CN111216156A - Rotary connecting device of robot tail end actuating mechanism - Google Patents
Rotary connecting device of robot tail end actuating mechanism Download PDFInfo
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- CN111216156A CN111216156A CN202010064776.5A CN202010064776A CN111216156A CN 111216156 A CN111216156 A CN 111216156A CN 202010064776 A CN202010064776 A CN 202010064776A CN 111216156 A CN111216156 A CN 111216156A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 239000012636 effector Substances 0.000 claims description 12
- 210000005056 cell body Anatomy 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000002035 prolonged effect Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 6
- 238000003780 insertion Methods 0.000 abstract description 3
- 230000037431 insertion Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 229910000881 Cu alloy Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
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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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a rotary connecting device of a robot tail end actuating mechanism, which relates to the technical field of robots and comprises a rotary connecting arm and a fixed connecting arm, wherein a positioning ring is arranged in the middle of the rotary connecting arm, a rotary cavity is arranged at the front end of the positioning ring, a driving cavity is arranged at the rear end of the positioning ring, a rotary component is sleeved in the cavity of the rotary cavity and at the front end surface of the positioning ring, and a driving component is fixedly sleeved in the cavity of the driving cavity and at the rear end surface of the positioning ring. In the invention, the matching surface of the rotating seat and the rotating connecting arm is a soft contact surface, so that the stress concentration effect on the surface of the rotating seat is reduced, the service lives of the rotating seat and the rotating connecting arm are prolonged, and the loss of the whole rotating assembly is reduced; in the invention, the main shaft of the driving motor is connected with the shaft end of the rotating shaft assembly through the coupler, so that the stress impact caused by direct insertion of the driving motor and the rotating shaft assembly is avoided, and the service life of the whole device is prolonged.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a rotary connecting device of a robot tail end executing mechanism.
Background
The robot plays a very important role in modern automated production, carries out accurate control to the work piece through nimble manipulator, can realize the location of work piece, remove, detect and process multiple action, has very big controllability in comparison with manual operation to its error rate is lower, and efficiency is higher, consequently great improvement the whole efficiency and the quality of production, consequently by wide application in industry now.
In the prior art, a tail end executing mechanism of a robot has flexible control, and various actions such as clamping, grabbing, rotating and the like are realized, but the following defects exist in actual operation: in high-speed rotation and high-impact machining, stress concentration effect is easily generated due to impact vibration, so that stress corrosion phenomenon is easily generated in a rotating part, and therefore, a rotating connecting piece is easily damaged and needs to be replaced frequently, so that labor cost is increased to a certain extent, and frequent pause replacement causes certain loss for production.
Therefore, it is necessary to provide a rotary joint device for a robot end effector to solve the above problems.
Disclosure of Invention
The present invention is directed to a rotary connection device for a robot end actuator, which solves the above problems of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a rotary connecting device of a robot tail end actuating mechanism comprises a rotary connecting arm and a fixed connecting arm, wherein a positioning ring is arranged in the middle of the rotary connecting arm, a rotary cavity is arranged at the front end of the positioning ring, a driving cavity is arranged at the rear end of the positioning ring, a rotary component is sleeved in the cavity of the rotary cavity and at the front end face of the positioning ring, and a driving component is fixedly sleeved in the cavity of the driving cavity and at the rear end face of the positioning ring;
the rotary component is composed of a rotary seat and a rotary shaft component which is sleeved in the middle of the rotary seat in a rotating mode, a shaft cavity is formed in the middle of the rotary seat, a positioning spigot II is arranged at the front end of the shaft cavity, and a positioning spigot I is arranged at the rear end of the shaft cavity.
Preferably, the end face positions of the positioning spigot I and the positioning spigot II are respectively sleeved with a bearing I and a bearing II, the bearing I and the bearing II are respectively matched with the excircle of the rotating shaft assembly in a sleeved mode, and the excircle of the rotating shaft assembly is fixedly clamped and matched with a drawing clamp on the side face of the bearing II.
