracket 39 and the output end of third retarder 38 in small arm mechanism 4 is affixed, inside the forearm bracket 39
Two sides are fixed two guide rail slide blocks 41 by screw and are coupled with slide rail 50, and the slide rail 50 is fixed on forearm
Rack gear 49 is installed in 40 two sides, 40 side of forearm, and the 4th retarder 48 is installed on 39 side of forearm bracket, the 4th retarder 48
Input the 4th servo motor 42 of termination, output termination third axis 46, gear 43 are fixed on the outside of third axis 46, the gear 42
And the 4th be connected to 3rd sleeve 44 between retarder 48, the other side of the gear 43 is equipped with thickening gasket 47, the thickening pad
Piece 47 is fixed in third axis 46 by fastening screw 45, and the rack gear 49 and gear 43 are coupled.4th servo motor 42
It drives gear 43 to rotate, does straight-line feed movement with carry-over bar 49 and the forearm 40 being secured to.
As shown in Fig. 9, terminal-collecting machine mechanism 5 includes third rotating mechanism and the 4th rotating mechanism, the terminal-collecting machine mechanism 5
The end of forearm 40 is mounted on by inside engaged gear 52, third rotating mechanism is moved by servo motor driving inside engaged gear 52
To drive terminal-collecting machine mechanism 5 to do the rotation of parallel direction relative to forearm 40, the 4th rotating mechanism is driven by servo motor and is led
The rotation of bar 51 is to drive sucker 53 to make rotating motion.
Practical work process of the invention is as follows:
Workpiece is promoted: the first rotating mechanism rotation of forearm double pendulum mechanism 3, so that forearm double pendulum mechanism 3, small arm mechanism 4 and end
The whole inclination upwards of Shi Qi mechanism 5, so that workpiece lifts；If there are certain requirements to workpiece transport state, so that workpiece lifts
Keep introducing its motion process for horizontality afterwards: the third rotating mechanism of terminal-collecting machine mechanism 5 rotates by a certain angle, so that end
Shi Qi mechanism 5 rotates to mobile jib 51 and forearm 40 keeps 90 ° of quadratures, and the 4th rotating mechanism reversely rotates the first rotating mechanism
Rotation angle so that workpiece keep horizontality.
Workpiece feeding: big arm mechanism 2 is swung, and moves workpiece from previous procedure position to latter procedure position；Simultaneously
Second rotating mechanism of forearm double pendulum mechanism 3 rotates clockwise；Small arm mechanism 4 is first shunk simultaneously stretches out again, by previous process
The arrival of heart line position moves back process position of center line.
Workpiece is placed: the first rotating mechanism rotation of forearm double pendulum mechanism 3, so that forearm double pendulum mechanism 3, small arm mechanism 4
It is integrally tilted down with terminal-collecting machine mechanism 5, so that workpiece is placed.
Manipulator returns: big arm mechanism 2 is swung, and moves workpiece from later procedure position to previous procedure position；Together
When forearm double pendulum mechanism 3 the second rotating mechanism rotate counterclockwise；Small arm mechanism 4 is first shunk simultaneously stretches out again, by later procedure
Position of center line reaches previous process position of center line.
Finally, it should be noted that being merely a preferred embodiment of the present invention described in having gone up, it is not intended to restrict the invention, at this
Under inventive concept, many variations can be still made.Here, it should be noted that in the spirit and principles in the present invention, that is done any is repaired
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of double drive double leval jib moves pendulum manipulator, including suspension mechanism (1), big arm mechanism (2), forearm double pendulum mechanism
(3), small arm mechanism (4) and terminal-collecting machine mechanism (5), it is characterised in that: big arm mechanism (2) is mounted on suspension mechanism (1), is driven
The swing of big swing arm is moved, forearm double pendulum mechanism (3) is mounted on big arm mechanism (2) end, drives the rotation of forearm vertical direction
With the rotation of small arm mechanism (4) horizontal direction, small arm mechanism (4) connect with forearm double pendulum mechanism (3), terminal-collecting machine (5) and forearm
Mechanism (4) connection.
2. a kind of double drive double leval jib according to claim 1 moves pendulum manipulator, it is characterised in that: the big swing arm machine
Structure (2) is four rod structure of double drive, including crossbeam (6), the first master arm (7), otic placode beam (8), the second master arm (9) and driven
Arm (10), four rod structures drive slave arm (10) to swing while swinging, and the crossbeam (6) is fixed on suspension mechanism (1),
The connection type of crossbeam (6) and the first master arm (7) is that the first retarder (11) is fixed on crossbeam (6) one end and thickening plate
(13) on, first master arm (7) is connected to the output end of the first retarder (11), and first servo motor (12) is connected to
The connection of the input terminal of first retarder (11), crossbeam (6) other end and the second master arm (9) has above-mentioned phase similar shape
Formula, two servo motors form double drive structure.
