CN111152206A - Centre gripping arm with rotary mechanism - Google Patents

Centre gripping arm with rotary mechanism Download PDF

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Publication number
CN111152206A
CN111152206A CN202010064325.1A CN202010064325A CN111152206A CN 111152206 A CN111152206 A CN 111152206A CN 202010064325 A CN202010064325 A CN 202010064325A CN 111152206 A CN111152206 A CN 111152206A
Authority
CN
China
Prior art keywords
motor
transmission
mechanical arm
arm
rotation
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.)
Pending
Application number
CN202010064325.1A
Other languages
Chinese (zh)
Inventor
陈建波
陶红
余欢
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Foshan Dingke Technology Development Co Ltd
Original Assignee
Foshan Dingke Technology Development Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Foshan Dingke Technology Development Co Ltd filed Critical Foshan Dingke Technology Development Co Ltd
Priority to CN202010064325.1A priority Critical patent/CN111152206A/en
Publication of CN111152206A publication Critical patent/CN111152206A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/02Arms extensible
    • B25J18/025Arms extensible telescopic

Abstract

The invention belongs to the technical field of clamping mechanical arms, and particularly relates to a clamping mechanical arm with a rotating mechanism. Through setting up first transmission case, on the one hand can realize the at the uniform velocity rotation to L shape support frame through first motor, simultaneously can be through meshing transmission cooperation between first drive gear and the second drive gear, can carry out the speed reduction transmission to the rotational speed of first motor when rotating through first motor, so that when using first motor to rotate L shape support frame, L shape support frame can more steady rotate, through the realization to the rotation of L shape support frame, can realize the rotation of centre gripping arm in not equidirectional, conveniently carry out the centre gripping to the equidirectional object and handle.

