CN110900640A - Clamp for power-assisted manipulator - Google Patents
Clamp for power-assisted manipulator Download PDFInfo
- Publication number
- CN110900640A CN110900640A CN201911249969.1A CN201911249969A CN110900640A CN 110900640 A CN110900640 A CN 110900640A CN 201911249969 A CN201911249969 A CN 201911249969A CN 110900640 A CN110900640 A CN 110900640A
- Authority
- CN
- China
- Prior art keywords
- transmission
- field effect
- jaw
- rotating
- triode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamp for a power-assisted manipulator, which is used for replacing a bridle to fix an article and reducing potential safety hazards and comprises: the clamp table is of an arch structure and comprises first clamping arms which are not adjacently arranged, and two ends of the connecting arm are respectively connected with one end of each first clamping arm; the two first clamping jaw mechanisms are connected to the first clamping arms in a one-to-one correspondence mode and are arranged in an opposite mode; the second jaw mechanism is connected to the connecting arm; the connecting base, the connecting base connect in on the linking arm for be connected with helping hand manipulator.
Description
Technical Field
The invention relates to the technical field of power-assisted manipulators, in particular to a clamp for a power-assisted manipulator.
Background
When needs helping hand manipulator displacement article, need the manual work to use the band to tie up and tie up article, helping hand manipulator passes through the displacement of band completion article, because the flexibility of band, takes place easily when causing the article displacement and rocks, has increased the potential safety hazard.
Disclosure of Invention
In order to achieve the purpose, the invention discloses a clamp for a power-assisted manipulator, which is used for replacing a bridle to fix an object and reducing potential safety hazards and comprises:
the clamp table is of an arch structure and comprises first clamping arms which are not adjacently arranged, and two ends of the connecting arm are respectively connected with one end of each first clamping arm;
the two first clamping jaw mechanisms are connected to the first clamping arms in a one-to-one correspondence mode and are arranged in an opposite mode;
the second jaw mechanism is connected to the connecting arm;
the connecting base, the connecting base connect in on the linking arm for be connected with helping hand manipulator.
Preferably, the second jaw mechanism comprises:
the cross rod and the connecting arms are horizontally arranged and connected to the middle positions of the connecting arms;
the second jack catch body, the second jack catch body is including long jack catch and short jack catch, the short jack catch is equipped with threely, two short jack catch one end connect perpendicularly in on the horizontal pole, long jack catch is equipped with two, two long jack catch one end connect perpendicularly in on the horizontal pole, it is three short jack catch clamp is located two in the middle of the long jack catch.
Preferably, the first clamping mechanism is connected to the end of the first clamping arm far away from the connecting arm, and the first clamping mechanism includes:
a fixed seat;
the first clamping jaw body is connected to one end of the fixed seat;
the telescopic cylinder is connected to the first clamping arm through a rack, and the output end of the telescopic cylinder is connected to the end, far away from the first clamping jaw, of the fixed seat;
the guide body, the guide body is equipped with two, two the guide body is followed telescopic cylinder direction of motion parallel arrangement, the guide body includes:
the lower end of the guide seat is connected with the fixed seat;
the T-shaped groove is formed in the upper end of the guide seat;
the T-shaped rail is connected to the first clamping arm and is connected to the inside of the T-shaped groove in a sliding mode.
Preferably, the first jaw body includes:
the box body is connected to the end, far away from the telescopic cylinder, of the fixed seat;
the number of the main clamping jaws is three, and the main clamping jaws are arranged in the box body;
the first connecting piece is vertically arranged in the box body, and the main clamping jaws are transversely connected to one end of the first connecting piece at equal intervals;
the second connecting piece is horizontally arranged in the box body and is connected to the end, far away from the main clamping jaw, of the first connecting piece;
the main clamping jaw channel is arranged at the end, far away from the fixed base, of the box body, and the end, far away from the first connecting piece, of the main clamping jaw is connected in the main clamping jaw channel in a sliding mode;
the first sliding groove is transversely arranged on the second connecting piece;
the first fixing column is arranged in the box body, and the first sliding chute is connected to the first fixing column in a limiting and sliding manner;
the mounting column is arranged in the box body;
the rotating ring is sleeved on the mounting column;
the first transmission part is connected to the outer side end of the rotating ring and convexly extends at a preset angle;
the first clamping groove is matched with the first transmission part and is arranged far away from the end of the rotating ring, and the first clamping groove is formed in the second connecting piece;
the first transmission gear is connected to the position, far away from the first transmission part, of the outer side end of the rotating ring;
the first bevel gear is fixedly connected into the box body through a rotating shaft;
the second transmission gear is connected to the outer side end of the first bevel gear and meshed with the first transmission gear;
the first servo motor is arranged in the box body;
and the second bevel gear is connected to the output end of the first servo motor and meshed with the first bevel gear.
Preferably, the method further comprises the following steps:
the auxiliary clamping jaws are arranged in the box body;
the fixed plate is arranged in the box body;
the transmission rod transversely penetrates through the fixing plate, and one end of the transmission rod is connected with the auxiliary clamping jaw;
the auxiliary clamping jaw channel is arranged at the end, far away from the fixed seat, of the box body, and the end, far away from the transmission rod, of the auxiliary clamping jaw is connected in the auxiliary clamping jaw channel in a sliding mode;
the transmission block is connected to the end, far away from the auxiliary clamping jaw, of the transmission rod;
the section of the limiting seat is of a U-shaped structure, and the transmission rod is close to the end of the transmission block and is connected in the limiting seat in a sliding manner;
one end of the rack is connected with the limiting seat, and the rack is arranged in parallel along the motion direction of the transmission rod;
the second servo motor is arranged in the box body;
and the rotating gear is connected to the output end of the second servo motor and is meshed with the rack.
Preferably, the end, close to the auxiliary jaw, of the transmission rod is sleeved with a first spring, one end of the first spring is connected with the fixed plate, and the other end of the first spring abuts against the auxiliary jaw.