3. a kind of double drive double leval jib according to claim 2 moves pendulum manipulator, it is characterised in that: the big arm mechanism
(2) connection type of the first master arm (7) and otic placode beam (8) in is to be connected by first axle (16), first bearing seat (17)
It is separately mounted on the otic placode of otic placode beam (8) left end two with second bearing seat (19), the first bearing seat (17) and the second axis
It holds in seat (19) and the first angular contact ball bearing (15) and the second angular contact ball bearing (21), first bearing is respectively symmetrically installed
End cap (18) is fixed on first bearing seat (17), and second bearing end cap (20) is fixed on second bearing seat (19), two axis
It holds and is fixedly mounted on the inside of seat equipped with the first felt collar (14) and the second felt collar (22), the first axle (16) and the first master arm (7),
And rotate movement relative to otic placode beam (8), the connection of second master arm (9) and otic placode beam (8) has above-mentioned phase similar shape
Formula.
4. a kind of double drive double leval jib according to claim 2 moves pendulum manipulator, it is characterised in that: the big arm mechanism
(2) connection type of slave arm (10) and otic placode beam (8) in is to be connected by the second axis (23), and second axis (23) is logical
It crosses ring flange (24) to be fixed on otic placode beam (8), second axis (23) passes through third angular contact ball bearing (27) and the 4th
Angular contact ball bearing (32) is placed in 3rd bearing seat (25), and the third angular contact ball bearing (27) and the 4th centripetal pushes away
Power ball bearing (32) intermediate second sleeve (31) is fixed, and locked spacer is housed on the outside of the third angular contact ball bearing (27)
(29), locking nut (28) are housed on the outside of the locked spacer (29), the 3rd bearing seat (25) is fixed on slave arm (10)
On, 3rd bearing end cap (30) is fixed on 3rd bearing seat (25), the 3rd bearing end cap (30) and third centripetal thrust force
First sleeve (26) are housed between ball bearing (27), terminate forearm double pendulum mechanism (3) under the slave arm (10).
5. a kind of double drive double leval jib according to claim 4 moves pendulum manipulator, it is characterised in that: the forearm double pendulum machine
Structure (3) includes the first rotational structure and the second rotational structure, and first rotational structure includes the second servo motor (33), second
Retarder (34), motor cover (35), forearm double pendulum mechanism cabinet (36), second rotational structure include third servo motor
(37), third retarder (38), second retarder (34) are fixed on the inside of slave arm (10), drive forearm double pendulum mechanism
(3) swing of vertical direction, second servo motor (33) are connected to the input terminal of the second retarder (34), and the forearm is double
Swinging mechanism cabinet (36) is connected to the output end of the second retarder (34), and the third retarder (38) is connected to forearm double pendulum machine
Structure cabinet (36) is internal, and the third servo motor (37) is connected to the input terminal of third retarder (38), the motor cover
(35) it is connect by screw with forearm double pendulum mechanism cabinet (36), the output end of the third retarder (38) connects small arm mechanism
(4), the swing of small arm mechanism (4) horizontal direction is driven.
6. a kind of double drive double leval jib according to claim 1 moves pendulum manipulator, the big arm mechanism (2) be can be used
Another structure type, it is characterised in that: the big arm mechanism (2) be four rod structure of double drive, including crossbeam (6),
First master arm (7), otic placode beam (8), the second master arm (9), first master arm (7) extend, and end connects forearm double pendulum machine
Structure (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910648306.0A CN110480626A (en) | 2019-07-18 | 2019-07-18 | A kind of double drive double leval jib shifting pendulum manipulator |
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| CN201910648306.0A CN110480626A (en) | 2019-07-18 | 2019-07-18 | A kind of double drive double leval jib shifting pendulum manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110980262A (en) * | 2019-11-29 | 2020-04-10 | 济南大学 | Dual-drive liftable swing moving manipulator |
| CN112570224A (en) * | 2020-12-02 | 2021-03-30 | 吉林省百浪汽车装备技术有限公司 | Dual-drive four-connecting-rod self-locking swing mechanism |
| CN113681588A (en) * | 2021-09-17 | 2021-11-23 | 深圳市精庄科技有限公司 | Portable adsorption type mechanical arm |
| CN116329407A (en) * | 2023-03-10 | 2023-06-27 | 济南二机床集团有限公司 | Workpiece carrying device between presses |
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| CN110980262A (en) * | 2019-11-29 | 2020-04-10 | 济南大学 | Dual-drive liftable swing moving manipulator |
| CN112570224A (en) * | 2020-12-02 | 2021-03-30 | 吉林省百浪汽车装备技术有限公司 | Dual-drive four-connecting-rod self-locking swing mechanism |
| CN113681588A (en) * | 2021-09-17 | 2021-11-23 | 深圳市精庄科技有限公司 | Portable adsorption type mechanical arm |
| CN113681588B (en) * | 2021-09-17 | 2022-07-22 | 深圳市精庄科技有限公司 | Portable adsorption type mechanical arm |
| CN116329407A (en) * | 2023-03-10 | 2023-06-27 | 济南二机床集团有限公司 | Workpiece carrying device between presses |
| CN116329407B (en) * | 2023-03-10 | 2023-12-15 | 济南二机床集团有限公司 | Workpiece carrying device between presses |
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