CN110900571A - Novel manipulator - Google Patents
Novel manipulator Download PDFInfo
- Publication number
- CN110900571A CN110900571A CN201911235972.8A CN201911235972A CN110900571A CN 110900571 A CN110900571 A CN 110900571A CN 201911235972 A CN201911235972 A CN 201911235972A CN 110900571 A CN110900571 A CN 110900571A
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- Prior art keywords
- sliding
- limiting
- manipulator
- rod
- plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- 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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Abstract
The invention relates to a manipulator, in particular to a novel manipulator. The clamp comprises a base, a large arm, a small arm, a screw rod, a vertical shaft, a clamp, a nut, a fixing piece and a connecting piece, wherein the large arm and the small arm are horizontally arranged, the large arm is respectively connected with the base and the small arm, the small arm is connected with the screw rod and the vertical shaft positioned on one side of the screw rod, the screw rod and the vertical shaft are both vertically arranged, the screw rod is sleeved with the nut, the vertical shaft is connected with the fixing piece, the connecting piece is connected between the nut and the fixing piece, the clamp comprises a movable mounting table and an electromagnet, the vertical shaft is connected with the movable mounting table, and the electromagnet is arranged below the. The novel manipulator provided by the invention can be used for fixing the special-shaped plate from a plurality of positions by utilizing the magnetism of the electromagnet, so that the manipulator can stably and safely carry the special-shaped plate, and the application range and the safety coefficient of the manipulator are improved.
Description
Technical Field
The invention relates to a manipulator, in particular to a novel manipulator.
Background
The manipulator is a device simulating the functions of a human hand and an arm and grabbing and carrying objects or operating tools according to a fixed program, and the existing manipulator is widely applied to the industries of mechanical manufacturing, electronics and the like due to high-strength working capacity and high-efficiency working efficiency. The manipulator often meets special-shaped plate in the use, because special-shaped plate structure dispersion, focus distribute unevenly, therefore anchor clamps are difficult to effectively snatch, can take place to snatch the incident that special-shaped plate that the jail leads to drops sometimes to some special-shaped plate surface is rough, can't absorb through sucking disc vacuum or negative pressure.
Disclosure of Invention
The invention aims to provide a novel manipulator which can fix a special-shaped plate from a plurality of positions by utilizing the magnetism of an electromagnet, so that the manipulator can stably and safely carry the special-shaped plate, and the application range and the safety coefficient of the manipulator are improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a novel manipulator, includes base, big arm, forearm, lead screw, vertical axis, anchor clamps, nut, mounting and connecting piece, big arm and forearm level set up, big arm one end is rotated and is connected on the base, the big arm other end is connected with the forearm, be connected with the lead screw on the forearm and be located the vertical axis of lead screw one side, the equal vertical setting of lead screw and vertical axis, the cover is equipped with the nut on the lead screw, be connected with the mounting on the vertical axis, be connected with the connecting piece between nut and the mounting, anchor clamps include movable mounting platform and electro-magnet, the vertical axis is connected with the movable mounting platform bottom, a plurality of electro-magnet slides and sets up under the movable mounting platform.
Aforementioned novel manipulator, movable mounting platform is including placing board, slide rail and sliding part, place the board level setting, vertical axis fixed connection is in placing the board top, place two parallel arrangement's of fixedly connected with slide rail under the board, a plurality of sliding part slides and sets up placing between board and two slide rails, a plurality of electro-magnet is fixed to be set up under sliding part.
The novel manipulator comprises a sliding rod and a sliding block, wherein the sliding rod is provided with a limiting sliding groove, the sliding groove is provided with the sliding block, the plurality of electromagnets are fixedly arranged under the sliding block, and the limiting sliding groove is perpendicular to the sliding rail in direction.
Aforementioned novel manipulator, still be provided with the tensioning rod between slide rail and the slide bar, still be provided with the puller bar between the one end that the slider deviates from the electro-magnet and the spacing spout, a plurality of screw thread through-hole has been seted up along vertical direction to slide rail and puller bar, be provided with the bolt in the screw hole respectively.
