CN110549321A - robot clamping device for logistics transportation - Google Patents
robot clamping device for logistics transportation Download PDFInfo
- Publication number
- CN110549321A CN110549321A CN201910866805.7A CN201910866805A CN110549321A CN 110549321 A CN110549321 A CN 110549321A CN 201910866805 A CN201910866805 A CN 201910866805A CN 110549321 A CN110549321 A CN 110549321A
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- CN
- China
- Prior art keywords
- driving
- angle adjusting
- clamping
- fixedly connected
- arm
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- 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.)
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot clamping device for logistics transportation, belongs to the technical field of intelligent robots, and solves the problem that the inclination angle of a clamping mechanism of the existing device is inconvenient to adjust; the technical characteristics are as follows: the clamping device comprises a base, a clamping mechanism and an angle adjusting mechanism, wherein the upper part of the base is provided with a height adjusting mechanism for adjusting the angle adjusting mechanism, the angle adjusting mechanism comprises an angle adjusting arm and a connecting arm, the angle adjusting arm and the connecting arm are rotatably connected through a rotating shaft, the bottom of the connecting arm is provided with a clamping mechanism mounting seat, and the clamping mechanism mounting seat is provided with a clamping mechanism for clamping an article; the angle adjusting mechanism is arranged in the embodiment of the invention, so that goods at different positions can be clamped, the distance between the clamping blocks is adjustable, the clamping device is further suitable for clamping goods of different models, and meanwhile, the height of the angle adjusting mechanism can be conveniently adjusted by arranging the height adjusting assembly.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a robot clamping device for logistics transportation.
Background
the robot is a machine device which automatically executes work, can receive human commands, can run a pre-arranged program, and can perform actions according to a principle schema established by an artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
Chinese patent CN209158387U discloses a device is got to robot clamp, including the rectangle casing, rectangle casing upper surface center department fixed connection stand, the circular through-hole of stand upper edge department processing, the embedded horizontal pole of dress in the circular through-hole, a plurality of semicircle ring casings of fixed connection on the horizontal pole, every all process the rectangle recess on the semicircle ring casing, the embedding rotation end of dress is a horizontally miniature rotating electrical machines, every in the rectangle recess equal fixed connection electric control telescopic link on the rotation end of a miniature rotating electrical machines. However, the inclination angle of the clamping mechanism of the device is inconvenient to adjust, and the flexibility of the device is affected, so that the robot clamping device for logistics transportation is provided.
Disclosure of Invention
The invention aims to provide a robot clamping device for logistics transportation, which comprises a base, a clamping mechanism and an angle adjusting mechanism, wherein the upper part of the base is provided with a height adjusting mechanism for adjusting the angle adjusting mechanism, the angle adjusting mechanism comprises an angle adjusting arm and a connecting arm, the angle adjusting arm and the connecting arm are rotatably connected through a rotating shaft, the bottom of the connecting arm is provided with a clamping mechanism mounting seat, and the clamping mechanism mounting seat is provided with the clamping mechanism for clamping articles, so that the problem that the inclination angle of the clamping mechanism of the existing device is inconvenient to adjust is solved.
In order to achieve the purpose, the invention provides the following technical scheme:
The utility model provides a device is got to robot clamp for commodity circulation transportation, includes the base, presss from both sides and gets mechanism and angle adjusting mechanism, and the upper portion of base is equipped with the height adjusting mechanism who is used for angle adjusting mechanism, and angle adjusting mechanism includes angle adjusting arm, linking arm, rotates through the pivot between angle adjusting arm and the linking arm to be connected, and the bottom of linking arm is equipped with to press from both sides gets the mechanism mount pad, presss from both sides to install the clamp that is used for centre gripping article on getting the mechanism mount pad and gets the mechanism.
As a further scheme of the invention: the height adjusting assembly comprises a screw rod, a first driving piece, a driving gear, a driven gear and a screw block, the bottom of the screw rod is installed on the base, the driven gear is fixedly installed at the top of the screw rod, the left side of the driven gear is provided with the driving gear, the driving gear is meshed with the driven gear, the first driving piece is arranged below the driving gear, the screw block is fixedly connected with the driving gear through bolts, the screw rod is sleeved with the screw block, the screw rod is connected with the screw block through threads, and the screw block is connected with an angle adjusting mechanism.
As a still further scheme of the invention: the left side of screw rod is equipped with and is used for the spacing vertical gag lever post of angle adjustment mechanism, and the bottom fixed mounting of vertical gag lever post is on vertical gag lever post mount pad, and vertical gag lever post mount pad passes through bolt and base fixed connection, the top and the first driving piece fixed connection of vertical gag lever post, the spiral shell piece passes through first connecting rod and vertical gag lever post sliding connection.