Description

Centre gripping arm with rotary mechanism
Technical Field
The invention belongs to the technical field of clamping mechanical arms, and particularly relates to a clamping mechanical arm with a rotating mechanism.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and has been widely applied in the fields of industrial assembly, safety explosion prevention and the like due to the unique operation flexibility, the mechanical arm is a complex system, uncertainties such as parameter perturbation, external interference, unmodeled dynamic and the like exist, so that a modeling model of the mechanical arm also has uncertainty, for different tasks, a motion track of a joint space of the mechanical arm needs to be planned, and therefore a tail end pose is formed by cascading, in recent years, along with the development of robot technology, a robot structure applying high speed, high precision and high load dead weight ratio is concerned by the fields of industry and aerospace, due to the increase of the effect of joints and connecting rods in the motion process, the structure deforms, so that the precision of task execution is reduced, and the structural characteristics of the mechanical arm of the robot need to be considered, the mechanical arm is a very complex dynamic system, a dynamic equation of the mechanical arm has the characteristics of nonlinearity, strong coupling, real variation and the like, the research on the arm dynamics problem is carried out, the establishment of a model of the mechanical arm is extremely important, and the mechanical arm not only is a rigid-flexible coupled nonlinear system, but also is a nonlinear system in which the system dynamics characteristic and the control characteristic are mutually coupled, namely, electromechanical coupling.
At present, mechanical arms are mostly used in the field of industrial assembly and widely applied, however, most of the existing mechanical arms are complex in structure, only some simple actions can be realized, and the problem that the operation of the mechanical arms is limited in the actual use process exists.
Disclosure of Invention
To solve the problems set forth in the background art described above. The invention provides a clamping mechanical arm with a rotating mechanism, which solves the problems that most of mechanical arms are complex in structure and can only realize some simple actions when the existing mechanical arms are used.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a centre gripping arm with rotary mechanism, includes the support base, the top of support base is equipped with first transmission case, the top of first transmission case is equipped with L shape support frame, one side of L shape support frame is inlayed and is had the second transmission case, one side of second transmission case is equipped with first arm, the one end of first arm is equipped with the third motor, the output shaft of third motor passes first arm to there is the second arm through flange joint, the one end of second arm is equipped with the U-shaped support frame, one side of U-shaped support frame is equipped with the fourth motor, the output shaft of fourth motor passes the U-shaped support frame to there is electric telescopic handle through flange joint, electric telescopic handle's one end is equipped with fixture.
Preferably, the bottom of the supporting base is provided with a connecting base plate, and the edge of the connecting base plate is uniformly provided with mounting screws.
Preferably, the top of the first transmission box is provided with a first motor, an output shaft of the first motor downwards penetrates through the first transmission box and is connected with a first transmission gear through a flange, and one side of the first transmission gear is meshed with a second transmission gear.
Preferably, the bottom of the L-shaped support frame is provided with a transmission shaft and is connected with the second transmission gear through the transmission shaft.
Preferably, a second motor is arranged on the other side of the second transmission box, an output shaft of the second motor penetrates through the second transmission box and is connected with a third transmission gear through a flange, a transmission chain is arranged on the surface of the third transmission gear, a fourth transmission gear is arranged on one side of the third transmission gear, the third transmission gear and the fourth transmission gear are in transmission connection through the transmission chain, and one side of the fourth transmission gear is connected with the first mechanical arm through a rotating shaft.
Preferably, fixture is including the connecting support, the surface of connecting support evenly is equipped with electronic slide rail, one side of electronic slide rail is equipped with the activity lantern ring, the surface of the activity lantern ring has the arc connecting rod through axis of rotation movable mounting, the bottom of connecting support has the centre gripping clip through axis of rotation movable mounting, the top of centre gripping clip is connected with the one end of arc connecting rod through the axis of rotation.
Preferably, the sizes of the first transmission gear and the second transmission gear are matched with each other in a structure size and a position completely and correspondingly, and the size of the first transmission gear is smaller than that of the second transmission gear.
Preferably, the first mechanical arm and the second mechanical arm are matched in position completely and correspondingly.
Compared with the prior art, the invention has the beneficial effects that:
1. by arranging the first transmission case, on one hand, the L-shaped support frame can be rotated at a constant speed through the first motor, meanwhile, the first transmission gear and the second transmission gear are engaged and matched in transmission, so that the rotating speed of the first motor can be reduced during rotation of the first motor, so that the L-shaped support frame can rotate more stably when the first motor is used for rotating the L-shaped support frame, the rotation of the clamping mechanical arm in different directions can be realized by realizing the rotation of the L-shaped support frame, the clamping treatment of objects in different directions is convenient, on the other hand, the rotation adjustment of different inclination angles of the first mechanical arm can be realized by the arranged second transmission case and the second motor, so as to be matched with the rotation of the L-shaped support frame, and realize the rotation clamping treatment of the clamping mechanical arm in different directions.
2. Through setting up the second arm, on the one hand can realize rotating fixture through the fourth motor, so that can carry out 360 rotation to the object that carries out the centre gripping through the centre gripping arm and adjust, conveniently carry out more convenient upset to the centre gripping object and adjust, can accomplish more equidirectional regulation more, accomplish with many operation, on the other hand passes through electric telescopic handle, can carry out the regulation of extension length to fixture, thereby realize carrying out the centre gripping to the object on the more distance, can greatly increased arm fixture's centre gripping scope, can make the work efficiency of arm more high-efficient.