Aforementioned novel manipulator, the locating part includes spacing cylinder, two-sided rack, gear and gag lever post, it is connected with two gears to rotate through the axis of rotation on the base, be provided with two-sided rack between the gear, the one end of two-sided rack and the output shaft of spacing cylinder, fixed connection has the gag lever post that the level set up on two gears, big arm is located between two gag lever posts.
According to the novel mechanical arm, the limiting rod is provided with the pressure sensor.
The novel manipulator comprises a connecting plate A and a connecting plate B, wherein the connecting plate A is fixedly connected with the connecting plate B through a bolt group, one end of the connecting plate A, which is far away from the connecting plate B, is connected with a nut through a bolt, and one end of the connecting plate B, which is far away from the connecting plate A, is fixedly connected with a fixing part.
In the novel manipulator, the end of the limiting rod, which is far away from the gear, is further provided with a contact element, the large arm is positioned between the two contact elements, and a soft cushion layer is arranged on one side, which faces the large arm, of the contact element.
Compared with the prior art, the invention has the advantages that:
1) according to the novel manipulator provided by the invention, the special-shaped plate can be fixed from a plurality of positions by utilizing the magnetism of the electromagnet, so that the manipulator can stably and safely carry the special-shaped plate, and the application range and the safety coefficient of the manipulator are improved;
2) the movable mounting table is arranged, so that the electromagnet can be arranged below the movable mounting table in a sliding manner, the electromagnet can move to a proper position and then adsorb the special-shaped plate, and the manipulator can carry the special-shaped plate more safely through multiple adsorption; the movable mounting platform is arranged in a mode of comprising a placing plate, a sliding rail and a sliding piece, so that the electromagnet can slide along the opening direction of the sliding rail below the placing plate along with the sliding piece, the electromagnet can reach a proper position to adsorb the special-shaped plate, and the manipulator can carry the special-shaped plate more safely and reliably;
3) the sliding piece is arranged into a sliding rod and a sliding block, the sliding rod is provided with a limiting sliding chute for the sliding block to slide, and the electromagnet is fixedly arranged below the sliding block, so that the distributed positions of the electromagnet are diversified, and the more complicated special-shaped plate can be adsorbed and carried;
4) through set up the tensioning rod between slide rail and slide bar, still set up the puller bar between the one end that deviates from the electro-magnet at the slider and spacing spout, slide rail and puller bar set up a plurality of screw thread through-hole along vertical direction, and set up the bolt respectively in the screw hole, make the tensioning rod compress tightly the slide bar under the tight effect in top of bolt, thereby make the slide bar can fix after removing suitable position, also make the puller bar compress tightly the slider under the tight effect in top of bolt, thereby make the slide bar can fix after removing suitable position, and then make the electro-magnet to be fixed after removing suitable position along with slide bar and slider, factor of safety when having improved the manipulator and carrying special-shaped plate.
5) The limit piece capable of adjusting the position is arranged to partially limit the stroke of the manipulator, so that the manipulator is prevented from overtravel operation, and the safety factor of the manipulator is improved;
6) the connecting piece is detachably connected with the plate A and the plate B, so that the mechanical arm is simpler and more convenient to mount and dismount, and the maintenance of the mechanical arm and the maintenance of the precision of the mechanical arm are facilitated;
7) the contact piece and the soft cushion layer are arranged on the limiting rod, so that when the manipulator exceeds the range, the large arm is firstly contacted with the soft cushion layer, the soft cushion layer is made of materials such as soft plastics and rubber, the damage to the manipulator caused by rigid contact or collision is avoided, the manipulator is protected while the range exceeding limit is carried out on the manipulator, the precision of the manipulator is prevented from being further reduced, the anti-skid grains are arranged on the soft cushion layer, the phenomenon that the soft cushion layer is deformed and torn can be reduced, the soft cushion layer is more durable, and the protection effect of soft points on the large arm in the manipulator is ensured;
8) through set up pressure sensor on the gag lever post to make pressure sensor and control system link to each other, make the gag lever post can regard as the spacing and positioning mechanism use of big arm in the manipulator, promptly big arm is through removing the back with the gag lever post contact, pressure sensor feedback signal gives control system, thereby can brake the removal of big arm, and this can be applied to the mobile location and spacing of big arm, thereby make the locate mode of big arm more diversified, needn't keep the precision through frequent debugging.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a front view of the clamp of the present invention;
FIG. 4 is a block diagram of the present invention at the glide;
fig. 5 is a left side view of fig. 4.