Preferably, the method further comprises the following steps:
the first rotating body is of a cover body structure and is sleeved on the mounting column downwards, and the upper end of the first rotating body penetrates through the upper end of the box body;
the second transmission part is arranged at the outer end of the first rotor;
the shifting block is matched with the second transmission part and connected to the rotating ring;
the third transmission part is connected to the position, far away from the second transmission part, of the outer end of the first rotor and convexly extends at a preset angle;
the special-shaped rotating groove is formed in the upper end of the first rotating body;
the transmission strip is vertically arranged in the box body and is close to the fixed seat;
two second sliding grooves are arranged and are vertically arranged on the transmission strip;
the second fixing column is arranged in the box body, and the second sliding chute is connected to the second fixing column in a limiting and sliding manner;
the second clamping groove is formed in the end, far away from the fixed seat, of the transmission strip and is arranged close to the lower end of the transmission strip, and the second clamping groove is matched with the third transmission part;
the third clamping groove is formed in the end, far away from the fixed seat, of the transmission strip and is close to the upper end of the transmission strip;
a rotation paddle, the rotation paddle comprising:
the rotating part is of a ring structure;
the second fixing column is arranged in the box body, and the rotating part is sleeved on the second fixing column;
the first shifting piece is connected to the outer side end of the rotating end and is matched with the transmission block;
and the second shifting piece is connected to the outer side end of the rotating end and is matched with the third clamping groove, and the second shifting piece and the first shifting piece are vertically arranged.
Preferably, two of the second chutes are arranged in line.
Preferably, the device further comprises a control unit, and the control unit further comprises:
the pressure sensor is arranged on the auxiliary clamping jaw;
the filter circuit is connected with the pressure sensor and is used for stabilizing the voltage output by the pressure sensor;
a processor connected to the filter circuit;
the controller is connected with the processor and used for receiving the processor signal to control the second servo motor to act;
the filter circuit includes:
a transistor Q1, an emitter of which is used as an input end of the filter circuit, and a collector of which is used as an output end of the filter circuit;
the emitter of the triode Q2 is connected with the emitter of the triode Q1, and the collector of the triode Q2, the base of the triode Q2 and the base of the triode Q1 are connected and then grounded through a resistor R1;
a triode Q3, the collector of which is connected with the emitter of the triode Q1, and the base of which is connected with the emitter through a resistor R2 and then is grounded through a diode D1;
the grid electrode of the field effect transistor MN1 is connected with the drain electrode thereof and then connected with the emitting electrode of the triode Q3, and the source electrode thereof is grounded;
a field effect transistor MN2, the grid of which is connected with the grid of the field effect transistor MN 1;
the drain electrode of the field effect transistor MN3 is connected with the source electrode of the field effect transistor MN2, and the source electrode of the field effect transistor MN3 is grounded;
a field effect transistor MN4, the grid electrode of which is connected with the grid electrode of the field effect transistor MN3, and the source electrode of which is grounded;
a field effect transistor MN5, the grid electrode of which is connected with the drain electrode of the field effect transistor MN2, and the source electrode of which is grounded;
the source electrode of the field effect tube MP1 is connected with a power supply, and the drain electrode of the field effect tube MP1 is connected with the drain electrode of the field effect tube MN 4;
the source electrode of the field effect tube MP2 is connected with a power supply, the grid electrodes of the field effect tube MP2 and the field effect tube MP1 are respectively connected with the grid electrode of the field effect tube MP1 and the drain electrode of the field effect tube MN 5;
a field effect transistor MP3, the source of which is connected to the emitter of the transistor Q3 and the drain of the field effect transistor MP2, respectively, the gate of which is connected to the collector of the transistor Q1, and the drain of which is connected to the drain of the field effect transistor MN 2;
a collector of the triode Q4 is connected with the collector of the triode Q1 through a resistor R3 in sequence, and the collector of the triode Q4 is grounded through a resistor R4 and a capacitor C1 in sequence; the capacitor C1 is also connected in parallel with a resistor R5, and the emitter of the resistor R5 is grounded;
the base of the triode Q5 is connected with the collector of the triode Q1 through a resistor R6, the collector of the triode Q5 is connected with the base of the triode Q4 and then is connected with a power supply through a resistor R7, and the emitter of the triode Q5 is grounded.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a second schematic structural view of the present invention;
FIG. 4 is a first view illustrating a first jaw structure of the present invention;
FIG. 5 is a second view of the first jaw structure of the present invention;
FIG. 6 is a third schematic view of the first jaw body structure of the present invention;
FIG. 7 is a control schematic of the present invention;
FIG. 8 is a circuit diagram of the present invention.
In the figure: 1. a jig stage; 2. a first jaw mechanism; 3. a second jaw mechanism; 4. a connecting seat; 1-1, a first clamping arm; 1-2, connecting arm; 2-0. a controller; 2-1, fixing the base; 2-2. a first jaw body; 2-3, a telescopic cylinder; 2-4, a guide body; 2-8. a pressure sensor; 2-9. a processor; 3-1, a cross bar; 3-2. a second jaw body; 2-41, a guide seat; 2-42. T-shaped groove; t-shaped track; 2-21, a box body; 2-22, main claw; 2-23. a first connecting piece; 2-24. a second connector; 2-25, main jaw channel; 2-26, a first chute; 2-27. a first fixed column; 2-28. mounting columns; 2-29. rotating ring; 2-51. a first transmission part; 2-52, a first card slot; 2-53. a first drive tooth; 2-54. a first bevel gear; 2-55, a second transmission gear; 2-56, a first servo motor; 2-57. a second bevel gear; 2-61, auxiliary claws; 2-62, fixing plate; 2-63. a transmission rod; 2-64, an auxiliary jaw channel; 2-65. a transmission block; 2-66, a limiting seat; 2-67, rack; 2-68. a second servo motor; 2-69. rotating the gear; 2-60. a first spring; 2-71, a first rotator; 2-72, a second transmission part; 2-73. a shifting block; 2-74. a third transmission part; 2-75. a special-shaped rotating groove; 2-76. a driving strip; 2-77. a second chute; 2-78, a second fixing column; 2-79. a second card slot; 2-70, a third card slot; 2-81, rotating the poking sheet; 3-21, long claw; 3-22. short claw; 2-811. a rotating part; 2-812. a second fixed column; 2-813. a first pick; 2-814. a second pick.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
Examples
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the present embodiment provides a jig for a power-assisted robot, including:
the clamp comprises a clamp table 1, wherein the clamp table 1 is of an arch structure, the clamp table 1 comprises first clamping arms 1-1 which are not adjacently arranged, and two ends of each connecting arm 1-2 are respectively connected with one end of each first clamping arm 1-1;
two first clamping jaw mechanisms 2 are arranged, the two first clamping jaw mechanisms 2 are connected to the first clamping arms 1-1 in a one-to-one correspondence mode, and the two first clamping jaw mechanisms 2 are arranged in an opposite mode;
the second jaw mechanism 3 is connected to the connecting arm 1-2;
and the connecting seat 4 is connected to the connecting arms 1-2 and is used for being connected with the power-assisted manipulator.