Preferably, the rotating shaft assembly is composed of a rotating shaft and a shaft head connecting disc inserted at the end part of the rotating shaft, and the rotating shaft and the shaft head connecting disc are fixedly connected together through a connecting screw.
Preferably, the driving assembly is composed of a motor mounting seat and a driving motor fixedly mounted on the side surface of the motor mounting seat.
Preferably, the middle of motor mount pad is equipped with boss structure's direction head, and outwards is equipped with the spacing connection pad of loop configuration in the terminal surface department of direction head, the mounting groove of cell body structure is seted up to the side of direction head, has seted up the via hole by the bottom of mounting groove to the top of direction head, driving motor fixed mounting is in the mounting groove, and driving motor's main shaft and via hole wear to join in marriage mutually.
Preferably, the end face of the positioning annular rotating cavity is annularly provided with radial positioning grooves which are uniformly distributed, and the end face of the limiting connecting disc and the position of the outer circle of the guiding head are annularly provided with radial positioning blocks which are clamped and matched with the radial positioning grooves.
Preferably, the excircle of the guide head is matched with the inner circle of the positioning ring in a sliding manner, and the limiting connecting disc is fixedly connected with the rear end face of the positioning ring through a bolt.
Preferably, the excircle of roating seat matches with the drive chamber of holding ring right-hand member mutually, and the rear end face of roating seat laminates with the preceding terminal surface of holding ring mutually.
Preferably, a limiting fixing disc of an annular boss structure is fixedly mounted on the front end face of the positioning spigot II and on the side face of the bearing II through bolts.
Preferably, the left end of the rotating shaft is fixedly connected with a main shaft of the driving motor through a coupler, and the right end of the connecting screw is fixedly connected with the bottom of the fixed connecting arm through a bolt.
Preferably, be equipped with the controller mounting groove of cell body structure on the lateral surface of swivelling joint arm, and fixed mounting has the PLC controller in the controller mounting groove, the PLC controller links to each other with the driving motor electrical property, the notch department lock of controller mounting groove has the capping.
Preferably, the front end of the rotating cavity is outwards provided with a front end connecting disc, an end cover spigot is arranged on the inner side of the front end connecting disc, a front end cover is fixedly mounted in the end cover spigot, and the end of the driving cavity is fixedly provided with a rear end cover at the front end of the rotating seat.
The invention has the technical effects and advantages that:
1. in the invention, the matching surface of the rotating seat and the rotating connecting arm is a soft contact surface, so that the stress concentration effect on the surface of the rotating seat is reduced, the service lives of the rotating seat and the rotating connecting arm are prolonged, and when the rotating seat is worn, the rotating seat can be quickly replaced, the normal use of parts of the rotating assembly is maintained, the loss of the whole rotating assembly is reduced, and the integral service life of the rotating assembly is prolonged;
2. according to the invention, the main shaft of the driving motor is connected with the shaft end of the rotating shaft assembly through the coupler, and the structure forms an effective buffering effect on the driving motor and the rotating shaft assembly, so that stress impact caused by direct insertion of the driving motor and the rotating shaft assembly is avoided, the loss rate of the driving motor and the rotating shaft assembly is reduced, and the service life of the whole device is prolonged;
3. according to the invention, the rotation speed and the steering of the driving motor are controlled by programming the PLC, so that the rotation control of the tail end actuating mechanism of the robot at the front end of the fixed connecting arm is realized.
Drawings
Fig. 1 is an isometric view of the overall structure of the present invention.
Fig. 2 is an exploded isometric view of the overall structure of the present invention.
Fig. 3 is a front view of the overall structure of the present invention.
3 fig. 3 4 3 is 3 an 3 axial 3 side 3 view 3 of 3 the 3 cross 3- 3 sectional 3 structure 3 taken 3 at 3 a 3- 3 a 3 in 3 fig. 3 3 3. 3
FIG. 5 is an axial side view of a half-section of a swivelling joint arm.