The meaning of the reference numerals: 1. a base; 2. a large arm; 3. a small arm; 4. a screw rod; 5. a vertical axis; 6. a clamp; 7. a nut; 8. a fixing member; 9. a connecting member; 10. a limiting member; 11. a limiting cylinder; 12. a double-sided rack; 13. a gear; 14. a limiting rod; 15. connecting the A board; 16. connecting the board B; 17. a contact member; 18. a soft cushion layer; 19. a pressure sensor; 20. anti-skid lines; 21. a first steering engine; 22. a second steering engine; 23. a servo motor; 61. a movable mounting table; 64. placing the plate; 65. a slide rail; 66. a sliding member; 67. a slide bar; 68. a slider; 69. a limiting chute; 70. a tension rod; 71. a tightening rod; 72. an electromagnet.
The invention is further described with reference to the following figures and detailed description.
Detailed Description
The embodiment of the invention comprises the following steps: the utility model provides a novel manipulator, constitutes as shown in fig. 1 to 5, including base 1, big arm 2, forearm 3, lead screw 4, vertical axis 5, anchor clamps 6, nut 7, mounting 8 and connecting piece 9, big arm 2 and the 3 level settings of forearm, 2 one end rotations of big arm are connected on base 1, 2 other ends of big arm are connected with forearm 3, be connected with lead screw 4 and the vertical axis 5 that is located lead screw 4 one side on the forearm 3, lead screw 4 and the equal vertical setting of vertical axis 5, the cover is equipped with nut 7 on the lead screw 4, be connected with mounting 8 on the vertical axis 5, be connected with connecting piece 9 between nut 7 and the mounting 8, anchor clamps 6 include movable mounting platform 61, electro-magnet 72, vertical axis 5 is connected with movable mounting platform 61 bottom, a plurality of electro-magnet 72 slides and sets up under movable mounting platform 61.
The movable mounting table 61 comprises a placing plate 64, a sliding rail 65 and a sliding part 66, details are shown in fig. 3 to 5, the placing plate 64 is horizontally arranged, the vertical shaft 5 is fixedly connected above the placing plate 64, two sliding rails 65 which are arranged in parallel are fixedly connected below the placing plate 64, the sliding parts 66 are arranged between the placing plate 64 and the two sliding rails 65 in a sliding manner, the electromagnets 72 are fixedly arranged below the sliding parts 66, and the movable mounting table 61 is arranged in a mode comprising the placing plate 64, the sliding rails 65 and the sliding parts 66, so that the electromagnets 72 can slide along the opening direction of the sliding rails 65 below the placing plate 64 along with the sliding parts 66, and the electromagnets 72 can reach a proper position to magnetically adsorb the special-shaped plate, and a manipulator can carry the special-shaped plate more safely and reliably.
The sliding part 66 comprises a sliding rod 67 and a sliding block 68, a limiting sliding groove 69 is formed in the sliding rod 67, the sliding block 68 is arranged in the limiting sliding groove 69 in a sliding mode, a countersunk hole is formed in the electromagnet 72, a threaded hole is formed in the sliding block 68, the electromagnets 72 are fixedly arranged below the sliding block 68 through countersunk bolts, the limiting sliding groove 69 is perpendicular to the sliding rail 65 in direction, the positions of the electromagnets 72 which can be distributed are diversified, and accordingly the complicated special-shaped plates can be adsorbed and carried.
In the novel manipulator, a tensioning rod 70 is further arranged between the slide rail 65 and the sliding rod 67, a tightening rod 71 is further arranged between one end of the slide block 68, which is away from the electromagnet 72, and the limiting sliding groove 69, a plurality of threaded through holes are formed in the slide rail 65 and the tightening rod 71 along the vertical direction, bolts are respectively arranged in the threaded holes, the tensioning rod 70 is arranged between the slide rail 65 and the sliding rod 67, the tightening rod 71 is further arranged between one end of the slide block 68, which is away from the electromagnet 72, and the limiting sliding groove 69, a plurality of threaded through holes are formed in the slide rail 65 and the tightening rod 71 along the vertical direction, and the bolts are respectively arranged in the threaded holes, so that the tensioning rod 70 compresses the sliding rod 67 under the tightening action of the bolts, the sliding rod 67 can be fixed after being moved to a proper position, and the tightening rod 71 compresses the slide block 68 under the tightening action of the bolts, thereby make the slide bar 67 can fix after moving suitable position, and then make the electro-magnet 72 can be fixed after moving suitable position along with slide bar 67 and slider 68, factor of safety when having improved the manipulator and carrying dysmorphism plate.