The working principle and the beneficial effects of the technical scheme are as follows:
on moving anchor clamps to the article that needs removed through helping hand manipulator, anchor clamps platform 1 moves article outside end, and second jack catch structure 3 supports article outside end, and two second jack catch mechanisms 2 work of subtend setting are lived article in the centre gripping to drive article and remove, tie up article in traditional band relatively, accomplish the removal of article through this anchor clamps, move the in-process and can not produce and rock, increased the security that article removed.
As shown in fig. 2, in one embodiment, the second jaw mechanism 3 comprises:
the cross rod 3-1, the cross rod 3-1 and the connecting arm 1-2 are horizontally arranged and connected to the middle position of the connecting arm 1-2;
the second jaw body 3-2, the second jaw body 3-2 includes long jack catch 3-21 and short jack catch 3-22, short jack catch 3-22 is equipped with three, two short jack catch 3-22 one end connect perpendicularly on the horizontal pole 3-1, long jack catch 3-21 is equipped with two, two long jack catch 3-21 one end connect perpendicularly on the horizontal pole 3-1, three short jack catch 3-22 clamp is located in the middle of two long jack catch 3-21.
The beneficial effects of the above technical scheme are:
the three short claws 3-22 and the two long claws 3-21 are arranged, so that the second claw body 3-2 is far away from the cross rod 3-1 end to form a radian, and further can be attached to the outer side end of an article, and the outer side end of the article can be better clamped.
In one embodiment, as shown in fig. 3, the first clamping mechanism 2 is connected to the end of the first clamping arm 1-1 away from the connecting arm 1-2, and the first jaw mechanism 2 comprises:
a fixed seat 2-1;
the first jaw body 2-2 is connected to one end of the fixed seat 2-1;
the telescopic cylinder 2-3 is connected to the first clamping arm 1-1 through a rack, and the output end of the telescopic cylinder 2-3 is connected to the end, far away from the first clamping jaw body 2-2, of the fixed seat 2-1;
the number of the guide bodies 2-4 is two, the two guide bodies 2-4 are arranged in parallel along the moving direction of the telescopic cylinder 2-3, and the guide bodies 2-4 comprise:
the lower end of the guide seat 2-41 is connected with the fixed seat 2-1;
the T-shaped groove 2-42 is formed in the upper end of the guide seat 2-41, and the T-shaped groove 2-42 is formed in the upper end of the guide seat 2-41;
the T-shaped rail 2-43 is connected to the first clamping arm 1-1, and the T-shaped rail 2-43 is slidably connected into the T-shaped groove 2-42.
The working principle and the beneficial effects of the technical scheme are as follows:
when the clamp table 1 moves to the outer side end of an object, the telescopic air cylinder 2-3 works, the fixing seat 2-1 connected with the output end of the telescopic air cylinder 2-3 drives the first clamping jaw body 2-2 to move along the movement direction of the guide body 2-4 so as to abut against the outer side end of the object, and therefore clamping of the object is completed, after clamping is completed, the telescopic air cylinder 2-3 contracts, and the object is separated from clamping of the first clamping jaw body 2-2.
As shown in fig. 4, in one embodiment, the first jaw body 2-2 includes:
the box body 2-21 is connected to the end, far away from the telescopic cylinder 2-3, of the fixed seat 2-1;
the clamping device comprises three main clamping jaws 2-22, wherein the three main clamping jaws 2-22 are arranged, and the main clamping jaws 2-22 are arranged in a box body 2-21;
the first connecting pieces 2-23 are vertically arranged in the box body 2-21, and the main claws 2-22 are transversely connected to one ends of the first connecting pieces 2-23 at equal intervals;
the second connecting pieces 2-24 are horizontally arranged in the box bodies 2-21, and the second connecting pieces 2-24 are connected to the ends, far away from the main claws 2-22, of the first connecting pieces 2-23;
the main clamping jaw channel 2-25 is arranged at the end, far away from the fixed seat 2-1, of the box body 2-21, and the end, far away from the first connecting piece 2-23, of the main clamping jaw 2-22 is connected into the main clamping jaw channel 2-25 in a sliding mode;
the first sliding grooves 2-26 are transversely arranged on the second connecting pieces 2-24;
the first fixing columns 2-27 are arranged in the box bodies 2-21, and the first sliding grooves 2-26 are connected to the first fixing columns 2-27 in a limiting and sliding mode;
the mounting columns 2-28 are arranged in the box bodies 2-21, and the mounting columns 2-28 are arranged in the box bodies 2-21;
the rotating ring 2-29 is sleeved on the mounting column 2-28;
the first transmission part 2-51 is connected to the outer side end of the rotating ring 2-29, and the first transmission part 2-51 is convexly arranged at a preset angle;
the first clamping groove 2-52 is matched with the first transmission part 2-51 and is arranged far away from the end of the rotating ring 2-29, and the first clamping groove 2-52 is arranged on the second connecting piece 2-24;
the first transmission teeth 2-53 are connected to the positions, away from the first transmission parts 2-51, of the outer side ends of the rotating rings 2-29;
the first bevel gears 2 to 54 are fixedly connected into the box bodies 2 to 21 through rotating shafts;
second transmission teeth 2-55, the second transmission teeth 2-55 are connected to the outer side end of the first bevel gear 2-54 and meshed with the first transmission teeth 2-53;
the first servo motor 2-56, the first servo motor 2-56 locates in the said box body 2-21;
a second bevel gear 2-57, wherein the second bevel gear 2-57 is connected to the output end of the first servo motor 2-56, and the second bevel gear 2-57 is meshed with the first bevel gear 2-54.