3. Through setting up fixture, can realize carrying out the centre gripping to the object through the centre gripping clip on the one hand, and is simple in structure, convenient to use's characteristics, on the other hand is through the electronic slide rail that sets up, cooperation between the activity lantern ring and the arc connecting rod, can realize receiving and releasing of centre gripping clip and carry out the regulation control, so that can be convenient carry out the centre gripping to the object, the centre gripping clip adopts the symmetrical structure design, can be more stable when carrying out the centre gripping to the object, the centre gripping clip adopts the arc design simultaneously, can be applicable to the clamp of more objects and get, and can carry out better laminating with the object surface.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is a third perspective view of the present invention;
FIG. 4 is a front view of the present invention;
FIG. 5 is a side view of the present invention;
FIG. 6 is a top view of the present invention;
FIG. 7 is a perspective view of the present invention in a disassembled configuration;
fig. 8 is a partial enlarged view of the invention at a in fig. 1.
In the figure: 1 supporting a base; 2, connecting a base plate; 3 a first transmission case; 4 a first motor; 5 a first transmission gear; 6 a second transmission gear; a 7L-shaped support frame; 8 a second transmission case; 9 a second motor; 10 a third transmission gear; 11 a drive chain; 12 a fourth drive gear; 13 a first robot arm; 14 a third motor; 15 a second mechanical arm; a 16U-shaped support frame; 17 a fourth motor; 18 electric telescopic rod; 19 connecting the supporting columns; 20 electric slide rails; 21 a movable collar; 22 an arc-shaped connecting rod; 23 grip the clip.
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.
Referring to fig. 1-8, the present invention provides the following technical solutions: a clamping mechanical arm with a rotating mechanism comprises a supporting base 1, a first transmission case 3 is arranged at the top of the supporting base 1, an L-shaped supporting frame 7 is arranged above the first transmission case 3, a second transmission case 8 is embedded at one side of the L-shaped supporting frame 7, a first mechanical arm 13 is arranged at one side of the second transmission case 8 and can rotate through the L-shaped supporting frame 7 to realize the rotation of the first mechanical arm 13, a third motor 14 is arranged at one end of the first mechanical arm 13, an output shaft of the third motor 14 penetrates through the first mechanical arm 13 and is connected with a second mechanical arm 15 through a flange, the second mechanical arm 15 can be driven by the third motor 14 to carry out the rotation adjustment of transportation, the rotation inclination angle of the clamping mechanism can be conveniently adjusted, a U-shaped supporting frame 16 is arranged at one end of the second mechanical arm 15, a fourth motor 17 is arranged at one side of the U-shaped supporting frame 16, and by arranging the second mechanical arm 15, on the one hand can realize rotating fixture through fourth motor 17, so that can carry out 360 rotation to the object that carries out the centre gripping through the centre gripping arm and adjust, conveniently carry out more convenient upset to the centre gripping object and adjust, can accomplish more regulation in the equidirectional not, accomplish with many operation, the output shaft of fourth motor 17 passes U-shaped support frame 16, and have electric telescopic handle 18 through flange joint, through electric telescopic handle 18, can carry out the regulation of extension length to fixture, thereby realize carrying out the centre gripping to the object on far away distance, can greatly increased arm fixture's centre gripping scope, can make the work efficiency of arm more high-efficient, electric telescopic handle 18's one end is equipped with fixture.
Specifically, the bottom of support base 1 is established and is equipped with connecting backing plate 2, and the edge of connecting backing plate 2 evenly is equipped with the installation screw, through setting up connecting backing plate 2, can be used for supporting support base 1, can evenly be equipped with the installation screw through the edge of connecting backing plate 2 simultaneously, accomplishes the installation to the clamp arm, and simple structure is convenient for install fixedly.
Specifically, the top of the first transmission case 3 is provided with a first motor 4, the output shaft of the first motor 4 downwards passes through the first transmission case 3, and is connected with a first transmission gear 5 through a flange, one side of the first transmission gear 5 is engaged with a second transmission gear 6, by arranging the first transmission case 3, the L-shaped support frame 7 can be rotated at a constant speed by the first motor 4, meanwhile, the first transmission gear 5 and the second transmission gear 6 are meshed and matched in transmission, so that the rotating speed of the first motor 4 can be reduced during rotation of the first motor 4, so that when the first motor 4 is used for rotating the L-shaped supporting frame 7, the L-shaped supporting frame 7 can rotate more stably, through the rotation of realization to L shape support frame 7, can realize the rotation of centre gripping arm in the equidirectional not, conveniently carry out the centre gripping to equidirectional object and handle.
Specifically, the bottom of L shape support frame 7 is equipped with the transmission shaft to be connected with second drive gear 6 through the transmission shaft, be connected with second drive gear 6 through using the transmission shaft, can utilize second drive gear 6 to rotate L shape support frame 7 and adjust, thereby realize rotating the regulation to arm fixture, have simple structure and rotate convenient characteristics.
Specifically, the other side of the second transmission case 8 is provided with a second motor 9, an output shaft of the second motor 9 passes through the second transmission case 8, and is connected with a third transmission gear 10 through a flange, the surface of the third transmission gear 10 is provided with a transmission chain 11, one side of the third transmission gear 10 is provided with a fourth transmission gear 12, the third transmission gear 10 and the fourth transmission gear 12 are in transmission connection through the transmission chain 11, one side of the fourth transmission gear 12 is connected with a first mechanical arm 13 through a rotating shaft, the rotation adjustment of the first mechanical arm 13 can be realized by adopting the matching among the third transmission gear 10, the four transmission gears 12 and the transmission chain 11, the second transmission case 8 and the second motor 9 are arranged, so that the first mechanical arm 13 can be rotationally adjusted at different inclination angles, so as to be matched with the rotation of the L-shaped supporting frame 7, and the rotation clamping treatment of the clamping mechanical arm in different directions is realized.