The limiting part 10 comprises a limiting cylinder 11, a double-sided rack 12, a gear 13 and a limiting rod 14, and is shown in fig. 1 to 3 in detail, two gears 13 are rotatably connected to the base 1 through rotating shafts, the double-sided rack 12 is arranged between the gears 13, one end of the double-sided rack 12 is connected with an output shaft of the limiting cylinder 11, the two gears 13 are fixedly connected with the limiting rod 14 which is horizontally arranged, and the large arm 2 is located between the two limiting rods 14.
In the novel manipulator, a first steering engine 21 is arranged between the base 1 and the large arm 2, and the first steering engine 21 drives the large arm 2 to rotate relative to the base 1; a second steering engine 22 is arranged between the large arm 2 and the small arm 3, and the second steering engine 22 drives the small arm 3 to rotate relative to the large arm 2; the small arm 3 is also provided with a servo motor 23, and the servo motor 23 drives the screw rod 4 to rotate; the first steering engine 21 and the second steering engine 22 are composed of a motor and a reduction gear 13.
In the novel manipulator, one end of the limiting rod 14, which is far away from the gear 13, is also provided with a contact element 17, the big arm 2 is positioned between two contact pieces 17, one side of the contact piece 17 facing the big arm 2 is provided with a soft cushion layer 18, the soft cushion layer 18 is provided with anti-skid grains 20, by arranging the contact piece 17 and the soft cushion layer 18 on the limiting rod 14, when the manipulator exceeds the stroke, the big arm 2 contacts with the soft cushion layer 18 firstly, the soft cushion layer 18 is made of soft plastics, rubber and other materials, thereby avoiding the damage of rigid contact or collision to the manipulator, protecting the manipulator while performing over travel limit on the manipulator and avoiding the further reduction of the precision of the manipulator, and by arranging the anti-skid grains 20 on the soft cushion layer 18, the phenomenon that the soft cushion layer 18 is deformed and torn can be reduced, so that the soft cushion layer 18 is more durable, and the protection effect of the soft point on the large arm 2 in the mechanical arm is ensured.
The limiting rod 14 is provided with the pressure sensor 19, the pressure sensor 19 is arranged on the limiting rod 14, and the pressure sensor 19 is connected with the control system, so that the limiting rod 14 can be used as a limiting and positioning mechanism of the large arm 2 in the manipulator, namely, after the large arm 2 is moved to be in contact with the limiting rod 14, the pressure sensor 19 feeds back a signal to the control system, so that the movement of the large arm 2 can be braked, the limiting and positioning mechanism can be applied to the moving positioning and limiting of the large arm 2, the positioning mode of the large arm 2 is diversified, and the precision is not required to be maintained through frequent debugging.
The novel manipulator, still include control system, control system includes control module, display module, operation module and all kinds of sensors, control module and each electro-magnet (72), servo motor 23, steering wheel 21, No. two steering wheels 22, spacing cylinder 11, display module, operation module and other all kinds of sensors carry out signal connection, wherein control module can choose the treater of different grade type for use according to the motion complexity, including singlechip, PLC, godson etc..