The working principle and the beneficial effects of the technical scheme are as follows:
when the telescopic cylinder 2-3 works to drive the first jaw body 2-2 to clamp the outer side end of an article, and the power-assisted mechanical hand moves the animal to a preset position, at this time, the telescopic cylinder 2-3 does not need to retract, the first servo motor 2-56 works to sequentially drive the second bevel gear 2-57, the first bevel gear 2-54, the second transmission gear 2-55 and the first transmission gear 2-53 to move, the rotating ring 2-29 rotates anticlockwise by taking the mounting column 2-28 as a center, the first transmission part 2-51 moves in the first clamping groove 2-52 in the direction close to the fixed seat 2-1, further drives the main jaw 2-22 to retract into the main jaw channel 2-25, the main jaw 2-22 is away from the outer side end of the article, the article falls out of the clamp, at this time, the power-assisted mechanical hand drives the clamp to move to the other outer side end of the article, at the moment, under the action of the first servo motor 2-56, the rotating ring 2-29 rotates clockwise by taking the mounting column 2-28 as a center, the first transmission part 2-51 moves in the direction away from the fixed seat 2-1 in the first clamping groove 2-52, so that the main clamping jaw 2-22 is driven to extend out of the main clamping jaw channel 2-25 to abut against the outer side end of the article to clamp the article, the telescopic cylinder 2-3 is not needed to be repeatedly utilized to clamp and release the article, the main clamping jaw 2-22 can clamp the article only by displacing a small distance, and the working efficiency is improved.
As shown in fig. 5, in one embodiment, the method further includes:
the auxiliary clamping jaws 2-61 are arranged in the box body 2-21;
the fixing plates 2-62 are arranged in the box bodies 2-21;
the transmission rod 2-63 is transversely arranged on the fixing plate 2-62 in a penetrating mode, and one end of the transmission rod 2-63 is connected with the auxiliary clamping jaw 2-61;
the auxiliary jaw channel 2-64 is arranged at the end, far away from the fixed seat 2-1, of the box body 2-21, and the end, far away from the transmission rod 2-63, of the auxiliary jaw 2-61 is connected into the auxiliary jaw channel 2-64 in a sliding mode;
the transmission block 2-65 is connected to the end, far away from the auxiliary clamping jaw 2-61, of the transmission rod 2-63;
the section of the limiting seat 2-66 is of a U-shaped structure, and the end, close to the transmission block 2-65, of the transmission rod 2-63 is connected into the limiting seat 2-66 in a sliding mode;
one end of the rack 2-67 is connected with the limiting seat 2-66, and the rack 2-67 is arranged in parallel along the moving direction of the transmission rod 2-63;
the second servo motors 2-68, the second servo motors 2-68 are arranged in the box bodies 2-21;
and the rotating gear 2-69 is connected to the output end of the second servo motor 2-68, and is meshed with the rack 2-67.
The working principle and the beneficial effects of the technical scheme are as follows:
when the first servo motors 2-56 work, the second servo motors 2-68 work synchronously, so that the racks 2-67, the limiting seats 2-66, the transmission rods 2-63 and the auxiliary clamping claws 2-61 are respectively driven to move, the auxiliary clamping claws 2-61 retract into the auxiliary clamping claw channels 2-64, the auxiliary clamping claws 2-61 are separated from the outer side ends of the articles, the clamping of the articles is released, similarly, when the articles are required to be clamped, the second servo motors 2-68 work reversely, the auxiliary clamping claws 2-61 extend out of the auxiliary clamping claw channels 2-64, the clamping of the outer side ends of the articles is further completed, the main clamping claws 2-22 and the auxiliary clamping claws 2-61 work synchronously, and the auxiliary clamping claws 2-61 are arranged, so that the clamping stability of the clamp is improved.
In one embodiment, the transmission rod 2-63 is sleeved with a first spring 2-60 near the end of the auxiliary jaw 2-61, one end of the first spring 2-60 is connected with a fixed plate 2-62, and the other end of the first spring 2-60 is arranged against the auxiliary jaw 2-61.
The beneficial effects of the above technical scheme are:
under the action of the first spring 2-60, the auxiliary claw 2-61 is convenient to retract into the auxiliary claw channel 2-64.
As shown in fig. 6, in one embodiment, the method further includes:
the first rotating body 2-71 is of a cover body structure, and is sleeved on the mounting column 2-28 downwards, and the upper end of the first rotating body 2-71 penetrates through the upper end of the box body 2-21;
the second transmission part 2-72 is arranged at the outer side end of the first rotating body 2-71, and the second transmission part 2-72 is arranged at the outer side end of the first rotating body 2-71;
the shifting block 2-73 is matched with the second transmission part 2-72 and connected to the rotating ring 2-29;
the third transmission part 2-74 is connected to the outer side end of the first rotating body 2-71, is far away from the second transmission part 2-72, and is convexly arranged at a preset angle;
the special-shaped rotating groove 2-75 is formed in the upper end of the first rotating body 2-71, and the special-shaped rotating groove 2-75 is formed in the upper end of the first rotating body 2-71;
the transmission strips 2-76 are vertically arranged in the box body 2-21 and are close to the fixed seat 2-1;
two second sliding chutes 2-77 are arranged, and are vertically arranged on the transmission bars 2-76;
the second fixing columns 2-78 are arranged in the box body 2-21, and the second sliding grooves 2-77 are connected to the second fixing columns 2-78 in a limiting and sliding mode;
the second clamping groove 2-79 is formed in the end, far away from the fixed seat 2-1, of the transmission strip 2-76 and is close to the lower end of the transmission strip 2-76, and the second clamping groove 2-79 is matched with the third transmission part 2-74;
the third clamping groove 2-70 is formed in the end, far away from the fixed seat 2-1, of the transmission strip 2-76, and the third clamping groove 2-70 is close to the upper end of the transmission strip 2-76;
a rotary paddle 2-81, the rotary paddle 2-81 comprising:
the rotating part 2-811 is of a ring structure, and the rotating part 2-811 is of a ring structure;
the second fixed columns 2-812 are arranged in the box body 2-21, and the rotating parts 2-811 are sleeved on the second fixed columns 2-812;
the first shifting piece 2-813 is connected to the outer side end of the rotating part 2-811, and the first shifting piece 2-813 is matched with the transmission block 2-65;
and the second shifting piece 2-814 is connected to the outer side end of the rotating part 2-811 and is matched with the third clamping groove 2-70, and the second shifting piece 2-814 and the first shifting piece 2-813 are vertically arranged.