Specifically, the clamping mechanism comprises a connecting support column 19, an electric slide rail 20 is uniformly arranged on the surface of the connecting support column 19, a movable lantern ring 21 is arranged on one side of the electric slide rail 20, an arc-shaped connecting rod 22 is movably arranged on the surface of the movable lantern ring 21 through a rotating shaft, a clamping clamp 23 is movably arranged at the bottom of the connecting support column 19 through the rotating shaft, the top of the clamping clamp 23 is connected with one end of the arc-shaped connecting rod 22 through the rotating shaft, and by arranging the clamping mechanism, on one hand, an object can be clamped through the clamping clamp 23, the clamping mechanism has the characteristics of simple structure and convenience in use, on the other hand, the retraction and release of the clamping clamp 23 can be adjusted and controlled through the matching among the arranged electric slide rail 20, the movable lantern ring 21 and the arc-shaped connecting rod 22, so that the object can be conveniently clamped, the clamping clamp, simultaneously, the clamping clamp 23 adopts an arc design, can be suitable for clamping of more objects, and can be better attached to the surfaces of the objects.
Specifically, the sizes and the positions of the structures of the first transmission gear 5 and the second transmission gear 6 are completely matched correspondingly, the size of the first transmission gear 5 is smaller than that of the second transmission gear 6, and the first transmission gear 5 and the second transmission gear 6 are in transmission meshing fit, so that the rotation adjustment of the clamping mechanical arm can be realized.
Specifically, the positions of the first mechanical arm 13 and the second mechanical arm 15 are completely matched correspondingly.
The working principle and the using process of the invention are as follows: after the device is installed, the first motor 4 can be used for driving and driving the L-shaped support frame 7 to rotate, so that the clamping mechanical arm can be rotated and adjusted in different directions, meanwhile, the second motor 9 can be used for adjusting the inclination angle of the first mechanical arm 13 and adjusting and rotating substances in different directions, the third motor 14 can be used for rotating the second mechanical arm 15, so that objects with different inclined included angles can be clamped conveniently, the clamping clamp 23 can be adjusted and controlled through the electric slide rail 20 and the movable lantern ring 21, so that the objects can be clamped, the extension length of the clamping clamp 23 can be adjusted through the electric telescopic rod 18, and all electric equipment in the device is powered by an external power supply.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A centre gripping arm with rotary mechanism, includes support base (1), its characterized in that: the top of the supporting base (1) is provided with a first transmission case (3), an L-shaped supporting frame (7) is arranged above the first transmission case (3), a second transmission case (8) is embedded at one side of the L-shaped support frame (7), a first mechanical arm (13) is arranged at one side of the second transmission case (8), one end of the first mechanical arm (13) is provided with a third motor (14), an output shaft of the third motor (14) penetrates through the first mechanical arm (13), and is connected with a second mechanical arm (15) through a flange, one end of the second mechanical arm (15) is provided with a U-shaped supporting frame (16), a fourth motor (17) is arranged on one side of the U-shaped supporting frame (16), an output shaft of the fourth motor (17) penetrates through the U-shaped supporting frame (16), and is connected with an electric telescopic rod (18) through a flange, and one end of the electric telescopic rod (18) is provided with a clamping mechanism.
2. The clamp robot arm with rotation mechanism as claimed in claim 1, wherein: the bottom of support base (1) is established and is equipped with connecting backing plate (2), the edge of connecting backing plate (2) evenly is equipped with the installation screw.
3. The clamp robot arm with rotation mechanism as claimed in claim 1, wherein: the top of first transmission case (3) is equipped with first motor (4), the output shaft of first motor (4) passes first transmission case (3) downwards to there is first transmission gear (5) through flange joint, the meshing of one side of first transmission gear (5) is connected with second transmission gear (6).
4. The clamp robot arm with rotation mechanism as claimed in claim 1, wherein: the bottom of the L-shaped support frame (7) is provided with a transmission shaft and is connected with a second transmission gear (6) through the transmission shaft.
5. The clamp robot arm with rotation mechanism as claimed in claim 1, wherein: the other side of second transmission case (8) is equipped with second motor (9), the output shaft of second motor (9) passes second transmission case (8) to there is third drive gear (10) through flange joint, the surface of third drive gear (10) is equipped with drive chain (11), one side of third drive gear (10) is equipped with fourth drive gear (12), carry out the transmission through drive chain (11) between third drive gear (10) and fourth drive gear (12) and be connected, one side of fourth drive gear (12) is connected with first arm of a robot (13) through the axis of rotation.
6. The clamp robot arm with rotation mechanism as claimed in claim 1, wherein: fixture is including connecting pillar (19), the surface of connecting pillar (19) evenly is equipped with electronic slide rail (20), one side of electronic slide rail (20) is equipped with the activity lantern ring (21), the surface of the activity lantern ring (21) has arc connecting rod (22) through axis of rotation movable mounting, there is centre gripping clip (23) bottom of connecting pillar (19) through axis of rotation movable mounting, the top of centre gripping clip (23) is connected through the one end of axis of rotation with arc connecting rod (22).
7. The clamp robot arm with rotation mechanism as claimed in claim 3, wherein: the sizes of the first transmission gear (5) and the second transmission gear (6) are matched with each other in a structure size and a position completely and correspondingly, and the size of the first transmission gear (5) is smaller than that of the second transmission gear (6).
8. The clamp robot arm with rotation mechanism as claimed in claim 1, wherein: the first mechanical arm (13) and the second mechanical arm (15) are matched in a corresponding mode completely.
CN202010064325.1A 2020-01-20 2020-01-20 Centre gripping arm with rotary mechanism Pending CN111152206A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010064325.1A CN111152206A (en) 2020-01-20 2020-01-20 Centre gripping arm with rotary mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010064325.1A CN111152206A (en) 2020-01-20 2020-01-20 Centre gripping arm with rotary mechanism