The working principle of the invention is as follows: the novel manipulator is organically assembled by the base 1, the large arm 2, the small arm 3, the screw rod 4, the vertical shaft 5, the clamp 6, the nut 7, the fixing piece 8, the connecting piece 9 and other parts, so that the special-shaped plate can be fixed from a plurality of positions by utilizing the magnetism of the electromagnet, the manipulator can stably and safely carry the special-shaped plate, and the application range and the safety coefficient of the manipulator are improved. According to the invention, the movable mounting table 61 is arranged, so that the electromagnet 72 can be arranged below the movable mounting table 61 in a sliding manner, the electromagnet 72 can be moved to a proper position to adsorb the special-shaped plate, and the manipulator can carry the special-shaped plate more safely through multiple adsorption; the movable mounting table 61 is arranged to comprise the placing plate 64, the sliding rail 65 and the sliding piece 66, so that the electromagnet 72 can slide along the opening direction of the sliding rail 65 below the placing plate 64 along with the sliding piece 66, the electromagnet 72 can reach a proper position to adsorb the special-shaped plate, and the manipulator can convey the special-shaped plate more safely and reliably; the sliding piece 66 is arranged into a form of a sliding rod 67 and a sliding block 68, a limiting sliding groove 69 for the sliding block 68 to slide is formed in the sliding rod 67, and the electromagnet 72 are fixedly arranged below the sliding block 68, so that the distributed positions of the electromagnet 72 are diversified, and the more complicated special-shaped plate can be carried by magnetic adsorption; the tensioning rod 70 is arranged between the sliding rail 65 and the sliding rod 67, the tightening rod 71 is further arranged between one end, away from the electromagnet 72, of the sliding block 68 and the limiting sliding groove 69, the sliding rail 65 and the tightening rod 71 are provided with a plurality of threaded through holes in the vertical direction, and bolts are respectively arranged in the threaded holes, so that the tensioning rod 70 compresses the sliding rod 67 under the tightening action of the bolts, the sliding rod 67 can be fixed after being moved to a proper position, the tightening rod 71 compresses the sliding block 68 under the tightening action of the bolts, the sliding rod 67 can be fixed after being moved to a proper position, the electromagnet 72 can be fixed after being moved to a proper position along with the sliding rod 67 and the sliding block 68, and the safety factor of the manipulator in carrying the special-shaped plate is improved; the limit piece 10 with adjustable position is arranged to partially limit the stroke of the manipulator, so that the manipulator is prevented from overtravel running, and the safety factor of the manipulator is improved; the connecting piece 9 is detachably arranged to comprise a connecting plate A15 and a connecting plate B16, so that the mechanical arm is simpler and more convenient to mount and dismount, and the mechanical arm is convenient to overhaul; the contact piece 17 and the soft cushion layer 18 are arranged on the limiting rod 14, so that when the manipulator exceeds the range, the large arm 2 is firstly contacted with the soft cushion layer 18, the soft cushion layer 18 is made of soft plastics, rubber and other materials, the damage to the manipulator caused by rigid contact or collision is avoided, the manipulator is protected while the manipulator is limited by exceeding the range, the precision of the manipulator is prevented from being further reduced, the phenomenon that the soft cushion layer 18 is deformed and torn can be reduced by arranging the anti-skid grains 20 on the soft cushion layer 18, the soft cushion layer 18 is more durable, and the protection effect of soft points on the large arm 2 in the manipulator is ensured; through set up pressure sensor 19 on gag lever post 14 to make pressure sensor 19 link to each other with control system, make gag lever post 14 can regard as the spacing and positioning mechanism use of big arm 2 in the manipulator, promptly big arm 2 is through removing after contacting with gag lever post 14, pressure sensor 19 feedback signal gives control system, thereby can brake the removal of big arm 2, this can be applied to the mobile location and spacing of big arm 2, thereby make the locate mode of big arm 2 more diversified, needn't keep the precision through frequent debugging.
Claims (8)
1. The utility model provides a novel manipulator, a serial communication port, including base (1), big arm (2), forearm (3), lead screw (4), vertical axis (5), anchor clamps (6), nut (7), mounting (8) and connecting piece (9), big arm (2) and forearm (3) level set up, big arm (2) one end is rotated and is connected on base (1), big arm (2) other end is connected with forearm (3), be connected with lead screw (4) on forearm (3) and be located vertical axis (5) of lead screw (4) one side, lead screw (4) and the equal vertical setting of vertical axis (5), the cover is equipped with nut (7) on lead screw (4), be connected with mounting (8) on vertical axis (5), be connected with connecting piece (9) between nut (7) and mounting (8), anchor clamps (6) are including movable mounting platform (61), The lowest end of the vertical shaft (5) is connected with the movable mounting table (61), and the electromagnets (72) are arranged under the movable mounting table (61) in a sliding mode.