As a still further scheme of the invention: one side of angle modulation arm is equipped with the second driving piece, through bolt fixed connection between second driving piece and the spiral shell piece, and the output end fixed connection of second driving piece has the angle modulation arm, and the both ends welding of pivot has the baffle, is equipped with the drive chamber in the angle modulation arm.
As a still further scheme of the invention: the drive intracavity is equipped with electric putter and battery, electric putter and battery electric connection, and electric putter's flexible end fixedly connected with second connecting rod, and electric putter's one end and pivot fixed connection are kept away from to the second connecting rod.
As a still further scheme of the invention: front side fixed mounting has the third driving piece on the baffle, and the flexible end of third driving piece passes through bolt fixedly connected with linking arm, and first driving piece, second driving piece and third driving piece are servo motor, and first driving piece, second driving piece and third driving piece model are the same.
As a still further scheme of the invention: the clamping mechanism comprises two clamping blocks, a cylinder, two vertical plates and two protection plates, the cylinder is symmetrically arranged about a vertical central axis of the clamping mechanism mounting seat, the output ends of the two cylinders are respectively fixedly connected with the vertical plates through bolts, the lower portions of the vertical plates are fixedly connected with the protection plates, and the clamping blocks are mounted on the lower portions of the protection plates.
As a still further scheme of the invention: the middle part of the clamping mechanism mounting seat is fixedly provided with a horizontal limiting rod, and the vertical plate is connected with the horizontal limiting rod in a sliding manner.
In conclusion, the beneficial effects of the invention are as follows: the angle adjusting mechanism is arranged in the embodiment of the invention, so that goods at different positions can be clamped, the distance between the clamping blocks is adjustable, the clamping device is further suitable for clamping goods of different models, and meanwhile, the height of the angle adjusting mechanism can be conveniently adjusted by arranging the height adjusting assembly.
Drawings
Fig. 1 is a schematic structural diagram of the invention.
fig. 2 is a schematic structural view of the vertical limiting rod mounting base of the invention.
Fig. 3 is a schematic structural view of an angle adjusting arm according to the present invention.
Fig. 4 is a schematic structural diagram of a connecting arm in the invention.
Fig. 5 is a schematic structural view of the rotating shaft of the present invention.
Fig. 6 is a schematic structural view of the gripping mechanism of the present invention.
In the figure: the device comprises a base 1, a screw rod 2, a vertical limiting rod 3, a vertical limiting rod 4, a vertical limiting rod mounting seat 5, a first connecting rod 6, a first driving piece 7, a driving gear 7, a driven gear 8, a clamping block 9, a screw block 10, an angle adjusting arm 11, a connecting arm 12, a clamping mechanism 13, a clamping mechanism mounting seat 14, a clamping mechanism 15, a second driving piece 16, a driving cavity 17, a storage battery 18, an electric push rod 18, a second connecting rod 19, a baffle 20, a rotating shaft 21, a third driving piece 22, a horizontal limiting rod 23, a cylinder 24, a vertical plate 25 and a protective plate 26.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, in the embodiment of the present invention, a robot gripping device for logistics transportation includes a base 1, a gripping mechanism 14, and an angle adjusting mechanism, wherein a height adjusting mechanism for adjusting the angle adjusting mechanism is disposed on an upper portion of the base 1, the angle adjusting mechanism includes an angle adjusting arm 11 and a connecting arm 12, the angle adjusting arm 11 and the connecting arm 12 are rotatably connected through a rotating shaft 21, a gripping mechanism mounting seat 13 is disposed at a bottom of the connecting arm 12, and the gripping mechanism 14 for gripping an article is mounted on the gripping mechanism mounting seat 13;
the height adjusting assembly comprises a screw rod 2, a first driving piece 6, a driving gear 7, a driven gear 8 and a screw block 10, the bottom of the screw rod 2 is installed on the base 1, the top fixed mounting of the screw rod 2 is provided with the driven gear 8, the left side of the driven gear 8 is provided with the driving gear 7, the driving gear 7 is meshed with the driven gear 8, the first driving piece 6 is arranged below the driving gear 7, the first driving piece 6 is fixedly connected with the driving gear 7 through bolts, the screw rod 2 is sleeved with the screw block 10, the screw rod 2 is connected with the screw block 10 through threads, and the screw block 10 is connected with an angle adjusting mechanism.