The working principle and the beneficial effects of the technical scheme are as follows:
an object matched with the special-shaped rotating groove 2-75 is inserted into the special-shaped rotating groove 2-75, the first rotating body 2-71 rotates anticlockwise, the first rotating body 2-71 and the rotating ring 2-29 are coaxially arranged on the mounting column 2-28, the second transmission part 2-72 rotates anticlockwise and shifts the shifting block 2-73, so that the rotating ring 2-29 is driven to rotate anticlockwise by taking the mounting column 2-28 as a center, the first transmission part 2-51 moves towards the direction close to the fixed seat 2-1 in the first clamping groove 2-52, the main clamping jaw 2-22 is driven to slide along the slotting direction of the first sliding groove 2-26, the main clamping jaw 2-22 retracts into 2-25, and meanwhile, the third transmission part 2-74 connected with the first rotating body 2-71 moves downwards in the third clamping groove 2-79, and further synchronously driving the transmission strips 2-76 to move downwards along the slotting direction of the second sliding grooves 2-77, synchronously driving the second shifting pieces 2-814 to move downwards by the third clamping grooves 2-70, enabling the rotating parts 2-811 to rotate anticlockwise by taking the second fixed columns 2-812 as centers, enabling the first shifting pieces 2-813 to drive the transmission blocks 2-65 to move towards the direction close to the fixed seat 2-1, and enabling the auxiliary clamping jaws 2-61 to retract into the auxiliary clamping jaw channels 2-64, so that emergency opening of the clamp is completed, and the situation that articles cannot be taken out of the clamp when the work is stopped due to sudden situations of the first servo motors 2-56 and the second servo motors 2-68 is solved.
In one embodiment, two of said second chutes 2-77 are arranged co-linearly.
As shown in fig. 7 and 8, in an embodiment, the apparatus further includes a control unit, where the control unit further includes:
the pressure sensors 2-8 are arranged on the auxiliary clamping jaws 2-61;
the filter circuit is connected with the pressure sensors 2-8 and used for stabilizing the voltage output by the pressure sensors 2-8;
a processor 2-9, the processor 2-9 being connected to the filter circuit;
the controller 2-0 is connected with the processor 2-0 and used for receiving the processor signal to control the second servo motor 2-68 to act;
the filter circuit includes:
a transistor Q1, an emitter of which is used as an input end of the filter circuit, and a collector of which is used as an output end of the filter circuit;
the emitter of the triode Q2 is connected with the emitter of the triode Q1, and the collector of the triode Q2, the base of the triode Q2 and the base of the triode Q1 are connected and then grounded through a resistor R1;
a triode Q3, the collector of which is connected with the emitter of the triode Q1, and the base of which is connected with the emitter through a resistor R2 and then is grounded through a diode D1;
the grid electrode of the field effect transistor MN1 is connected with the drain electrode thereof and then connected with the emitting electrode of the triode Q3, and the source electrode thereof is grounded;
a field effect transistor MN2, the grid of which is connected with the grid of the field effect transistor MN 1;
the drain electrode of the field effect transistor MN3 is connected with the source electrode of the field effect transistor MN2, and the source electrode of the field effect transistor MN3 is grounded;
a field effect transistor MN4, the grid electrode of which is connected with the grid electrode of the field effect transistor MN3, and the source electrode of which is grounded;
a field effect transistor MN5, the grid electrode of which is connected with the drain electrode of the field effect transistor MN2, and the source electrode of which is grounded;
the source electrode of the field effect tube MP1 is connected with a power supply, and the drain electrode of the field effect tube MP1 is connected with the drain electrode of the field effect tube MN 4;
the source electrode of the field effect tube MP2 is connected with a power supply, the grid electrodes of the field effect tube MP2 and the field effect tube MP1 are respectively connected with the grid electrode of the field effect tube MP1 and the drain electrode of the field effect tube MN 5;
a field effect transistor MP3, the source of which is connected to the emitter of the transistor Q3 and the drain of the field effect transistor MP2, respectively, the gate of which is connected to the collector of the transistor Q1, and the drain of which is connected to the drain of the field effect transistor MN 2;
a collector of the triode Q4 is connected with the collector of the triode Q1 through a resistor R3 in sequence, and the collector of the triode Q4 is grounded through a resistor R4 and a capacitor C1 in sequence; the capacitor C1 is also connected in parallel with a resistor R5, and the emitter of the resistor R5 is grounded;
the base of the triode Q5 is connected with the collector of the triode Q1 through a resistor R6, the collector of the triode Q5 is connected with the base of the triode Q4 and then is connected with a power supply through a resistor R7, and the emitter of the triode Q5 is grounded.