FIG. 6 is an isometric view of a rotary assembly half-section.
Fig. 7 is a side view of the drive assembly shaft.
FIG. 8 is an axial side view of a drive assembly half-section.
In the figure: 1. rotating the connecting arm; 2. a fixed connecting arm; 3. a coupling; 4. a front end cover; 5. a rear end cap; 8. a rotating base; 9. a rotating shaft assembly; 10. a bearing I; 11. a bearing II; 12. drawing the card; 13. a limiting fixed disc; 14. a drive motor; 15. a motor mounting seat; 101. a positioning ring; 102. a rotating chamber; 103. a drive chamber; 104. a radial positioning groove; 105. a front end connecting disc; 106. end cover rabbets; 107. a controller mounting groove; 108. a PLC controller; 109. a slot cover; 801. a shaft cavity; 802. positioning a spigot I; 803. positioning a spigot II; 901. a rotating shaft; 902. a shaft head connecting plate; 903. a connecting screw; 1501. a guide head; 1502. limiting a connecting disc; 1503. a via hole; 1504. radial positioning blocks; 1505. and (4) mounting the groove.
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.
The invention provides a rotary connecting device of a robot tail end actuating mechanism, which comprises a rotary connecting arm 1 and a fixed connecting arm 2, wherein a positioning ring 101 is arranged in the middle of the rotary connecting arm 1, a rotary cavity 102 is arranged at the front end of the positioning ring 101, a driving cavity 103 is arranged at the rear end of the positioning ring 101, a rotary component is sleeved in the cavity of the rotary cavity 102 and at the front end face of the positioning ring 101, and a driving component is fixedly sleeved in the cavity of the driving cavity 103 and at the rear end face of the positioning ring 101;
the rotating assembly is composed of a rotating shaft assembly 9 which is rotatably sleeved between a rotating seat 8 and the rotating seat 8, a shaft cavity 801 is formed in the middle of the rotating seat 8, a positioning spigot II 803 is arranged at the front end of the shaft cavity 801, a positioning spigot I802 is arranged at the rear end of the shaft cavity 801, a bearing I10 and a bearing II 11 are respectively sleeved at the end face positions of the positioning spigot I802 and the positioning spigot II 803, the bearing I10 and the bearing II 11 are respectively matched with the excircle of the rotating shaft assembly 9 in a sleeved mode, and a draw-out clamp 12 is fixedly clamped on the excircle of the rotating shaft assembly 9 and on the side face of the bearing II 11;
the driving assembly is composed of a motor mounting seat 15 and a driving motor 14 fixedly mounted on the side surface of the motor mounting seat 15;
through foretell setting, the fitting surface of roating seat 8 and swivelling joint arm 1 is soft contact surface, has consequently reduced the stress concentration effect on roating seat 8 surface, has prolonged the life of roating seat 8 with swivelling joint arm 1 to wear and tear the back when roating seat 8 appears, can carry out quick replacement, maintain the normal use of its spare part of rotating assembly, reduce whole rotating assembly's loss, prolong its whole life.
Furthermore, the rotating shaft assembly 9 is composed of a rotating shaft 901 and a shaft head connecting disc 902 inserted at the end part of the rotating shaft 901, the rotating shaft 901 and the shaft head connecting disc 902 are fixedly connected together through a connecting screw 903, the structure is convenient for processing and installing the whole rotating shaft assembly 9, and meanwhile, after the rotating shaft 901 and the shaft head connecting disc 902 are partially damaged, the rotating shaft assembly can be replaced independently, the whole rotating shaft assembly 9 is prevented from being replaced, therefore, the loss of the whole rotating shaft assembly 9 is reduced, and the service life of the rotating shaft assembly 9 is prolonged.