2. The novel mechanical hand according to claim 1, wherein the movable mounting table (61) comprises a placing plate (64), sliding rails (65) and sliding pieces (66), the placing plate (64) is horizontally arranged, the vertical shaft (5) is fixedly connected above the placing plate (64), two parallel sliding rails (65) are fixedly connected below the placing plate (64), the sliding pieces (66) are arranged between the placing plate (64) and the two sliding rails (65) in a sliding manner, and the electromagnets (72) are fixedly arranged below the sliding pieces (66).
3. The novel mechanical hand according to claim 2, wherein the sliding member (66) comprises a sliding rod (67) and a sliding block (68), a limiting sliding groove (69) is formed in the sliding rod (67), the sliding block (68) is arranged in the limiting sliding groove (69) in a sliding manner, the electromagnets (72) are fixedly arranged below the sliding block (68), and the limiting sliding groove (69) is perpendicular to the sliding rail (65).
4. The novel mechanical hand according to claim 3, wherein a tensioning rod (70) is further arranged between the sliding rail (65) and the sliding rod (67), a tightening rod (71) is further arranged between one end of the sliding block (68) away from the electromagnet (72) and the limiting sliding groove (69), a plurality of threaded through holes are formed in the sliding rail (65) and the tightening rod (71) in the vertical direction, and bolts are respectively arranged in the threaded holes.
5. The novel mechanical arm of claim 1 or 4, wherein the limiting member (10) comprises a limiting cylinder (11), a double-sided rack (12), a gear (13) and a limiting rod (14), the base (1) is rotatably connected with the two gears (13) through a rotating shaft, the double-sided rack (12) is arranged between the gears (13), one end of the double-sided rack (12) is connected with an output shaft of the limiting cylinder (11), the two gears (13) are fixedly connected with the horizontally arranged limiting rod (14), and the large arm (2) is located between the two limiting rods (14).
6. The novel manipulator according to claim 5, characterized in that a pressure sensor (19) is arranged on the limiting rod (14).
7. The novel mechanical hand of claim 6, wherein the connecting piece (9) comprises a connecting A plate (15) and a connecting B plate (16), the connecting A plate (15) and the connecting B plate (16) are fixedly connected through a bolt group, one end, away from the connecting B plate (16), of the connecting A plate (15) is connected with the nut (7) through a bolt, and one end, away from the connecting A plate (15), of the connecting B plate (16) is fixedly connected with the fixing piece (8).
8. The novel manipulator according to claim 7, characterized in that the end of the limiting rod (14) far away from the gear (13) is further provided with a contact element (17), the large arm (2) is located between the two contact elements (17), and a soft cushion layer (18) is arranged on the side of the contact element (17) facing the large arm (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235972.8A CN110900571A (en) | 2019-12-05 | 2019-12-05 | Novel manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235972.8A CN110900571A (en) | 2019-12-05 | 2019-12-05 | Novel manipulator |
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| CN110900571A true CN110900571A (en) | 2020-03-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900570A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel mechanical arm |
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| CN110430975A (en) * | 2017-03-07 | 2019-11-08 | 库卡德国有限公司 | Robots arm with mechanical arresting device |
| CN208598517U (en) * | 2017-09-29 | 2019-03-15 | 重庆金山医疗器械有限公司 | The rotary position-limit mechanism of operating robot driving wheel |
| CN107745972A (en) * | 2017-11-24 | 2018-03-02 | 天津商业大学 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
| CN108436960A (en) * | 2018-05-25 | 2018-08-24 | 浙江力工机械科技有限公司 | A kind of assembling and disassembling manipulator jaw-adjusting rod |
| CN208423174U (en) * | 2018-07-09 | 2019-01-22 | 江苏三和欣创通信科技有限公司 | A kind of antenna surface rotating limit device of Shipborne satellite antenna |
| CN208812128U (en) * | 2018-07-10 | 2019-05-03 | 湖南莱塞智能装备有限公司 | A kind of pcb board suction disc manipulator and pcb board handling equipment |
| CN110900570A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel mechanical arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900570A (en) * | 2019-12-05 | 2020-03-24 | 苏州圆周虑自动化科技有限公司 | Novel mechanical arm |
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