Publications (1)

Publication Number Publication Date
CN111152206A true CN111152206A (en) 2020-05-15

Family

ID=70564551

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010064325.1A Pending CN111152206A (en) 2020-01-20 2020-01-20 Centre gripping arm with rotary mechanism

Country Status (1)

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CN (1) CN111152206A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112223150A (en) * 2020-09-29 2021-01-15 连江大农环保科技有限公司 Positioning mechanism capable of clamping at multiple angles for mechanical surface treatment processing

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101637909A (en) * 2009-08-26 2010-02-03 四川宏华石油设备有限公司 Clamping mechanism
CN205415628U (en) * 2016-03-20 2016-08-03 张艳艳 Lathe material loading gripper
CN106737851A (en) * 2017-02-28 2017-05-31 无锡飞而康精铸工程有限公司 One kind automation universal mechanical arm
CN106926267A (en) * 2017-03-15 2017-07-07 中南大学 A kind of major diameter slurry shield machine hobboing cutter tool-changing mechanical arm
CN206643917U (en) * 2017-02-24 2017-11-17 东莞职业技术学院 A kind of multipurpose mechanical hand
CN107738245A (en) * 2017-09-29 2018-02-27 张坤芝 A kind of Multi Role Aircraft machinery claw
CN108858263A (en) * 2018-09-14 2018-11-23 山东商务职业学院 A kind of six degree of freedom haul robot
CN109352660A (en) * 2018-12-06 2019-02-19 佛山科学技术学院 A kind of manipulator and its control method for reagent container crawl
CN208631602U (en) * 2018-06-29 2019-03-22 陈华祥 A kind of tiered warehouse facility mechanical arm

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101637909A (en) * 2009-08-26 2010-02-03 四川宏华石油设备有限公司 Clamping mechanism
CN205415628U (en) * 2016-03-20 2016-08-03 张艳艳 Lathe material loading gripper
CN206643917U (en) * 2017-02-24 2017-11-17 东莞职业技术学院 A kind of multipurpose mechanical hand
CN106737851A (en) * 2017-02-28 2017-05-31 无锡飞而康精铸工程有限公司 One kind automation universal mechanical arm
CN106926267A (en) * 2017-03-15 2017-07-07 中南大学 A kind of major diameter slurry shield machine hobboing cutter tool-changing mechanical arm
CN107738245A (en) * 2017-09-29 2018-02-27 张坤芝 A kind of Multi Role Aircraft machinery claw
CN208631602U (en) * 2018-06-29 2019-03-22 陈华祥 A kind of tiered warehouse facility mechanical arm
CN108858263A (en) * 2018-09-14 2018-11-23 山东商务职业学院 A kind of six degree of freedom haul robot
CN109352660A (en) * 2018-12-06 2019-02-19 佛山科学技术学院 A kind of manipulator and its control method for reagent container crawl

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112223150A (en) * 2020-09-29 2021-01-15 连江大农环保科技有限公司 Positioning mechanism capable of clamping at multiple angles for mechanical surface treatment processing

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Application publication date: 20200515

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