In addition, a guide head 1501 with a boss structure is arranged in the middle of the motor mounting seat 15, a limiting connecting disc 1502 with an annular structure is arranged at the end face of the guide head 1501 outwards, a mounting groove 1505 with a groove structure is formed in the side face of the guide head 1501, a through hole 1503 is formed from the bottom of the mounting groove 1505 to the top of the guide head 1501, the driving motor 14 is fixedly mounted in the mounting groove 1505, and a main shaft of the driving motor 14 penetrates through the through hole 1503, wherein the structure of the mounting groove 1505 is convenient for the driving motor 14 to be guided and positioned quickly.
The positioning ring 101 is provided with radial positioning grooves 104 uniformly distributed and arranged on the end surface of the rotating cavity 102 in the circumferential direction, the end surface of the limiting connecting disc 1502 is provided with radial positioning blocks 1504 matched with the radial positioning grooves 104 in the circumferential direction at the outer circle position of the guide head 1501, and the structure is convenient for the driving assembly to perform quick radial positioning at the end surface of the positioning ring 101.
More specifically, the outer circle of the guiding head 1501 is matched with the inner circle of the positioning ring 101 in a sliding manner, the limiting connecting disc 1502 is fixedly connected with the rear end face of the positioning ring 101 through a bolt, and the connecting structure facilitates quick positioning and installation of the driving assembly in the rotating cavity 102.
The excircle of roating seat 8 is supporting mutually with the drive chamber 103 of holding ring 101 right-hand member, and the rear end face of roating seat 8 laminates mutually with the preceding terminal surface of holding ring 101, on the preceding terminal surface of location tang II 803 and there is annular boss structure's spacing fixed disk 13 through bolt fixed mounting in bearing II 11's side, this kind of mechanism makes roating seat 8 fix in drive chamber 103, can directly replace when roating seat 8 takes place wearing and tearing, avoid changing whole device, and then reduced the loss of whole device, the service life of whole device is improved.
The left end of the rotating shaft 901 is fixedly connected with a main shaft of a driving motor 14 through a coupler 3, the right end of a connecting screw 903 is fixedly connected with the bottom of a fixed connecting arm 2 through a bolt, the fixed connecting arm 2 is connected with a rotating component and a driving component through the structure, the fixed connecting arm 2 is connected with a robot tail end executing mechanism, and when the driving component controls the rotating component to rotate, the rotating component is connected with the fixed connecting arm 2 and rotates together with the robot tail end executing mechanism; the main shaft of the driving motor 14 is connected with the shaft end of the rotating shaft assembly 9 through the shaft coupling 3, the structure forms an effective buffering effect on the driving motor 14 and the rotating shaft assembly 9, stress impact caused by direct insertion of the driving motor 14 and the rotating shaft assembly 9 is avoided, the loss rate of the driving motor 14 and the rotating shaft assembly 9 is reduced, and the service life of the whole device is prolonged.
Further, be equipped with the controller mounting groove 107 of cell body structure on the lateral surface of swivelling joint arm 1, and fixed mounting has PLC controller 108 in controller mounting groove 107, PLC controller 108 links to each other with driving motor 14 electrical property, and the notch department lock of controller mounting groove 107 has capping 109, controls driving motor 14's rotational speed and turns to through programming PLC controller 108, and then adjusts the rotation action of whole device.
The front end of the rotating cavity 102 is outwards provided with a front end connecting disc 105, an end cover spigot 106 is arranged on the inner side of the front end connecting disc 105, a front end cover 4 is fixedly mounted in the end cover spigot 106, the end of the driving cavity 103 is fixedly mounted with a rear end cover 5 at the front end of the rotating base 8, and a relatively closed state is formed in the whole rotating cavity 102 through the front end cover 4, so that the driving motor 14 is protected.