As shown in fig. 2, a vertical limiting rod 3 for limiting the angle adjusting mechanism is arranged on the left side of the screw rod 2, the bottom of the vertical limiting rod 3 is fixedly mounted on a vertical limiting rod mounting seat 4, the vertical limiting rod mounting seat 4 is fixedly connected with the base 1 through a bolt, the top of the vertical limiting rod 3 is fixedly connected with a first driving piece 6, and the screw block 10 is slidably connected with the vertical limiting rod 3 through a first connecting rod 5;
The vertical limiting rod 3 not only can limit the angle adjusting mechanism, but also can stably support the first driving piece 6.
Example 2
as shown in fig. 1, in the embodiment of the present invention, a robot gripping device for logistics transportation includes a base 1, a gripping mechanism 14, and an angle adjusting mechanism, wherein a height adjusting mechanism for adjusting the angle adjusting mechanism is disposed on an upper portion of the base 1, the angle adjusting mechanism includes an angle adjusting arm 11 and a connecting arm 12, the angle adjusting arm 11 and the connecting arm 12 are rotatably connected through a rotating shaft 21, a gripping mechanism mounting seat 13 is disposed at a bottom of the connecting arm 12, and the gripping mechanism 14 for gripping an article is mounted on the gripping mechanism mounting seat 13;
The height adjusting assembly comprises a screw rod 2, a first driving piece 6, a driving gear 7, a driven gear 8 and a screw block 10, the bottom of the screw rod 2 is installed on the base 1, the top fixed mounting of the screw rod 2 is provided with the driven gear 8, the left side of the driven gear 8 is provided with the driving gear 7, the driving gear 7 is meshed with the driven gear 8, the first driving piece 6 is arranged below the driving gear 7, the first driving piece 6 is fixedly connected with the driving gear 7 through bolts, the screw rod 2 is sleeved with the screw block 10, the screw rod 2 is connected with the screw block 10 through threads, and the screw block 10 is connected with an angle adjusting mechanism.
As shown in fig. 2, a vertical limiting rod 3 for limiting the angle adjusting mechanism is arranged on the left side of the screw rod 2, the bottom of the vertical limiting rod 3 is fixedly mounted on a vertical limiting rod mounting seat 4, the vertical limiting rod mounting seat 4 is fixedly connected with the base 1 through a bolt, the top of the vertical limiting rod 3 is fixedly connected with a first driving piece 6, and the screw block 10 is slidably connected with the vertical limiting rod 3 through a first connecting rod 5;
The vertical limiting rod 3 not only can limit the angle adjusting mechanism, but also can stably support the first driving piece 6;
As shown in fig. 3, a second driving member 15 is arranged on one side of the angle adjusting arm 11, the second driving member 15 is fixedly connected with the screw block 10 through a bolt, an output end of the second driving member 15 is fixedly connected with the angle adjusting arm 11, as shown in fig. 5, baffles 20 are welded at two ends of a rotating shaft 21, a driving cavity 16 is arranged in the angle adjusting arm 11, an electric push rod 18 and a storage battery 17 are arranged in the driving cavity 16, the electric push rod 18 is electrically connected with the storage battery 17, a second connecting rod 19 is fixedly connected with a telescopic end of the electric push rod 18, and one end, far away from the electric push rod 18, of the second connecting rod 19 is fixedly connected with;
The second driving piece 15 is started to adjust the inclination angles of the angle adjusting arm 11 and the connecting arm 12, and the electric push rod 18 is started to drive the rotating shaft 21 and the connecting arm 12 to move, so that the position of the connecting arm 12 is adjusted;
As shown in fig. 4, a third driving member 22 is fixedly mounted on the front baffle 20, and a telescopic end of the third driving member 22 is fixedly connected with the connecting arm 12 through a bolt;
As shown in fig. 6, the gripping mechanism 14 includes two gripping blocks 9, two air cylinders 24, two vertical plates 25 and two protection plates 26, the two air cylinders 24 are symmetrically arranged about a vertical central axis of the gripping mechanism mounting base 13, output ends of the two air cylinders 24 are respectively and fixedly connected with the vertical plates 25 through bolts, the lower parts of the vertical plates 25 are fixedly connected with the protection plates 26, and the gripping blocks 9 are mounted on the lower parts of the protection plates 26;
The middle part of the clamping mechanism mounting seat 13 is fixedly provided with a horizontal limiting rod 23, the vertical plate 25 is connected with the horizontal limiting rod 23 in a sliding manner, and the arrangement of the horizontal limiting rod 23 realizes the limiting of the vertical plate 25.