The working principle and the beneficial effects of the technical scheme are as follows:
when the auxiliary clamping jaws 2-61 work and abut against the outer end of an article, the pressure sensors 2-8 detect pressure signals and transmit the pressure signals to the processor 2-9 through the filter circuit, the processor 2-9 sends out work stop signals to the second servo motors 2-68 through the controller 2-0, the second servo motors 2-68 stop working, further damage to the outer end of the article is prevented, the filter circuit enables the pressure sensors 2-8 to output stable voltage, the constant pressure signals are used for indicating pressure, and the processor 2-9 can accurately master pressure information.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (9)
1. A jig for a power-assisted manipulator, comprising:
the clamp comprises a clamp table (1), wherein the clamp table (1) is of an arch structure, the clamp table (1) comprises first clamp arms (1-1) which are not adjacently arranged, and two ends of a connecting arm (1-2) are respectively connected with one end of each first clamp arm (1-1);
two first jaw mechanisms (2) are arranged, the two first jaw mechanisms (2) are connected to the first clamping arms (1-1) in a one-to-one correspondence manner, and the two first jaw mechanisms (2) are arranged oppositely;
the second jaw mechanism (3), the second jaw mechanism (3) is connected to the connecting arm (1-2);
the connecting arm (1-2) is connected with the connecting base (4), and the connecting base (4) is connected to the connecting arm (1-2) and used for being connected with the power-assisted manipulator.
2. A jig for a power assisted robot according to claim 1, wherein the second jaw mechanism (3) comprises:
the cross rod (3-1) and the connecting arm (1-2) are horizontally arranged and connected to the middle position of the connecting arm (1-2);
the second jaw body (3-2), the second jaw body (3-2) is including long jack catch (3-21) and short jack catch (3-22), short jack catch (3-22) are equipped with threely, two short jack catch (3-22) one end connect perpendicularly in on horizontal pole (3-1), long jack catch (3-21) are equipped with two, two long jack catch (3-21) one end connect perpendicularly in on horizontal pole (3-1), threely short jack catch (3-22) press from both sides and locate two in the middle of long jack catch (3-21).
3. A jig for a power assisted robot according to claim 1 wherein the first catch mechanism (2) is connected to the end of the first arm (1-1) remote from the arm (1-2), the first jaw mechanism (2) comprising:
a fixed seat (2-1);
the first jaw body (2-2), the first jaw body (2-2) is connected to one end of the fixed seat (2-1);
the telescopic cylinder (2-3) is connected to the first clamping arm (1-1) through a rack, and the output end of the telescopic cylinder (2-3) is connected to the end, far away from the first clamping jaw body (2-2), of the fixed seat (2-1);
the guide bodies (2-4), guide bodies (2-4) are equipped with two, two guide bodies (2-4) along telescopic cylinder (2-3) direction of motion parallel arrangement, guide body (2-4) include:
the lower end of the guide seat (2-41) is connected with the fixed seat (2-1);
the T-shaped groove (2-42), the T-shaped groove (2-42) is arranged at the upper end of the guide seat (2-41);
the T-shaped rail (2-43) is connected to the first clamping arm (1-1), and the T-shaped rail (2-43) is connected in the T-shaped groove (2-42) in a sliding mode.
4. A power assisted manipulator clamp according to claim 3, wherein the first jaw body (2-2) comprises:
the box body (2-21), the box body (2-21) is connected to the end, far away from the telescopic cylinder (2-3), of the fixing seat (2-1);
the number of the main clamping jaws (2-22) is three, and the main clamping jaws (2-22) are arranged in the box body (2-21);
the first connecting pieces (2-23) are vertically arranged in the box body (2-21), and the main clamping jaws (2-22) are transversely connected to one ends of the first connecting pieces (2-23) at equal intervals;
the second connecting piece (2-24), the second connecting piece (2-24) is horizontally arranged in the box body (2-21), and the second connecting piece (2-24) is connected to the end, far away from the main clamping jaw (2-22), of the first connecting piece (2-23);
the main clamping jaw channel (2-25), the main clamping jaw channel (2-25) is arranged at the end, far away from the fixed seat (2-1), of the box body (2-21), and the end, far away from the first connecting piece (2-23), of the main clamping jaw (2-22) is connected in the main clamping jaw channel (2-25) in a sliding mode;
the first sliding chute (2-26) is transversely arranged on the second connecting piece (2-24);
the first fixing columns (2-27) are arranged in the box body (2-21), and the first sliding grooves (2-26) are connected to the first fixing columns (2-27) in a limiting and sliding mode;
the mounting columns (2-28) are arranged in the box bodies (2-21);
the rotating ring (2-29), the rotating ring (2-29) is sleeved on the mounting column (2-28);
the first transmission part (2-51), the first transmission part (2-51) is connected with the outer side end of the rotating ring (2-29) and convexly extends at a preset angle;
the first clamping groove (2-52), the first clamping groove (2-52) is matched with the end, far away from the rotating ring (2-29), of the first transmission part (2-51), and the first clamping groove (2-52) is formed in the second connecting piece (2-24);
the first transmission teeth (2-53), the first transmission teeth (2-53) are connected to the positions, away from the first transmission parts (2-51), of the outer side ends of the rotating rings (2-29);
the first bevel gear (2-54), the said first bevel gear (2-54) is fixedly connected to the said box (2-21) in the said box through the rotating shaft;
a second transmission tooth (2-55), wherein the second transmission tooth (2-55) is connected to the outer end of the first bevel gear (2-54) and is meshed with the first transmission tooth (2-53);
the first servo motor (2-56), the first servo motor (2-56) is arranged in the box body (2-21);
a second bevel gear (2-57), wherein the second bevel gear (2-57) is connected to the output end of the first servo motor (2-56), and the second bevel gear (2-57) is meshed with the first bevel gear (2-54).
5. The jig for a power-assisted robot according to claim 4, further comprising:
the auxiliary clamping jaws (2-61) are arranged in the box body (2-21);
the fixing plates (2-62), the fixing plates (2-62) are arranged in the box body (2-21);
the transmission rod (2-63) is transversely arranged on the fixing plate (2-62) in a penetrating mode, and one end of the transmission rod (2-63) is connected with the auxiliary clamping jaw (2-61);
the auxiliary jaw channel (2-64) is arranged at the end, far away from the fixed seat (2-1), of the box body (2-21), and the end, far away from the transmission rod (2-63), of the auxiliary jaw (2-61) is connected into the auxiliary jaw channel (2-64) in a sliding mode;
the transmission block (2-65), the transmission block (2-65) is connected to the end, away from the auxiliary jaw (2-61), of the transmission rod (2-63);
the cross section of the limiting seat (2-66) is of a U-shaped structure, and the end, close to the transmission block (2-65), of the transmission rod (2-63) is connected into the limiting seat (2-66) in a sliding mode;
one end of the rack (2-67) is connected with the limiting seat (2-66), and the rack (2-67) is arranged in parallel along the moving direction of the transmission rod (2-63);
the second servo motors (2-68), the second servo motors (2-68) are arranged in the box bodies (2-21);
and the rotating gear (2-69), the rotating gear (2-69) is connected to the output end of the second servo motor (2-68) and is meshed with the rack (2-67).