The working principle of the invention is as follows:
the invention can realize the rotary connection between the robot end executing mechanism and the robot arm, and the drive component controls the rotary component to drive the fixed connecting arm 2 and the robot end executing mechanism to rotate, and the specific operation process is as follows: the PLC 108 is programmed to control the driving motor 14 to drive the rotating shaft assembly 9 to drive the fixed connecting arm 2 and the robot tail end executing mechanism fixedly connected with the front end of the fixed connecting arm 2 to rotate, the PLC 108 can control the rotating speed and the rotating direction of the driving motor 14, and further the rotating speed and the steering direction of the whole robot tail end executing mechanism can be controlled;
in the process of rotating the robot tail end actuating mechanism, the rotating instantaneous power is transmitted to the rotating component through the coupler 3 when the driving motor 14 is started, the impact force generated by the whole instantaneous rotating power is buffered through the coupler 3, so that the stable rotation of the whole rotating component can be ensured, when the tail end actuating structure generates stress impact due to processing, the impact on the driving motor 14 is reduced through the coupler 3 in the same way, so that the driving motor 14 is well protected, in the whole device, the rotating connecting arm 1 can be selected as a hard metal such as steel, the rotating base 8 can be selected as a soft metal such as copper alloy, at the moment, the contact surface of the rotating base 8 and the rotating connecting arm 1 is in soft contact, so that the effect of excessive stress concentration is greatly reduced, and the service life of the rotating connecting arm 1 and the rotating base 8 can be prolonged, meanwhile, when the rotating seat 8 is abraded, the continuous operation of the whole device can be maintained by replacing the rotating seat 8, so that the loss of the whole rotating assembly is reduced, and the service life of the whole device is prolonged.
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 modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (12)
1. The utility model provides a terminal actuating mechanism's of robot swivelling joint device, includes swivelling joint arm (1) and fixed connection arm (2), its characterized in that: a positioning ring (101) is arranged in the middle of the rotary connecting arm (1), a rotary cavity (102) is arranged at the front end of the positioning ring (101), a driving cavity (103) is arranged at the rear end of the positioning ring (101), a rotary component is sleeved in the cavity of the rotary cavity (102) and at the front end face of the positioning ring (101), and the driving component is fixedly sleeved in the cavity of the driving cavity (103) and at the rear end face of the positioning ring (101);
the rotating assembly is composed of a rotating shaft assembly (9) which is rotatably sleeved in the middle of a rotating seat (8) and the rotating seat (8), an axle cavity (801) is formed in the middle of the rotating seat (8), a positioning spigot II (803) is arranged at the front end of the axle cavity (801), and a positioning spigot I (802) is arranged at the rear end of the axle cavity (801).
2. A rotary joint arrangement for a robot end effector according to claim 1, wherein: the terminal surface position punishment of location tang I (802) and location tang II (803) do not is equipped with bearing I (10) and bearing II (11), bearing I (10) and bearing II (11) match with the excircle of pivot subassembly (9) mutually respectively, on the excircle of pivot subassembly (9) and at the fixed card in side of bearing II (11) be furnished with draw out card (12).
3. A rotary joint arrangement for a robot end effector according to claim 1, wherein: the rotating shaft assembly (9) is composed of a rotating shaft (901) and a shaft head connecting disc (902) inserted at the end part of the rotating shaft (901), and the rotating shaft (901) and the shaft head connecting disc (902) are fixedly connected together through a connecting screw (903).
4. A rotary joint arrangement for a robot end effector according to claim 1, wherein: the driving assembly is composed of a motor mounting seat (15) and a driving motor (14) fixedly mounted on the side surface of the motor mounting seat (15).
5. A rotary joint assembly for a robotic end effector according to claim 4, wherein: the middle of the motor mounting seat (15) is provided with a guide head (1501) with a boss structure, the end face of the guide head (1501) is provided with a limiting connection disc (1502) with an annular structure outwards, the side face of the guide head (1501) is provided with a mounting groove (1505) with a groove structure, a through hole (1503) is formed from the bottom of the mounting groove (1505) to the top of the guide head (1501), the driving motor (14) is fixedly mounted in the mounting groove (1505), and the main shaft of the driving motor (14) is matched with the through hole (1503) in a penetrating manner.
6. A rotary joint arrangement for a robot end effector according to claim 5, wherein: radial positioning grooves (104) which are uniformly distributed and arranged are annularly formed in the end face of the positioning ring (101) towards the rotating cavity (102), and radial positioning blocks (1504) which are clamped and matched with the radial positioning grooves (104) are annularly arranged on the end face of the limiting connecting disc (1502) and at the position of the outer circle of the guide head (1501).
7. A rotary joint arrangement for a robot end effector according to claim 5, wherein: the outer circle of the guide head (1501) is matched with the inner circle of the positioning ring (101) in a sliding mode, and the limiting connecting disc (1502) is fixedly connected with the rear end face of the positioning ring (101) through a bolt.
8. A rotary joint arrangement for a robot end effector according to claim 1, wherein: the excircle of roating seat (8) matches with drive chamber (103) of holding ring (101) right-hand member mutually, and the rear end face of roating seat (8) laminates mutually with the preceding terminal surface of holding ring (101).
9. A rotary joint arrangement for a robot end effector according to claim 2, wherein: and a limiting fixed disc (13) with an annular boss structure is fixedly arranged on the front end surface of the positioning spigot II (803) and on the side surface of the bearing II (11) through bolts.
10. A rotary joint arrangement for a robotic end effector according to either of claim 3 or claim 4, wherein: the left end of the rotating shaft (901) is fixedly connected with a main shaft of the driving motor (14) through a coupler (3), and the right end of the connecting screw (903) is fixedly connected with the bottom of the fixed connecting arm (2) through a bolt.
11. A rotary joint arrangement for a robot end effector according to claim 1, wherein: be equipped with controller mounting groove (107) of cell body structure on the lateral surface of swivelling joint arm (1), and fixed mounting has PLC controller (108) in controller mounting groove (107), PLC controller (108) link to each other with driving motor (14) electrical property, notch department lock of controller mounting groove (107) has capping (109).
12. A rotary joint arrangement for a robot end effector according to claim 1, wherein: the front end of rotatory chamber (102) is equipped with front end connection pad (105) outwards, and has seted up end cover tang (106) in the inboard of front end connection pad (105), fixed mounting has front end housing (4) in end cover tang (106), the tip of drive chamber (103) and at the front end fixed mounting of roating seat (8) rear end cap (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064776.5A CN111216156B (en) | 2020-01-20 | 2020-01-20 | Rotary connecting device of robot tail end actuating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010064776.5A CN111216156B (en) | 2020-01-20 | 2020-01-20 | Rotary connecting device of robot tail end actuating mechanism |
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| Publication Number | Publication Date |
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| CN111216156A true CN111216156A (en) | 2020-06-02 |
| CN111216156B CN111216156B (en) | 2021-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010064776.5A Active CN111216156B (en) | 2020-01-20 | 2020-01-20 | Rotary connecting device of robot tail end actuating mechanism |
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| Country | Link |
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| CN (1) | CN111216156B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112248020A (en) * | 2020-10-10 | 2021-01-22 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
| DE102019115110B4 (en) | 2018-06-12 | 2022-07-07 | Fanuc Corporation | Robotic arm equipped with multiple connection interfaces |
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| CN108290301A (en) * | 2015-11-19 | 2018-07-17 | 因温特奥股份公司 | Screwing device and method for being screwed into bolt in wall |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102019115110B4 (en) | 2018-06-12 | 2022-07-07 | Fanuc Corporation | Robotic arm equipped with multiple connection interfaces |
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| CN112248020B (en) * | 2020-10-10 | 2022-03-29 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111216156B (en) | 2021-04-20 |
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