The first driving piece 6, the second driving piece 15 and the third driving piece 22 are all servo motors, and the models of the first driving piece 6, the second driving piece 15 and the third driving piece 22 are the same.
in summary, the working principle of the invention is as follows: when the clamping device is used, the air cylinder 24 is started, the air cylinder 24 drives the vertical plate 25 and the clamping blocks 9 to slide, so that clamping of goods is realized, and the distance between the clamping blocks 9 is adjustable, so that the clamping device is suitable for clamping of goods of different types;
When the height of the angle adjusting mechanism needs to be adjusted, the first driving piece 6 is started, the first driving piece 6 drives the driving gear 7, the driven gear 8 and the screw rod 2 to rotate, so that the screw rod 2 drives the screw block 10 and the angle adjusting mechanism to move up and down, and the height of the angle adjusting mechanism is adjusted;
The second driving part 15 is opened to adjust the inclination angles of the angle adjusting arm 11 and the connecting arm 12, and the electric push rod 18 is opened to drive the rotating shaft 21 and the connecting arm 12 to move, so that the position of the connecting arm 12 can be adjusted.
The angle adjusting mechanism is arranged in the embodiment of the invention, so that goods at different positions can be clamped, the distance between the clamping blocks 9 is adjustable, the clamping device is further suitable for clamping goods of different models, and meanwhile, the height of the angle adjusting mechanism can be conveniently adjusted by arranging the height adjusting assembly.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
in the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are only for the convenience of description of the invention and to simplify the description, and do not indicate or imply that the referred device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. the utility model provides a device is got to robot clamp for commodity circulation transportation, including base (1), press from both sides and get mechanism (14) and angle adjustment mechanism, the upper portion of base (1) is equipped with the height control mechanism who is used for angle adjustment mechanism, a serial communication port, angle adjustment mechanism includes angle modulation arm (11), linking arm (12), rotate through pivot (21) between angle modulation arm (11) and linking arm (12) and connect, the bottom of linking arm (12) is equipped with to press from both sides and gets mechanism mount pad (13), press from both sides and install the clamp that is used for centre gripping article on pressing from both sides mechanism mount pad (13) and get mechanism (14).
2. The robot clamping device for logistics transportation according to claim 1, wherein the height adjusting assembly comprises a screw (2), a first driving piece (6), a driving gear (7), a driven gear (8) and a screw block (10), the bottom of the screw (2) is installed on the base (1), the driven gear (8) is fixedly installed at the top of the screw (2), the driving gear (7) is arranged on the left side of the driven gear (8), the driving gear (7) is meshed with the driven gear (8), the first driving piece (6) is arranged below the driving gear (7), the first driving piece (6) is fixedly connected with the driving gear (7) through bolts, the screw block (10) is sleeved on the screw (2), the screw (2) is connected with the screw block (10) through threads, and the screw block (10) is connected with an angle adjusting mechanism.
3. The robot clamping device for logistics transportation according to claim 2, wherein a vertical limiting rod (3) for limiting the angle adjusting mechanism is arranged on the left side of the screw (2), the bottom of the vertical limiting rod (3) is fixedly mounted on a vertical limiting rod mounting seat (4), the vertical limiting rod mounting seat (4) is fixedly connected with the base (1) through a bolt, the top of the vertical limiting rod (3) is fixedly connected with the first driving piece (6), and the screw block (10) is slidably connected with the vertical limiting rod (3) through the first connecting rod (5).
4. the robot clamping device for logistics transportation as claimed in claim 3, wherein a second driving member (15) is arranged on one side of the angle adjusting arm (11), the second driving member (15) and the screw block (10) are fixedly connected through a bolt, the angle adjusting arm (11) is fixedly connected to the output end of the second driving member (15), the baffles (20) are welded to two ends of the rotating shaft (21), and a driving cavity (16) is arranged in the angle adjusting arm (11).
5. The robot clamping device for logistics transportation according to claim 4, wherein an electric push rod (18) and a storage battery (17) are arranged in the driving cavity (16), the electric push rod (18) is electrically connected with the storage battery (17), a second connecting rod (19) is fixedly connected to the telescopic end of the electric push rod (18), and one end, far away from the electric push rod (18), of the second connecting rod (19) is fixedly connected with the rotating shaft (21).
6. the robot gripping device for logistics transportation according to claim 4, wherein a third driving member (22) is fixedly installed on the front baffle (20), and a connecting arm (12) is fixedly connected to the telescopic end of the third driving member (22) through a bolt.
7. The robot clamping device for logistics transportation as claimed in any one of claims 1 to 6, wherein the clamping mechanism (14) comprises a clamping block (9), two air cylinders (24), two vertical plates (25) and a protection plate (26), the air cylinders (24) are symmetrically arranged about a vertical central axis of the clamping mechanism mounting seat (13), the output ends of the two air cylinders (24) are fixedly connected with the vertical plates (25) through bolts respectively, the protection plate (26) is fixedly connected to the lower portion of the vertical plates (25), and the clamping block (9) is mounted on the lower portion of the protection plate (26).