6. A chuck for a power assisted manipulator according to claim 5, wherein the driving rod (2-63) is sleeved with a first spring (2-60) near the end of the auxiliary jaw (2-61), one end of the first spring (2-60) is connected with the fixing plate (2-62), and the other end of the first spring (2-60) is arranged against the auxiliary jaw (2-61).
7. The jig for a power-assisted robot according to claim 6, further comprising:
the first rotating body (2-71), the first rotating body (2-71) is designed into a cover body structure and is sleeved on the mounting column (2-28) downwards, and the upper end of the first rotating body (2-71) penetrates through the upper end of the box body (2-21);
the second transmission part (2-72) is arranged at the outer end of the first rotating body (2-71);
the shifting block (2-73), the shifting block (2-73) is matched with the second transmission part (2-72) and is connected to the rotating ring (2-29);
the third transmission part (2-74), the third transmission part (2-74) is connected to the position, away from the second transmission part (2-72), of the outer side end of the first rotating body (2-71), and the third transmission part is convexly arranged at a preset angle;
the special-shaped rotating groove (2-75), the special-shaped rotating groove (2-75) is arranged at the upper end of the first rotating body (2-71);
the transmission strip (2-76), the transmission strip (2-76) is vertically arranged in the box body (2-21) and is close to the fixed seat (2-1);
two second sliding chutes (2-77) are arranged, and are vertically arranged on the transmission bars (2-76);
the second fixing columns (2-78), the second fixing columns (2-78) are arranged in the box body (2-21), and the second sliding grooves (2-77) are connected to the second fixing columns (2-78) in a limiting and sliding mode;
the second clamping groove (2-79), the second clamping groove (2-79) is arranged at the end, far away from the fixed seat (2-1), of the transmission strip (2-76) and is close to the lower end of the transmission strip (2-76), and the second clamping groove (2-79) is matched with the third transmission part (2-74);
the third clamping groove (2-70) is formed in the end, far away from the fixed seat (2-1), of the transmission strip (2-76) and is close to the upper end of the transmission strip (2-76);
a rotary paddle (2-81), the rotary paddle (2-81) comprising:
the rotating part (2-811), the rotating part (2-811) is of a ring structure;
the second fixing columns (2-812), the second fixing columns (2-812) are arranged in the box body (2-21), and the rotating parts (2-811) are sleeved on the second fixing columns (2-812);
the first shifting piece (2-813), the first shifting piece (2-813) is connected to the outer side end of the rotating part (2-811) and is matched with the transmission block (2-65) in arrangement;
the second poking piece (2-814) is connected to the outer side end of the rotating portion (2-811) and matched with the third clamping groove (2-70), and the second poking piece (2-814) and the first poking piece (2-813) are vertically arranged.
8. A jig for a power assisted robot according to claim 7, wherein the two second runners (2-77) are provided in line.
9. The jig for a power manipulator as claimed in claim 5, further comprising a control unit, the control unit further comprising:
the pressure sensors (2-8), and the pressure sensors (2-8) are arranged on the auxiliary clamping jaws (2-61);
the filter circuit is connected with the pressure sensors (2-8) and is used for stabilizing the voltage output by the pressure sensors (2-8);
a processor (2-9), the processor (2-9) being connected to the filter circuit;
the controller (2-0) is connected with the processor (2-0) and is used for receiving signals of the processor (2-9) to control the second servo motor (2-68) to act;
the filter circuit includes:
a transistor Q1, an emitter of which is used as an input end of the filter circuit, and a collector of which is used as an output end of the filter circuit;
the emitter of the triode Q2 is connected with the emitter of the triode Q1, and the collector of the triode Q2, the base of the triode Q2 and the base of the triode Q1 are connected and then grounded through a resistor R1;
a triode Q3, the collector of which is connected with the emitter of the triode Q1, and the base of which is connected with the emitter through a resistor R2 and then is grounded through a diode D1;
the grid electrode of the field effect transistor MN1 is connected with the drain electrode thereof and then connected with the emitting electrode of the triode Q3, and the source electrode thereof is grounded;
a field effect transistor MN2, the grid of which is connected with the grid of the field effect transistor MN 1;
the drain electrode of the field effect transistor MN3 is connected with the source electrode of the field effect transistor MN2, and the source electrode of the field effect transistor MN3 is grounded;
a field effect transistor MN4, the grid electrode of which is connected with the grid electrode of the field effect transistor MN3, and the source electrode of which is grounded;
a field effect transistor MN5, the grid electrode of which is connected with the drain electrode of the field effect transistor MN2, and the source electrode of which is grounded;
the source electrode of the field effect tube MP1 is connected with a power supply, and the drain electrode of the field effect tube MP1 is connected with the drain electrode of the field effect tube MN 4;
the source electrode of the field effect tube MP2 is connected with a power supply, the grid electrodes of the field effect tube MP2 and the field effect tube MP1 are respectively connected with the grid electrode of the field effect tube MP1 and the drain electrode of the field effect tube MN 5;