8. The robot clamping device for logistics transportation as claimed in claim 7, wherein a horizontal limiting rod (23) is fixedly mounted in the middle of the clamping mechanism mounting base (13), and the vertical plate (25) is connected with the horizontal limiting rod (23) in a sliding manner.
9. The robot gripping device for logistics transportation according to claim 6, wherein the first driving part (6), the second driving part (15) and the third driving part (22) are all servo motors, and the models of the first driving part (6), the second driving part (15) and the third driving part (22) are the same.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910866805.7A CN110549321A (en) | 2019-09-12 | 2019-09-12 | robot clamping device for logistics transportation |
| PCT/CN2019/106966 WO2021046896A1 (en) | 2019-09-12 | 2019-09-20 | Robot gripping device for logistic transportation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910866805.7A CN110549321A (en) | 2019-09-12 | 2019-09-12 | robot clamping device for logistics transportation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110549321A true CN110549321A (en) | 2019-12-10 |
Family
ID=68740142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910866805.7A Pending CN110549321A (en) | 2019-09-12 | 2019-09-12 | robot clamping device for logistics transportation |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110549321A (en) |
| WO (1) | WO2021046896A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112378547A (en) * | 2020-10-27 | 2021-02-19 | 浙江蓄冷能源科技股份有限公司 | Agricultural product cold-chain logistics remote monitoring system and method |
| CN112828661A (en) * | 2020-12-31 | 2021-05-25 | 江苏南高智能装备创新中心有限公司 | Feeding and discharging machine tool based on automatic manipulator |
| CN112846600A (en) * | 2021-01-06 | 2021-05-28 | 广州敏实汽车零部件有限公司 | Welding arm with adjustable angle height |
| CN113798773A (en) * | 2021-10-12 | 2021-12-17 | 山东海盛海洋工程集团有限公司 | Downward welding tool for pipe fittings |
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| EP0723840A1 (en) * | 1993-07-13 | 1996-07-31 | Komatsu Ltd. | Manipulator |
| CN102229142A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Five-degree-of-freedom electric manipulator |
| CN203579658U (en) * | 2013-11-28 | 2014-05-07 | 华南理工大学 | Synchronous belt speed reducing plane joint robot |
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| CN206357212U (en) * | 2016-11-25 | 2017-07-28 | 宁夏荣力特光电科技研发制造有限公司 | A kind of robot device of Automatic-feeding |
| CN108189017A (en) * | 2018-03-29 | 2018-06-22 | 无锡恩特卫自动化检测设备有限公司 | A kind of bottle catching robot of white wine foreign matter detection system |
| CN208305088U (en) * | 2018-06-22 | 2019-01-01 | 宝鸡文理学院 | A kind of clamping device for unloading manipulator |
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2019
- 2019-09-12 CN CN201910866805.7A patent/CN110549321A/en active Pending
- 2019-09-20 WO PCT/CN2019/106966 patent/WO2021046896A1/en active Application Filing
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| EP0723840A1 (en) * | 1993-07-13 | 1996-07-31 | Komatsu Ltd. | Manipulator |
| CN102229142A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Five-degree-of-freedom electric manipulator |
| CN203579658U (en) * | 2013-11-28 | 2014-05-07 | 华南理工大学 | Synchronous belt speed reducing plane joint robot |
| CN104647371A (en) * | 2015-02-04 | 2015-05-27 | 浙江理工大学 | Five-degree-of-freedom mechanical arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112378547A (en) * | 2020-10-27 | 2021-02-19 | 浙江蓄冷能源科技股份有限公司 | Agricultural product cold-chain logistics remote monitoring system and method |
| CN112828661A (en) * | 2020-12-31 | 2021-05-25 | 江苏南高智能装备创新中心有限公司 | Feeding and discharging machine tool based on automatic manipulator |
| CN112846600A (en) * | 2021-01-06 | 2021-05-28 | 广州敏实汽车零部件有限公司 | Welding arm with adjustable angle height |
| CN113798773A (en) * | 2021-10-12 | 2021-12-17 | 山东海盛海洋工程集团有限公司 | Downward welding tool for pipe fittings |
| CN113798773B (en) * | 2021-10-12 | 2024-02-06 | 山东海盛海洋工程集团有限公司 | Pipe fitting downward welding tool |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021046896A1 (en) | 2021-03-18 |
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Application publication date: 20191210 |