a field effect transistor MP3, the source of which is connected to the emitter of the transistor Q3 and the drain of the field effect transistor MP2, respectively, the gate of which is connected to the collector of the transistor Q1, and the drain of which is connected to the drain of the field effect transistor MN 2;
a collector of the triode Q4 is connected with the collector of the triode Q1 through a resistor R3 in sequence, and the collector of the triode Q4 is grounded through a resistor R4 and a capacitor C1 in sequence; the capacitor C1 is also connected in parallel with a resistor R5, and the emitter of the resistor R5 is grounded;
the base of the triode Q5 is connected with the collector of the triode Q1 through a resistor R6, the collector of the triode Q5 is connected with the base of the triode Q4 and then is connected with a power supply through a resistor R7, and the emitter of the triode Q5 is grounded.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911249969.1A CN110900640B (en) | 2019-12-09 | 2019-12-09 | Clamp for power-assisted manipulator |
| PCT/CN2019/126339 WO2021114336A1 (en) | 2019-12-09 | 2019-12-18 | Clamp for use in assisting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911249969.1A CN110900640B (en) | 2019-12-09 | 2019-12-09 | Clamp for power-assisted manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110900640A true CN110900640A (en) | 2020-03-24 |
| CN110900640B CN110900640B (en) | 2020-08-07 |
Family
ID=69823649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911249969.1A Active CN110900640B (en) | 2019-12-09 | 2019-12-09 | Clamp for power-assisted manipulator |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110900640B (en) |
| WO (1) | WO2021114336A1 (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101316677A (en) * | 2005-11-26 | 2008-12-03 | 阿尔冯·凯斯勒专用机械制造有限公司 | Workholding device and processing machine equipped with it |
| WO2012132773A1 (en) * | 2011-03-31 | 2012-10-04 | 三菱重工業株式会社 | Vacuum-suction-type support jig, plate-shaped workpiece machining method using same, and machined workpiece |
| CN203765639U (en) * | 2014-03-06 | 2014-08-13 | 淮安信息职业技术学院 | Disc-shaped part picking manipulator |
| CN104493574A (en) * | 2014-12-30 | 2015-04-08 | 特瑞斯能源装备股份有限公司 | Tool clamping working platform |
| CN107891433A (en) * | 2017-11-08 | 2018-04-10 | 弗埃斯工业技术（苏州）有限公司 | Special-shaped workpiece grips module |
| CN208179570U (en) * | 2018-05-16 | 2018-12-04 | 六安德茂彩钢板有限公司 | A kind of rotatable pipe clamping mechanical arm |
| CN109732636A (en) * | 2019-02-26 | 2019-05-10 | 郑州轻工业学院 | The inner bearing type crawl of walled workpieces and assembly flexible manipulator in frangible thin walled cylindrical |
| CN110026793A (en) * | 2019-04-25 | 2019-07-19 | 中汽研（天津）汽车工程研究院有限公司 | A kind of universal curved surface fixture |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2622821B1 (en) * | 1987-11-06 | 1993-06-11 | Aerospatiale | METHOD AND DEVICE FOR TRIMMING PLATES OF LARGE CROSS DIMENSIONS AND OF LOW THICKNESS |
-
2019
- 2019-12-09 CN CN201911249969.1A patent/CN110900640B/en active Active
- 2019-12-18 WO PCT/CN2019/126339 patent/WO2021114336A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101316677A (en) * | 2005-11-26 | 2008-12-03 | 阿尔冯·凯斯勒专用机械制造有限公司 | Workholding device and processing machine equipped with it |
| WO2012132773A1 (en) * | 2011-03-31 | 2012-10-04 | 三菱重工業株式会社 | Vacuum-suction-type support jig, plate-shaped workpiece machining method using same, and machined workpiece |
| CN203765639U (en) * | 2014-03-06 | 2014-08-13 | 淮安信息职业技术学院 | Disc-shaped part picking manipulator |
| CN104493574A (en) * | 2014-12-30 | 2015-04-08 | 特瑞斯能源装备股份有限公司 | Tool clamping working platform |
| CN107891433A (en) * | 2017-11-08 | 2018-04-10 | 弗埃斯工业技术（苏州）有限公司 | Special-shaped workpiece grips module |
| CN208179570U (en) * | 2018-05-16 | 2018-12-04 | 六安德茂彩钢板有限公司 | A kind of rotatable pipe clamping mechanical arm |
| CN109732636A (en) * | 2019-02-26 | 2019-05-10 | 郑州轻工业学院 | The inner bearing type crawl of walled workpieces and assembly flexible manipulator in frangible thin walled cylindrical |
| CN110026793A (en) * | 2019-04-25 | 2019-07-19 | 中汽研（天津）汽车工程研究院有限公司 | A kind of universal curved surface fixture |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110900640B (en) | 2020-08-07 |
| WO2021114336A1 (en) | 2021-06-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203726485U (en) | Transferring manipulator | |
| CN203792911U (en) | Wheel marking device | |
| CN203649647U (en) | Double-station dual-lens elevation type welding platform | |
| CN203566704U (en) | Both-way conveying manipulator | |
| CN203092966U (en) | Automatic reverse milling mechanism | |
| CN205111873U (en) | Manipulator is got to fragile article clamp | |
| CN204584287U (en) | A kind of lathe manipulator | |
| CN202934565U (en) | Five-shaft double-arm multifunctional robot | |
| CN105458856A (en) | Rotating type wheel deburring device | |
| CN103862249A (en) | Injection mold automatically-disassembling device | |
| CN103434828A (en) | Device for automatically reversing generator shell | |
| CN105216005A (en) | A kind of fragile article gripping manipulator | |
| CN104924141A (en) | Wheel alignment device | |
| CN103862069A (en) | Automatic bar feeder | |
| CN103691917A (en) | Flash removing device for aluminum castings | |
| CN105437210A (en) | Three-degree-of-freedom mechanical arm structure device | |
| CN104175312A (en) | Manipulator for producing precast concrete wallboard | |
| CN110900640B (en) | Clamp for power-assisted manipulator | |
| CN104589434B (en) | A kind of compound mass automatic nailing machine clamping turnover mechanism | |
| CN209668152U (en) | A kind of disk high-precision turnover device for clean environment | |
| CN103522300A (en) | Turning-over front mechanical arm | |
| CN205110488U (en) | No mould spinning -lathe of large -scale brute force | |
| CN205685114U (en) | A kind of multi-station manipulator conveyer device | |
| CN204076258U (en) | A kind of manipulator producing precast concrete wall panel | |
| CN105344788A (en) | Large-sized strong die-free spinning machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |